CN106310432A - Walking control method for intelligent infusion robot based on Internet of things - Google Patents

Walking control method for intelligent infusion robot based on Internet of things Download PDF

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Publication number
CN106310432A
CN106310432A CN201610724527.8A CN201610724527A CN106310432A CN 106310432 A CN106310432 A CN 106310432A CN 201610724527 A CN201610724527 A CN 201610724527A CN 106310432 A CN106310432 A CN 106310432A
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China
Prior art keywords
module
infusion
ultrasound wave
controller
dolly
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CN201610724527.8A
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Chinese (zh)
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谢亚军
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Individual
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Individual
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Priority to CN201610724527.8A priority Critical patent/CN106310432A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1414—Hanging-up devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1413—Modular systems comprising interconnecting elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1414—Hanging-up devices
    • A61M5/1415—Stands, brackets or the like for supporting infusion accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1414—Hanging-up devices
    • A61M5/1417—Holders or handles for hanging up infusion containers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/158—Needles for infusions; Accessories therefor, e.g. for inserting infusion needles, or for holding them on the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/162—Needle sets, i.e. connections by puncture between reservoir and tube ; Connections between reservoir and tube
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16804—Flow controllers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16804—Flow controllers
    • A61M5/16813—Flow controllers by controlling the degree of opening of the flow line
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16831—Monitoring, detecting, signalling or eliminating infusion flow anomalies
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16831—Monitoring, detecting, signalling or eliminating infusion flow anomalies
    • A61M5/1684—Monitoring, detecting, signalling or eliminating infusion flow anomalies by detecting the amount of infusate remaining, e.g. signalling end of infusion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16877—Adjusting flow; Devices for setting a flow rate
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M2005/1401—Functional features
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/10—General characteristics of the apparatus with powered movement mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/18—General characteristics of the apparatus with alarm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/3375—Acoustical, e.g. ultrasonic, measuring means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/35—Communication
    • A61M2205/3507—Communication with implanted devices, e.g. external control
    • A61M2205/3523—Communication with implanted devices, e.g. external control using telemetric means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/35—Communication
    • A61M2205/3546—Range
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/35—Communication
    • A61M2205/3546—Range
    • A61M2205/3561—Range local, e.g. within room or hospital
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/35—Communication
    • A61M2205/3576—Communication with non implanted data transmission devices, e.g. using external transmitter or receiver

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Hematology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Anesthesiology (AREA)
  • Vascular Medicine (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Nursing (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)
  • Manipulator (AREA)
  • Medical Preparation Storing Or Oral Administration Devices (AREA)

Abstract

The invention discloses an intelligent infusion robot based on Internet of things. The intelligent infusion robot comprises an ultrasonic following trolley, an infusion support, an infusion set, a hand ring, a terminal control system and a remote control system, wherein the infusion support is arranged on the ultrasonic following trolley; the infusion set is arranged on the upper end part of the infusion support; the hand ring comprises a hand ring body, an ultrasonic transmitting module, a single-chip microcomputer, a first input module and a wireless communication module. By adopting the intelligent infusion robot, the technical problem of wobbling of liquid in an infusion bottle caused by wobbling of the infusion robot in a moving process can be solved effectively, so that liquid medicine can be infused into a patient at a uniform speed along an infusion tube.

Description

Intelligent transfusion robot ambulation control method based on Internet of Things
The application is filing date 2016-06-19, Application No. 2016104375797, invention entitled based on Internet of Things Intelligent transfusion robot.
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of medical infusion robot.
Background technology
Medical Robot, refers to that Medical Robot's kind is very for hospital, the medical treatment of clinic or the robot of medical assistance Many, different according to its purposes, there are clinical treatment robot, nursing robot, Medical teaching robot and for services for the disabled Robot etc..
Traditional infusion bottle is all to hang over above drip stand, and drip stand is placed on sick bed side, moves to get up to bother very much, when When client need is walked about, need to take off infusion bottle, then raise high, when sometimes patient is handicapped, in addition it is also necessary to nurse Or household follows patient and raises infusion bottle together high.
For often going the phenomenon of toilet during patient infusion, and for faster rehabilitation, doctor advises often especially Walk about, but a lot of patient infusion time is inconvenient to walk about very for a long time especially, then Patent No. " 2015207522799 ", invention entitled " from motion tracking infuse robot " utility model patent disclose a kind of transfusion It is also convenient for the transfusion robot walked about simultaneously.This robot can follow patient one piece walking automatically, very easy to use, But it is found that a problem in actual use: transfusion robot can rock during movement slightly, thus Cause the slosh in infusion bottle, thus cause the medicinal liquid in infusion bottle cannot be input to patient's along tube for transfusion evenly Internal.
Summary of the invention
It is an object of the invention to solve techniques below problem: transfusion robot can rock during movement, thus Cause the slosh in infusion bottle, thus cause the medicinal liquid in infusion bottle cannot be input to patient's along tube for transfusion evenly Internal.
In order to realize object above, the technical solution adopted in the present invention is: intelligent transfusion robot based on Internet of Things, It is characterized in that, follow dolly, drip stand, infusion set, bracelet, terminal control system and far-end including ultrasound wave and control system System；
Described drip stand is arranged on ultrasound wave and follows above dolly, and described infusion set is arranged at described transfusion Frame upper end；
Described bracelet includes bracelet body, ultrasonic emitting module, single-chip microcomputer, the first input module, radio communication mold Block；
Described ultrasonic emitting module, single-chip microcomputer, wireless communication module are arranged at bracelet body interior；
The first described input module is arranged at the outer surface of bracelet body；
Described ultrasonic emitting module, the first input module, wireless communication module electrically connect with single-chip microcomputer respectively；
Described terminal control system includes 4 ultrasound wave receiver modules, terminal controller, motor drive module, left electricity Machine, right motor；Display module, the second input module, GPS module, camera module；Battery module, charger module, terminal Wireless communication module；
Described far-end control system includes remote wireless communications module and remote controller；
4 described ultrasound wave receiver modules electrically connect with terminal controller respectively, and terminal controller is driven by motor Module controls left motor and right electric motor starting, stopping and rotating speed；
Described left motor, right motor are respectively used to drive the near front wheel, off-front wheel；
Described display module, the second input module, GPS module, camera module electrically connect with terminal controller respectively；
4 described ultrasound wave receiver modules are respectively arranged at ultrasound wave and follow the left front of dolly, right front, left back Side, right back；
Described camera module is arranged at the top of drip stand；
Described terminal control system is arranged at ultrasound wave and follows above dolly；
Described battery module outfan is unit module for power supply, and the outfan of charger module connects accumulator The charging input end of module；
Described terminal wireless communication module electrically connects with terminal controller；
Described remote wireless communications module electrically connects with remote controller；
Communicate between described terminal controller and remote controller；
Described infusion set includes circular cylindrical cavity and annular cavity；
Described circular cylindrical cavity and annular cavity concentric, and circular cylindrical cavity and annular cavity bottom surface altogether, The bottom of circular cylindrical cavity connects with the bottom of annular cavity；
The upper surface of described circular cylindrical cavity is provided with liquid filling hole, and liquid filling hole is provided with detachable stopper；
The upper surface of described circular cylindrical cavity is additionally provided with air inlet；
The lower surface of described annular cavity has 8 infusion holes around center of circle spaced set, and infusion hole is respectively provided with There is rubber closure；
Described infusion set also includes that bottle plug puncture unit unit, dropping funnel, flow regulator, liquid medicine filter, transfusion are soft Pipe, intravenous needle；One end of described infusion tube connects the outfan of bottle plug puncture unit unit, and the other end connects intravenous needle；Institute Dropping funnel, flow regulator, liquid medicine filter is set gradually on the infusion tube stated；
Described bottle plug puncture unit unit has 8 bottle plug puncture units, is inserted respectively under described annular cavity In 8 rubber closures on surface, the outfan of 8 bottle plug puncture units is converged by flexible pipe and forms an outfan；
Stop member is set near the input port of described bottle plug puncture unit, and the size of 8 bottle plug puncture units is complete Identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The volume of annular cavity Y1cm3, the volume of circular cylindrical cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include a transfusion bascule；
Described transfusion bascule includes at the bottom of control chamber, balance controller, three electric expansion bars, gyroscope, supports Seat, support cover, gripper shoe, annular cover plate and clamping screw；
Described control chamber and support base are installed in ultrasound wave and follow on dolly；
Described support cover is vertically mounted on support base；
Described support cover is columnar structured, and is provided with circular mounting hole at the top of support cover；
The circumferential edges of described center of circle installing hole is provided with a proof rubber circle；
Described balance controller and gyroscope are installed in control chamber, and gyroscope is for being horizontally mounted；
Described gripper shoe is positioned at support cover；
The two ends up and down of three described electric expansion bars are arranged on support cover inner top by spherical linkage respectively and prop up On the upper face of fagging；
On the three described electric expansion bars, three strong points on support cover inner top and on the supporting plate plate face Three strong points all constitute equilateral triangle；
The upper face center of described gripper shoe is provided with and intubates；
Described clamping screw screws on the screwed hole intubating tube wall；
The lower end of described drip stand is through on being inserted into and intubate after the centre bore of annular cover plate and solid by clamping screw Fixed；
The outside diameter of described annular cover plate is more than the diameter of circular mounting hole；
The diameter of described circular mounting hole is more than the diameter of twice drip stand lower end；
Described balance controller motor-drive circuit with gyroscope and three electric expansion bars respectively is connected；
Described accumulator respectively balance controller, gyroscope and three electric expansion bars are powered.
Further, described remote controller, remote wireless communications module use smart mobile phone to realize.
Compared with prior art, it is an advantage of the current invention that: first, transfusion robot can rock during movement, Thus cause the slosh in infusion bottle, but the medicinal liquid of the present invention still can be input to patient along tube for transfusion evenly Internal.Second, owing to equipped with GPS module and camera module, therefore can understand patient's in real time by remote controller Position and the situation at scene；3rd, use transfusion bascule can follow dolly at ultrasound wave and move the process of rocking, reduce Drip stand rocks degree, it is ensured that transfusion normal safe is carried out.
Accompanying drawing explanation
Fig. 1 is the principle block diagram of the circuit control part of the present invention；
Fig. 2 is that ultrasound wave follows dolly schematic top plan view；
Fig. 3 is that ultrasound wave follows dolly front view (not drawing infusion set)；
Fig. 4 is infusion set front view (schematic diagram)；
Fig. 5 is the top view (schematic diagram) of infusion set；
Fig. 6 is the upward view (schematic diagram) of infusion set；
Fig. 7 is existing infusion bottle and tube for transfusion connection diagram；
Fig. 8 is bottle plug puncture unit cell schematics；
Fig. 9 is the circuit diagram of transfusion bascule；
Figure 10 is the plan structure schematic diagram of transfusion bascule；
Figure 11 is sectional structure schematic diagram at A-A in Figure 10.
Wherein, 1 is ultrasonic emitting module；2 is ultrasound wave receiver module；3 wheels；4 is that ultrasound wave follows dolly；5 are Drip stand；7 is camera module；8 is circular cylindrical cavity；9 is annular cavity；10 is rubber stopper；12 is infusion bottle；13 is defeated Liquid pipe；14 is stop member；15 is control chamber；16 is support cover；17 is annular cover plate；18 is to support base；19 is electronic stretching Contracting bar；20 is to intubate；21 is gripper shoe.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail.
Need during use to be poured in the circular cylindrical cavity of device for storing liquid or by this medicinal liquid in infusion bottle Bright infusion set is made the disposable infusion bottle that directly substitutes and is used.
" dropping funnel, flow regulator, liquid medicine filter, infusion tube, intravenous needle；One end of described infusion tube connects The outfan of bottle plug puncture unit, the other end connects intravenous needle；Set gradually on described infusion tube dropping funnel, flow regulator, Liquid medicine filter " belong to existing known technology, it is not described in detail.
Annular cavity except lower surface be provided with infusion hole, in addition to bottom connects with circular cylindrical cavity, remaining is the most all located Place seals, and the upper surface of circular cylindrical cavity is provided with air inlet, but air inlet position is provided with air filtering disinfection device (now Have known technology), so that it is guaranteed that the liquid within infusion set is not polluted by outside air.
It is provided with air inlet pipe near the bottle plug puncture unit of existing tube for transfusion, and air inlet pipe is provided with air filtration and kills Bacterium device, this technology belongs to prior art.
Wherein, the height of circular cylindrical cavity takes 20cm, and the height of annular cavity takes 2cm；
The volume of circular cylindrical cavity is 1500cm3, the volume of annular cavity is 30cm3。
Ultrasound wave is followed dolly and is used front-wheel drive.
The stop member of bottle plug puncture unit can ensure that 8 bottle plug puncture units are inserted into the rubber of the lower surface of annular cavity The degree of depth in leather plug is just the same, thus ensures that the pressure at the input port of 8 bottle plug puncture units is about the same, so stop part Part is extremely important.If stop member, 8 bottle plug puncture units are inserted into the rubber closure of the lower surface of annular cavity In the degree of depth certainly the most widely different (existing bottle plug puncture unit the most unobstructed the longest parts, it is impossible to fully-inserted enter ), owing to the size of 8 bottle plug puncture units is just the same, and it is provided with stop member, when the resistance of 8 bottle plug puncture units Just cannot be inserted into during the rubber closure of the lower surface that stopper part touches annular cavity.
Embodiment: intelligent transfusion robot based on Internet of Things, including ultrasound wave follow dolly, drip stand, infusion set, Bracelet, terminal control system and far-end control system；Described drip stand is arranged on ultrasound wave and follows above dolly, described Infusion set is arranged at described drip stand upper end；Described bracelet includes bracelet body, ultrasonic emitting module, monolithic Machine, the first input module, wireless communication module；
Described ultrasonic emitting module, single-chip microcomputer, wireless communication module are arranged at bracelet body interior；
The first described input module is arranged at the outer surface of bracelet body；
Described ultrasonic emitting module, the first input module, wireless communication module electrically connect with single-chip microcomputer respectively；Described Terminal control system include 4 ultrasound wave receiver modules, terminal controller, motor drive module, left motor, right motor；Aobvious Show module, the second input module, GPS module, camera module；Battery module, charger module, terminal wireless communication mould Block；
Described far-end control system includes remote wireless communications module and remote controller；
4 described ultrasound wave receiver modules electrically connect with terminal controller respectively, and terminal controller is driven by motor Module controls left motor and right electric motor starting, stopping and rotating speed；Described left motor, right motor be respectively used to drive the near front wheel, Off-front wheel；Described display module, the second input module, GPS module, camera module electrically connect with terminal controller respectively； 4 described ultrasound wave receiver modules are respectively arranged at ultrasound wave and follow the left front of dolly, right front, left back, right back；
Described camera module is arranged at the top of drip stand；Described terminal control system is arranged at ultrasound wave and follows little Above car；Described battery module outfan is unit module for power supply, and the outfan of charger module connects accumulator The charging input end of module；Described terminal wireless communication module electrically connects with terminal controller；Described remote wireless communications Module electrically connects with remote controller；Communicate between described terminal controller and remote controller；
Described infusion set includes circular cylindrical cavity and annular cavity；
Described circular cylindrical cavity and annular cavity concentric, and circular cylindrical cavity and annular cavity bottom surface altogether, The bottom of circular cylindrical cavity connects with the bottom of annular cavity；
The upper surface of described circular cylindrical cavity is provided with liquid filling hole, and liquid filling hole is provided with detachable stopper；
The upper surface of described circular cylindrical cavity is additionally provided with air inlet；
The lower surface of described annular cavity has 8 infusion holes around center of circle spaced set, and infusion hole is respectively provided with There is rubber closure；
Described infusion set also includes that bottle plug puncture unit unit, dropping funnel, flow regulator, liquid medicine filter, transfusion are soft Pipe, intravenous needle；One end of described infusion tube connects the outfan of bottle plug puncture unit unit, and the other end connects intravenous needle；Institute Dropping funnel, flow regulator, liquid medicine filter is set gradually on the infusion tube stated；
Described bottle plug puncture unit unit has 8 bottle plug puncture units, is inserted respectively under described annular cavity In 8 rubber closures on surface, the outfan of 8 bottle plug puncture units is converged by flexible pipe and forms an outfan；
Stop member is set near the input port of described bottle plug puncture unit, and the size of 8 bottle plug puncture units is complete Identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The volume of annular cavity Y1cm3, the volume of circular cylindrical cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include a transfusion bascule；
Described transfusion bascule includes at the bottom of control chamber, balance controller, three electric expansion bars, gyroscope, supports Seat, support cover, gripper shoe, annular cover plate and clamping screw；
Described control chamber and support base are installed in ultrasound wave and follow on dolly；
Described support cover is vertically mounted on support base；
Described support cover is columnar structured, and is provided with circular mounting hole at the top of support cover；
The circumferential edges of described center of circle installing hole is provided with a proof rubber circle；
Described balance controller and gyroscope are installed in control chamber, and gyroscope is for being horizontally mounted；
Described gripper shoe is positioned at support cover；
The two ends up and down of three described electric expansion bars are arranged on support cover inner top by spherical linkage respectively and prop up On the upper face of fagging；
On the three described electric expansion bars, three strong points on support cover inner top and on the supporting plate plate face Three strong points all constitute equilateral triangle；
The upper face center of described gripper shoe is provided with and intubates；
Described clamping screw screws on the screwed hole intubating tube wall；
The lower end of described drip stand is through on being inserted into and intubate after the centre bore of annular cover plate and solid by clamping screw Fixed；
The outside diameter of described annular cover plate is more than the diameter of circular mounting hole；
The diameter of described circular mounting hole is more than the diameter of twice drip stand lower end；
Described balance controller motor-drive circuit with gyroscope and three electric expansion bars respectively is connected；
Described accumulator respectively balance controller, gyroscope and three electric expansion bars are powered；
Wherein, described remote controller, remote wireless communications module use smart mobile phone to realize.
The present invention substantially operation principle describes: be worn at wrist by bracelet when client need is walked about, by the first input mould Block starts ultrasonic emitting module and starts to launch ultrasonic signal, starts timing, GPS by single-chip microcomputer and terminal controller communication Module, camera module are started working, and the signal of GPS module, camera module output is controlled with far-end by terminal controller Device communicates, and such remote controller can recognize patient's location and patient's field conditions in real time.
The signal that ultrasonic emitting module sends is received by four ultrasound wave receiver modules, and terminal controller surpasses according to four Distance between acoustic receiver module and ultrasonic emitting module, it is judged that the position of patient, thus control ultrasound wave and follow dolly Direction.
The present invention is capable of transfusion robot medicinal liquid during movement and remains able to defeated along tube for transfusion evenly Enter the internal principle explanation to patient: infusion set includes circular cylindrical cavity and annular cavity, due to circular cylindrical cavity Highly far above the height of annular cavity, and the bottom of circular cylindrical cavity connects with the bottom of annular cavity；So circle Liquid height within annular housing is the most constant (except medicinal liquid is totally lost the moment soon), when ultrasound wave follow dolly rock time, circle Liquid level within cylindrical chamber also can rock, but the lower surface of described annular cavity has 8 around center of circle spaced set Individual infusion hole, infusion hole is provided with rubber closure；Described bottle plug puncture unit has 8 inputs and 1 outfan, 8 Input is inserted respectively in 8 rubber closures of the lower surface of described annular cavity；So circular cylindrical cavity internal liquid level Although rock the change that can cause the pressure at each infusion hole, but the pressure sum at 8 infusion holes is the most constant (pressure at the infusion hole having becomes big, and at some infusion holes, pressure diminishes, and size is cancelled out each other), say, that 8 are defeated It is almost unchanged that pressure sum at fluid apertures is averaged.And bottle plug puncture unit has 8 inputs and 1 outfan, 8 Input is inserted respectively in 8 rubber closures of the lower surface of described annular cavity, the therefore outfan of bottle plug puncture unit The pressure at place is almost unchanged.
Robot ambulation control method i.e. ultrasound wave follows the control method of dolly:
The first step, patient follows dolly by the first input module input ultrasound wave of bracelet and starts walking order, monolithic After machine receives this order, single-chip microcomputer sends wireless signal to terminal controller, and terminal controller opens when receiving wireless signal simultaneously Dynamic 4 intervalometers start timing；
Second step, single-chip microcomputer is spaced 2s, Single-chip Controlling ultrasonic emitting mould after terminal controller sends wireless signal BOB(beginning of block) launches ultrasonic signal；
3rd step, left front, right front, left back, four ultrasound wave receiver modules of right back receive ultrasound wave letter Time interval between the moment that number moment distance terminal controller starts timing, correspondence is designated as respectively
The Δ t1 second, the Δ t2 second, the Δ t3 second, the Δ t4 second；
If Δ t1=Δ t2, Δ t3=Δ t4, then terminal controller control ultrasound wave follows dolly craspedodrome；
If Δ t1 > Δ is t2, Δ t3 > Δ t4, then terminal controller control ultrasound wave follows the near front wheel acceleration of dolly, before the right side Wheel slows down；
If Δ t1 < Δ is t2, Δ t3 < Δ t4, then terminal controller control ultrasound wave follows the near front wheel deceleration of dolly, before the right side Wheel accelerates.
Illustrate: 4 intervalometers can use hardware timer, it would however also be possible to employ software simulation intervalometer；Left front, Right front, left back, the most corresponding intervalometer of four ultrasound wave receiver modules of right back, ultrasound wave receiver module receives Timing, the timing time of such four intervalometers the most respectively Δ t1 is stopped respectively to intervalometer corresponding during ultrasonic signal Second, the Δ t2 second, the Δ t3 second, the Δ t4 second.
The transfusion bascule of the present invention operationally, is detected ultrasound wave in real time and follows the equilibrium-like of dolly by gyroscope State, then controlled the stroke of three electric expansion bars according to the poised state of detection by balance controller, thus realize drip stand Stability contorting, prevent dolly from causing drip stand acutely to rock during mobile rocking, it is ensured that infusion safety；Simultaneously because ring The effect of shape cover plate is prevented from foreign body and drops in support cover, affects the work of electric expansion bar；Proof rubber circle can alleviate Drip stand and the friction of circular mounting hole.
Intelligent transfusion robot system based on Internet of Things, it is characterised in that include that multiple ultrasound wave follows cart system And far-end control system；
Described ultrasound wave is followed cart system and is included that ultrasound wave follows dolly, drip stand, infusion set, bracelet, terminal Control system；
Described drip stand is arranged on ultrasound wave and follows above dolly, and described infusion set is arranged at described transfusion Frame upper end；
Described bracelet includes bracelet body, ultrasonic emitting module, single-chip microcomputer, the first input module, radio communication mold Block；
Described ultrasonic emitting module, single-chip microcomputer, wireless communication module are arranged at bracelet body interior；
The first described input module is arranged at the outer surface of bracelet body；
Described ultrasonic emitting module, the first input module, wireless communication module electrically connect with single-chip microcomputer respectively；
Described terminal control system includes 4 ultrasound wave receiver modules, terminal controller, motor drive module, left electricity Machine, right motor；Display module, the second input module, GPS module, camera module；Battery module, charger module, terminal Wireless communication module；
Described far-end control system includes remote wireless communications module and remote controller；
4 described ultrasound wave receiver modules electrically connect with terminal controller respectively, and terminal controller is driven by motor Module controls left motor and right electric motor starting, stopping and rotating speed；
Described left motor, right motor are respectively used to drive the near front wheel, off-front wheel；
Described display module, the second input module, GPS module, camera module electrically connect with terminal controller respectively；
4 described ultrasound wave receiver modules are respectively arranged at ultrasound wave and follow the left front of dolly, right front, left back Side, right back；
Described camera module is arranged at the top of drip stand；
Described terminal control system is arranged at ultrasound wave and follows above dolly；
Described battery module outfan is unit module for power supply, and the outfan of charger module connects accumulator The charging input end of module；
Described terminal wireless communication module electrically connects with terminal controller；
Described remote wireless communications module electrically connects with remote controller；
Communicate between described terminal controller and remote controller；
Described infusion set includes circular cylindrical cavity and annular cavity；
Described circular cylindrical cavity and annular cavity concentric, and circular cylindrical cavity and annular cavity bottom surface altogether, The bottom of circular cylindrical cavity connects with the bottom of annular cavity；
The upper surface of described circular cylindrical cavity is provided with liquid filling hole, and liquid filling hole is provided with detachable stopper；
The upper surface of described circular cylindrical cavity is additionally provided with air inlet；
The lower surface of described annular cavity has 8 infusion holes around center of circle spaced set, and infusion hole is respectively provided with There is rubber closure；
Described infusion set also includes that bottle plug puncture unit unit, dropping funnel, flow regulator, liquid medicine filter, transfusion are soft Pipe, intravenous needle；One end of described infusion tube connects the outfan of bottle plug puncture unit unit, and the other end connects intravenous needle；Institute Dropping funnel, flow regulator, liquid medicine filter is set gradually on the infusion tube stated；
Described bottle plug puncture unit unit has 8 bottle plug puncture units, is inserted respectively under described annular cavity In 8 rubber closures on surface, the outfan of 8 bottle plug puncture units is converged by flexible pipe and forms an outfan；
Stop member is set near the input port of described bottle plug puncture unit, and the size of 8 bottle plug puncture units is complete Identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The volume of annular cavity Y1cm3, the volume of circular cylindrical cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include multiple transfusion bascule；
Described transfusion bascule includes at the bottom of control chamber, balance controller, three electric expansion bars, gyroscope, supports Seat, support cover, gripper shoe, annular cover plate and clamping screw；
Described control chamber and support base are installed in ultrasound wave and follow on dolly；
Described support cover is vertically mounted on support base；
Described support cover is columnar structured, and is provided with circular mounting hole at the top of support cover；
The circumferential edges of described center of circle installing hole is provided with a proof rubber circle；
Described balance controller and gyroscope are installed in control chamber, and gyroscope is for being horizontally mounted；
Described gripper shoe is positioned at support cover；
The two ends up and down of three described electric expansion bars are arranged on support cover inner top by spherical linkage respectively and prop up On the upper face of fagging；
On the three described electric expansion bars, three strong points on support cover inner top and on the supporting plate plate face Three strong points all constitute equilateral triangle；
The upper face center of described gripper shoe is provided with and intubates；
Described clamping screw screws on the screwed hole intubating tube wall；
The lower end of described drip stand is through on being inserted into and intubate after the centre bore of annular cover plate and solid by clamping screw Fixed；
The outside diameter of described annular cover plate is more than the diameter of circular mounting hole；
The diameter of described circular mounting hole is more than the diameter of twice drip stand lower end；
Described balance controller motor-drive circuit with gyroscope and three electric expansion bars respectively is connected；
Described accumulator respectively balance controller, gyroscope and three electric expansion bars are powered；
Wherein, described remote controller, remote wireless communications module use smart mobile phone to realize.

Claims (2)

1. in the intelligent transfusion robot ambulation control method of Internet of Things, it is characterised in that include that ultrasound wave follows dolly, transfusion Frame, infusion set, bracelet, terminal control system and far-end control system；
Described infusion set is arranged at described drip stand upper end；
Described bracelet includes bracelet body, ultrasonic emitting module, single-chip microcomputer, the first input module, wireless communication module；
Described ultrasonic emitting module, single-chip microcomputer, wireless communication module are arranged at bracelet body interior；
The first described input module is arranged at the outer surface of bracelet body；
Described ultrasonic emitting module, the first input module, wireless communication module electrically connect with single-chip microcomputer respectively；
Described terminal control system includes 4 ultrasound wave receiver modules, terminal controller, motor drive module, left motor, the right side Motor；Display module, the second input module, GPS module, camera module；Battery module, charger module, terminal wireless Communication module；
Described far-end control system includes remote wireless communications module and remote controller；
4 described ultrasound wave receiver modules electrically connect with terminal controller respectively, and terminal controller passes through motor drive module Control left motor and right electric motor starting, stopping and rotating speed；
Described left motor, right motor are respectively used to drive the near front wheel, off-front wheel；
Described display module, the second input module, GPS module, camera module electrically connect with terminal controller respectively；
4 described ultrasound wave receiver modules are respectively arranged at ultrasound wave and follow the left front of dolly, right front, left back, the right side Rear；
Described camera module is arranged at the top of drip stand；
Described terminal control system is arranged at ultrasound wave and follows above dolly；
Described battery module outfan is unit module for power supply, and the outfan of charger module connects battery module Charging input end；
Described terminal wireless communication module electrically connects with terminal controller；
Described remote wireless communications module electrically connects with remote controller；
Communicate between described terminal controller and remote controller；
Described single-chip microcomputer and terminal controller communication；
Described infusion set includes circular cylindrical cavity and annular cavity；
Described circular cylindrical cavity and annular cavity concentric, and circular cylindrical cavity and annular cavity bottom surface, cylinder altogether The bottom of shape cavity connects with the bottom of annular cavity；
The upper surface of described circular cylindrical cavity is provided with liquid filling hole, and liquid filling hole is provided with detachable stopper；
The upper surface of described circular cylindrical cavity is additionally provided with air inlet, and air inlet position is provided with air filtering disinfection device；
The lower surface of described annular cavity has 8 infusion holes around center of circle spaced set, and infusion hole is provided with rubber Leather plug；
Described infusion set also includes bottle plug puncture unit unit, dropping funnel, flow regulator, liquid medicine filter, infusion tube, quiet Arteries and veins pin；One end of described infusion tube connects the outfan of bottle plug puncture unit unit, and the other end connects intravenous needle；Described is defeated Dropping funnel, flow regulator, liquid medicine filter is set gradually on liquid flexible pipe；
Described bottle plug puncture unit unit has 8 bottle plug puncture units, is inserted respectively into the lower surface of described annular cavity 8 rubber closures in, the outfan of 8 bottle plug puncture units by flexible pipe converge formed an outfan；
Stop member is set near the input port of described bottle plug puncture unit, and the size of 8 bottle plug puncture units is identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The volume Y1cm of annular cavity3, cylinder The volume of shape cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include a transfusion bascule；
Described transfusion bascule include control chamber, balance controller, three electric expansion bars, gyroscope, support base, Support cover, gripper shoe, annular cover plate and clamping screw；
Described control chamber and support base are installed in ultrasound wave and follow on dolly；
Described support cover is vertically mounted on support base；
Described support cover is columnar structured, and is provided with circular mounting hole at the top of support cover；
The circumferential edges of described center of circle installing hole is provided with a proof rubber circle；
Described balance controller and gyroscope are installed in control chamber, and gyroscope is for being horizontally mounted；
Described gripper shoe is positioned at support cover；
The two ends up and down of three described electric expansion bars are arranged on support cover inner top and gripper shoe by spherical linkage respectively Upper face on；
On the three described electric expansion bars, three strong points on support cover inner top and on the supporting plate plate face three The individual strong point all constitutes equilateral triangle；
The upper face center of described gripper shoe is provided with and intubates；
Described clamping screw screws on the screwed hole intubating tube wall；
The lower end of described drip stand is through on being inserted into and intubate after the centre bore of annular cover plate, and is fixed by clamping screw；
The outside diameter of described annular cover plate is more than the diameter of circular mounting hole；
The diameter of described circular mounting hole is more than the diameter of twice drip stand lower end；
Described balance controller motor-drive circuit with gyroscope and three electric expansion bars respectively is connected；
Described accumulator respectively balance controller, gyroscope and three electric expansion bars are powered.
Robot ambulation control method i.e. ultrasound wave follows the control method of dolly:
The first step, patient follows dolly by the first input module input ultrasound wave of bracelet and starts walking order, and single-chip microcomputer is received After this order, single-chip microcomputer sends wireless signal to terminal controller, starts 4 when terminal controller receives wireless signal simultaneously Intervalometer starts timing；
Second step, single-chip microcomputer is spaced 2s after terminal controller sends wireless signal, and Single-chip Controlling ultrasonic emitting module is opened Originate and penetrate ultrasonic signal；
3rd step, when left front, right front, left back, four ultrasound wave receiver modules of right back receive ultrasonic signal Carving the time interval between the moment that distance terminal controller starts timing, correspondence is designated as Δ t1 second, Δ t2 second, Δ t3 respectively Second, the Δ t4 second；
If Δ t1=Δ t2, Δ t3=Δ t4, then terminal controller control ultrasound wave follows dolly craspedodrome；
If Δ t1 > Δ is t2, Δ t3 > Δ t4, then terminal controller control ultrasound wave follows the near front wheel acceleration of dolly, and off-front wheel subtracts Speed；
If Δ t1 < Δ is t2, Δ t3 < Δ t4, then terminal controller control ultrasound wave follows the near front wheel deceleration of dolly, and off-front wheel adds Speed.
2. according to the intelligent transfusion robot based on Internet of Things described in claims 1 or 2, it is characterised in that described is remote Side controller, remote wireless communications module use smart mobile phone to realize.
CN201610724527.8A 2016-06-19 2016-06-19 Walking control method for intelligent infusion robot based on Internet of things Pending CN106310432A (en)

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