CN106740554A - A kind of Intelligent control circuit system of the intelligent multiplex tractor of hospital - Google Patents
A kind of Intelligent control circuit system of the intelligent multiplex tractor of hospital Download PDFInfo
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- CN106740554A CN106740554A CN201610996335.2A CN201610996335A CN106740554A CN 106740554 A CN106740554 A CN 106740554A CN 201610996335 A CN201610996335 A CN 201610996335A CN 106740554 A CN106740554 A CN 106740554A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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Abstract
The present invention relates to a kind of Intelligent control circuit system of the intelligent multiplex tractor of hospital.It is characterized in that including the driver module being arranged in touch screen flat panel computer, the mutual channel radio gang mould block of self-position, speech-sound intelligent calling module, move ahead video control module, the automated randomized generation wireless sending module of addressee password, automatic aligning charge control module, care for intelligent control module, Radar Signal Processing module, intelligent navigation control module, central processing module, it is arranged on the various detection radars of touch screen flat panel computer periphery, bar code scan logging apparatus, the drive circuit of tractor motor, draw manual Touch control key, walking monitoring camera, charge contraposition infrared remote receiver, induction charging head drive circuit, care for motor-drive circuit, care for manual Touch control key, various sensors.The characteristics of present invention has with strong points, practical, intelligence degree high, easy for operation, safe and reliable, low cost.
Description
Technical field
The present invention relates to medical instruments field, a kind of Intelligent control electric of the intelligent multiplex tractor of hospital is related specifically to
Road system.
Background technology
At present, hospital's various medical cares, drug delivery daily, transport surgical instrument, send patient to eat etc., workload is big and frequency
It is numerous.These work often take the work of many medical practitioner nurses, make the hospital of natively serious scarcity medical personnel less
Bear heavy burden.There are many hospitals to solve this problem, recruit odd-jobman.But odd-jobman is difficult to look for, and costly.Now, state
It is outer specially to devise hospital's intelligence transfer cart to solve this problem, mainly there are two classes：One class is sent for loading capacity is little
Medicine, Hospital trolley for nursing；The another kind of transport surgical instrument big for loading capacity, send patient eat transfer cart.The former Hospital trolley for nursing and Medicine delivery cart
Be a whole structure with intelligent transfer cart, just have several Hospital trolley for nursing sometimes in one ward of hospital, if Hospital trolley for nursing and Medicine delivery cart with
Intelligent transfer cart is for once whole structure, this must cause purchase cost high.Although the latter is Split type structure, in concrete function knot
The upper Shortcomings of structure design, it could entirely will need to be transported when goods is transported after the goods car lifting transported is liftoff, structure
Complexity, single vehicle cost is high.He does not make full use of the function of goods car inherently car to be transported.And each hospital of reality
Various medical cares, drug delivery, transport surgical instrument, send patient eat etc. work have corresponding handcart such as：Vehicle for medical purpose, Medicine delivery cart, fortune
Send the car of surgical instrument, send patient the car etc. eaten.In order to the car function inventor for making full use of the existing various cars of hospital has designed
A kind of intelligent multiplex tractor of hospital（Lead by application）, how there is targetedly practicality for the design of this car is a kind of
By force, intelligence degree is high, easy for operation, safe and reliable, low cost Intelligent control circuit system is just into of the invention
Main Topics.
The content of the invention
Present invention aim to for a kind of hospital, intelligently multiplex tractor provides a kind of with targetedly practicality
By force, intelligence degree is high, easy for operation, safe and reliable, low cost Intelligent control circuit system.The present invention is to pass through
Following technical scheme is realized.A kind of Intelligent control circuit system of the intelligent multiplex tractor of hospital, it is characterised in that including
It is arranged on driver module, the mutual channel radio gang mould block of self-position, speech-sound intelligent calling mould in touch screen flat panel computer
Block, forward video control module, addressee password are automated randomized to be generated wireless sending module, automatic aligning charge control module, leads
Intelligent control module, Radar Signal Processing module, intelligent navigation control module, central processing module are hung, touch-screen is arranged on and is put down
Above the left and right limit for height detection radar of plate computer periphery, the upper and lower detection radar in front of 255 ° of main cases, 205o drawing head shells
Just center line detection radar, the bar code above five detection radars, drawing head shell in left and right below of detection radar, drawing head shell
Scanning record instrument, the drive circuit of tractor motor, the manual Touch control key of traction, walking monitoring camera, charging para red
Outer receiver, induction charging head drive circuit, trailer inductor is treated, bar sensors in place is cared for, is cared for motor-drive circuit, leads
Hang manual Touch control key, care for bar return sensor, the mutual channel radio gang mould block of the driver module, self-position, voice
Intelligent call module, the automated randomized generation wireless sending module of move ahead video control module, addressee password, automatic aligning charge and control
Molding block, care for intelligent control module, Radar Signal Processing module, intelligent navigation control module and be electrically connected with central processing module
Connect, thunder is detected above the left and right limit for height detection radar, the upper and lower detection radar in front of 255 ° of main cases, 205o drawing head shells
Up to, drawing head shell just below center line detection radar is believed with radar above five detection radars, drawing head shell in left and right
The electrical connection of number processing module, drive circuit, the bar code scan logging apparatus of the tractor motor are and central processing module
Electrical connection, draws manual Touch control key and is electrically connected with the drive circuit of tractor motor, and walking monitoring camera is regarded with forward
Frequency control module is electrically connected, and charge contraposition infrared remote receiver, induction charging head drive circuit and automatic aligning charge control module
Electrical connection, treat trailer inductor, care for bar sensors in place, care for motor-drive circuit, care for bar return sensor with lead
Intelligent control module electrical connection is hung, manual Touch control key is cared for and is electrically connected with motor-drive circuit is cared for；It is described treat trailer inductor,
Bar sensors in place is cared for, bar return sensor is cared for, is cared for motor-drive circuit, the intelligence being arranged in touch screen flat panel computer
Energy control module composition cares for bar folding and unfolding and stops inductive control circuit, and the induction charging head drive circuit, charging para red are external
Receive device, automatic aligning charge control module and constitute automatic sensing charging control circuit.
Further, above-described bar return sensor of caring for is to be made up of infrared remote receiver and infrared transmitter, institute
The touch screen flat panel computer stated is the touch screen flat panel computer with smart mobile phone function.
Further, intelligently multiplex tractor goes execution task, above institute to call hospital whenever and wherever possible for medical personnel
Wireless instructions receiver module is had additional in the touch screen flat panel computer stated, wireless instructions receiver module is electrically connected with central processing module
Connect, equipped with the common smart mobile phone to corresponding control program in touch screen flat panel computer wireless communications and liaison, such medical personnel therewith
As long as can just notify that intelligently multiplex tractor goes somewhere picking to be sent to somewhere, or call notification hospital intelligence for hospital using smart mobile phone
The multiplex tractor of energy comes to freight.
Whole Intelligent control circuit system is so work：The touch-screen that being powered after starting shooting has smart mobile phone function is put down
Interface shows automatically after plate computer or other operated keys stop certain hour：Receive membrane keyboard, delivery membrane keyboard, picking delivery touch
Key is touched, key frame is real-time navigation map and tractor position, clicks on membrane keyboard interface display of receiving：Lower section is numerical key
Disk, it is picking password typing frame above to put middle, and acknowledgement key interface display is pressed after Password Input：Addressee and Description of Goods quantity are clear
Single, being checked by acknowledgement key, at this moment central processing module will receive this information and make calculation process immediately and lead backward
Hang intelligent control module and send instruction, care for intelligent control module be connected to instruct after immediately treat and to caring for motor-drive circuit
Control vector value is sent to go to control the reversion for caring for motor so as to care for mechanism automatically-unhooked.Take away goods push Medicine delivery cart show
Display screen recovers original interface, and the multiplex tractor of intelligence continues executing with original task or stays where one is, pending further orders；Click on delivery membrane keyboard circle
Face shows：Display screen lower section is numeric keypad and English letter keyboard, and top row right side display alarm please be input into Description of Goods quantity,
Have bar code is input into the use keyboard typing without bar code by bar code scan logging apparatus, and display sends place typing in the middle of the row of top
Frame, place, top row right side display addressee's name typing frame and addressee's cell-phone number typing frame, top are sent in the input of typing inframe
Row is below shipping list list, sends after goods is put well and fills in and finish with inventory, addressee, cell-phone number, when Medicine delivery cart
Hospital is inserted into intelligently on the vehicle frame of multiplex tractor and when the sensing of trailer inductor has car signal, at this moment by upper acknowledgement key
Central processing module will receive car in place with the two signals of acknowledgement key and make calculation process immediately to caring for intelligent control
Molding block sends instruction, cares for after intelligent control module is connected to instruction and immediately treats and send control to motor-drive circuit is cared for
Vector value goes to control the rotating forward for caring for motor so that caring for mechanism's automatic coupling, hook cares for bar sensors in place afterwards in place will
The signal for sensing is transmitted to cares for intelligent control module, care for intelligent control module be connected to after signal and deal with rapidly and to
Care for motor-drive circuit and send instruction, care for motor-drive circuit and powered off to motor is cared for according to instruction.Display screen is extensive simultaneously
Multiple original interface, and automated randomized transmission of panel computer is received under the treatment of the automated randomized generation wireless sending module of addressee password
Part password in addressee's mobile phone, the at this moment control signal input center treatment mould of the Navigator of intelligent navigation control module
Block, inputs to the drive circuit of tractor motor, the driving electricity of tractor motor after central processing module computing
The vector value that road is then input into according to central processing module after computing goes the rotating forward reversion of two motors of control and rotates
The number of turns is stopped after until hospital, intelligently goods is sent to destination by multiplex tractor, and central processing module is received while parking
The signal in place of intelligent navigation control module Navigator and rapidly calculation process notify that speech-sound intelligent calling module sends calling
Remind consignee；Picking delivery membrane keyboard interface display is clicked on smart mobile phone or touch screen flat panel computer：Top shows picking
Ground typing frame and delivery ground typing frame, centre display picking inventory list, lower section display numeric keypad and English letter keyboard, record
Recover original interface by acknowledgement key display screen with delivery ground and picking inventory with having entered picking.If now sent with smart mobile phone
Signal, the wireless instructions receiver module in all of hospital touch screen flat panel computer that intelligently multiplex tractor passes through itself connects
The instruction for receiving is transmitted to central processing module, at the same each hospital intelligently multiplex tractor by the mutually wireless communications and liaison of self-position
Program module determine each with the position of picking point, each hospital centre intelligently in multiplex tractor touch screen flat panel computer
Reason module and self-position are mutually wireless, and communications and liaison program module makes contrast calculation process jointly, only receives instruction and to taking
The control signal of the intelligent Navigator of the intelligent navigation control module of multiplex tractor of the nearest hospital in goods ground can be input into
Central processing module, sends vector value and goes two drives of control by central processing module to the drive circuit of tractor motor
Until hospital, intelligently multiplex tractor arrival picking thing destination tractor drives the number of turns of rotating forward reversion and the rotation of dynamic motor
The drive circuit of motor is powered off to motor.Picking delivery membrane keyboard is clicked on after reaching picking ground, display screen shows and clicks on
Display after picking delivery membrane keyboard is identical, and goods is taken by upper acknowledgement key according to picking inventory, at this moment intelligent in panel computer
Navigation signal is sent to central processing module under the control of the Navigator of navigation control module, navigation signal is through center treatment mould
Sending vector value to the drive circuit of tractor motor after block calculation process goes the rotating forward of two motors of control to invert
And the number of turns for rotating until hospital, intelligently multiplex tractor reaches delivery thing destination, the drive circuit of tractor motor is given
The intelligently multiplex tractor parking of motor power-off hospital, at this moment the central processing module in touch screen flat panel computer is received and stopped
Car signal simultaneously notifies that speech-sound intelligent calling module sends voice-sound call prompting picking people after making corresponding treatment.In smart mobile phone
Load onto corresponding program in panel computer can automatically with many intelligence wireless communications and liaison of multiplex tractor, any one intelligent hand in institute
Machine all can send delivery call instruction to the multiplex tractor of all intelligence.After the multiplex tractor of all intelligence receives instruction just
Computing judgement can each other be carried out, finally with send the nearest multiplex tractor of intelligence of delivery call instruction will automatically before
Task is performed toward instruction calling ground.As each radar detection in the process of walking to have barrier when, the signal that radar will be detected
Send Radar Signal Processing module to, Radar Signal Processing module to radar detection to signal pre-process after be sent to
Centre processing module, central processing module carries out calculation process rapidly after being connected to pretreated signal, to traction after calculation process
The drive circuit of car motor sends vector value removes two motors of control or left driving motor and rotates forward or right drive electricity
Machine is inverted or two motors all stall to avoid barrier.The image information in front that camera will be obtained in the process of walking
Input to forward video control module, forward video control module is connected to after image information in front and is pre-processed and will pretreatment
Image information in front afterwards is input to central processing module and carries out calculation process, to the drive of tractor motor after calculation process
Dynamic circuit sends vector value removes two motors of control or left driving motor and rotates forward or right driving motor reversion or two drives
Dynamic motor all stalls to avoid barrier.When hospital, intelligently multiplex tractor is not received by work in the time more than a setting
During instruction, intelligent navigation control module will activating charge navigation pattern, now intelligent navigation control module charging navigation mould
Formula program control signal is transferred to central processing module and carries out calculation process, to tractor after central processing module calculation process
The drive circuit of motor sends vector value and goes to control two number of turns of rotating forward reversion and the rotation of motors until close
Charging pile, after central processing module receives charging navigation model program control signal and immediately to automatic aligning charge control
Module sends preparation charging work order, and when being charged in hospital intelligently multiplex tractor, contraposition infrared remote receiver receives charging pile
During the infrared signal for sending, and automatic aligning charge control module is transferred to immediately, automatic aligning charge control module is received
After the signal that the contraposition infrared remote receiver that charges is transmitted, while transmitting stop sign to central processing module, central processing module connects
To receive immediately treat after stop sign and send vector value to the drive circuit of tractor motor goes control two to drive electricity
Machine is stalled, and another side sends charging instruction to induction charging head drive circuit, and induction charging head drive circuit is according to charging instruction
The motor of driving inductive charging head is removed, untill inductive charging head and charging pile are connected, is charged and is terminated or be connected to
Inductive charging head will be automatically retracted during work order.
In technical scheme more than as can be seen that the present invention have with strong points, practical, intelligence degree it is high,
The characteristics of easy for operation, safe and reliable, low cost.
In order to better illustrate the present invention, done furtherly with reference to specific embodiment and embodiment accompanying drawing
It is bright.
Brief description of the drawings
Fig. 1 is the Intelligent control circuit system block diagram of the specific embodiment of the invention.
Fig. 2 is a kind of front view of the intelligent multiplex tractor of hospital.
Fig. 3 be a kind of hospital intelligently many tractoration Medicine delivery carts when side view.
Fig. 4 is the A partial enlarged drawings of Fig. 3.
Fig. 5 is a kind of hospital intelligently display interface after multiplex tractor touch screen flat panel booting computer.
Fig. 6 is click on the display interface after delivery key.
Fig. 7 is to click on the interface shown after acknowledgement key in Fig. 6 after being input into password.
Fig. 8 is click in Fig. 5 delivering after key the interface for showing.
Fig. 9 is click on the interface shown after picking delivery key in Fig. 5.
Figure 10 is a kind of charging device cut-away view of the intelligent multiplex tractor of hospital.
Figure 11 is the A partial enlarged drawings of Figure 10.
In figure：1- main bodies；2- charged lithium cells；3- inductive charging heads；4- vehicle frames；5- tractor front casings；6-
Medicine delivery cart；7- cares for manual Touch control key；8- touch screen flat panel computers；9- cares for motor fixing frame；10- cares for mechanism；11- is cared for
Mechanism's tailstock；12- cares for motor；Detection radar on 13- main frames front；Detection radar under 14- main frames front；15- tractions are manual
Touch control key；Detection radar above 16- drawing head shells；17- induction charging head drive circuits；18- automatic aligning charge control moulds
Block；19- drawing head driving wheels；20- or so limit for height detection radars；21- bar code scan logging apparatus；22- walking prosecution cameras；
23- center line detection radars；The short outside obstacle detection radars of 24-；The short inner side obstacle detection radars of 25-；26- cares for bar in place
Sensor；The short middle obstacle detection radars of 27-；28- infrared transmitters；29- infrared remote receivers；30- addressees password it is automatic with
Machine generates wireless sending module；31- speech-sound intelligent calling modules；32- tractor rear casings；33- moves ahead video control module；
34- left and right wheels motors；35- wireless instructions receive program module；The drive circuit of 36- tractor motors；37- itself
Communications and liaison program module that position is mutually wireless；38- driver modules；39- intelligent navigation control modules；40- main frame hinging supporting shafts；
41- Radar Signal Processing modules；42- charges and aligns infrared remote receiver；43- central processing modules；44- cares for Based Intelligent Control mould
Block；45- car inductors to be cared for；46- induction charging head telescope motors；47- cares for motor-drive circuit；48- cares for bar folding and unfolding
Stop inductive control circuit；49- automatic sensing charging control circuits；50- charging piles；51- charges and aligns infrared transmitter；52- feels
Inductive charging head transmission mechanism.
Specific embodiment
From Fig. 1 ~ Figure 11 as can be seen that the present invention include being arranged on driver module 38 in touch screen flat panel computer 8, from
The mutual channel radio gang mould block 37 in body position, speech-sound intelligent calling module 31, move ahead video control module 33, addressee password it is automatic with
Machine generates wireless sending module 30, automatic aligning charge control module 42, cares for intelligent control module 44, Radar Signal Processing mould
Block 41, intelligent navigation control module 39, central processing module 43, the left and right limit for height for being arranged on the periphery of touch screen flat panel computer 8 are visited
Survey the upper and lower detection radar 13 in front, 14, detection radar 16, the traction above 205o drawing head shells of 20,255 ° of main cases of radar
Just center line detection radar 23, the bar code scan logging apparatus above five detection radars, drawing head shell in left and right below of head shell
21st, the drive circuit 36 of tractor motor, the manual Touch control key 15 of traction, walking monitoring camera 22, contraposition of charging are infrared
Receiver 42, induction charging head drive circuit 17, treat trailer inductor 45, care for bar sensors in place 26, care for motor driving
Circuit 47, care for manual Touch control key 7, infrared transmitter 28, infrared remote receiver 29.The driver module 38, self-position
Mutual channel radio gang mould block 37, speech-sound intelligent calling module 31, forward video control module 33, the automated randomized generation of addressee password
Wireless sending module 30, automatic aligning charge control module 18, care for intelligent control module 44, Radar Signal Processing module 41,
Intelligent navigation control module 39 is electrically connected with central processing module 43,20,255 ° of main cases of the left and right limit for height detection radar
The upper and lower detection radar 13 in front, 14, detection radar 16 above 205o drawing head shells, just below in left and right of drawing head shell
Center line detection radar 23 is electrically connected with Radar Signal Processing module 41 above five detection radars, drawing head shell, described to lead
Draw the drive circuit 36 of car motor, bar code scan logging apparatus 21 to be electrically connected with central processing module, draw manual touch-control
Key 15 is electrically connected with the drive circuit 36 of tractor motor, and walking monitoring camera 22 and forward video control module 33 are electric
Connection, charge contraposition infrared remote receiver 42, induction charging head drive circuit 17 are electrically connected with automatic aligning charge control module 18,
Trailer inductor 45 is treated, bar sensors in place 26 is cared for, is cared for motor-drive circuit 47, infrared transmitter 28, infrared remote receiver
29 with care for intelligent control module 44 and electrically connect, care for manual Touch control key 7 and electrically connected with motor-drive circuit 47 is cared for；It is described
Trailer inductor 45 is treated, bar sensors in place 26, infrared transmitter 28 is cared for, infrared remote receiver 29, is cared for motor-drive circuit
47th, the intelligent control module 44 of caring for being arranged in touch screen flat panel computer 8 constitutes and cares for bar folding and unfolding and stop inductive control circuit 48,
The induction charging head drive circuit 17, charge contraposition infrared remote receiver 42, automatic aligning charge control module 18 are constituted automatically
Induction charging controls circuit 49.Above-described described touch screen flat panel computer 8 is the touch-screen with smart mobile phone function
Panel computer.Intelligently multiplex tractor goes execution task, above-described touch to call hospital whenever and wherever possible for medical personnel
Wireless instructions are had additional in screen panel computer 8 and receives program module 35, wireless instructions receive program module 35 with center treatment mould
Block 43 is electrically connected, equipped with the wireless communications and liaison therewith of the common smart mobile phone to corresponding control program in touch screen flat panel computer 8, so
As long as medical personnel can just notify that intelligently multiplex tractor goes somewhere picking to be sent to somewhere for hospital using smart mobile phone, or calling is led to
Intelligently multiplex tractor comes to freight to know hospital.
Specific embodiment Intelligent control circuit system be so work：Being powered has smart mobile phone function after starting shooting
Touch screen flat panel computer or other operated keys stop certain hour after interface show automatically：Receive membrane keyboard, delivery membrane keyboard,
Picking delivery membrane keyboard, key frame is real-time navigation map and tractor position（See Fig. 5）, click on membrane keyboard interface of receiving
Display：Lower section is numeric keypad, above puts middle for picking password typing frame（See Fig. 6）, acknowledgement key interface is pressed after Password Input and is shown
Show：Addressee and Description of Goods bill of quantities（See Fig. 7）, being checked by acknowledgement key, at this moment central processing module 43 will be received
Make to this information and immediately calculation process and care for intelligent control module 44 backward and send instruction, care for intelligent control module 44
It is connected to after instructing and immediately treats and send the reversion that control vector value goes to control to care for motor 12 to motor-drive circuit 47 is cared for
So that it is automatically-unhooked to care for mechanism.Take goods away and push the display screen of Medicine delivery cart 6 and recover original interface, the multiplex tractor of intelligence after
The original task of continuous execution is stayed where one is, pending further orders；Click on delivery membrane keyboard interface display：Display screen lower section is numeric keypad and English
Alphabetic keypad, top row right side display alarm please be input into Description of Goods quantity, and have bar code is input into nothing by bar code scan logging apparatus
The use keyboard typing of bar code, display sends place typing frame in the middle of the row of top, and place, top row right side are sent in the input of typing inframe
Display addressee's name typing frame and addressee's cell-phone number typing frame, top row are below shipping list list（See Fig. 8）.Send goods
Thing filled in and finished with inventory, addressee, cell-phone number after putting well, when Medicine delivery cart 6 has been inserted into hospital's intelligently multiplex tractor
On vehicle frame 4 and when the sensing of trailer inductor 45 has car signal, at this moment will be received by upper acknowledgement key central processing module 43
To car in place with the two signals of acknowledgement key and make calculation process immediately and send instruction to intelligent control module 44 is cared for, care for
Intelligent control module 44 be connected to instruction after immediately treat and to care for motor-drive circuit 47 send control vector value go control to lead
The rotating forward of motor 12 is hung so that caring for mechanism's automatic coupling, hook cares for the letter that bar sensors in place 26 will be sensed afterwards in place
Number it is transmitted to and cares for intelligent control module 44, cares for intelligent control module 44 and be connected to after signal and deal with rapidly and to caring for electricity
Drive circuit 47 sends instruction, cares for motor-drive circuit 47 and is powered off to caring for motor 12 according to instruction.Display screen is extensive simultaneously
Multiple original interface, and the automated randomized hair of panel computer 8 under the treatment of the automated randomized generation wireless sending module 30 of addressee password
Addressee password is sent in addressee's mobile phone, at this moment the control signal input centre of the Navigator of intelligent navigation control module 39
Reason module 43, inputs to the drive circuit 36 of tractor motor after the computing of central processing module 43, and tractor drives electricity
The vector value that the drive circuit 36 of machine is then input into according to central processing module 43 after computing removes two motors 34. of control
The number of turns for rotating forward reversion and rotating is stopped after until hospital, intelligently goods is sent to destination by multiplex tractor, while parking in
Centre processing module 43 receives the signal in place of the Navigator of intelligent navigation control module 39 and rapid calculation process notifies voice
Intelligent call module 31 sends call-reminding consignee；Picking delivery is clicked on smart mobile phone or touch screen flat panel computer 8 to touch
Key interface display：Top display picking ground typing frame and delivery ground typing frame, centre display picking inventory list, lower section display number
Word keyboard and English letter keyboard（See Fig. 9）, the recovery of acknowledgement key display screen is pressed on the good picking ground of typing and delivery ground and picking inventory
Original interface.If the signal for now being sent with smart mobile phone, the touch that intelligently multiplex tractor passes through itself of all of hospital
The instruction that wireless instructions receiver module 35 in screen panel computer 8 is received is transmitted to central processing module 43, while each hospital
The multiplex tractor of intelligence determines position each with picking point, each doctor by the mutually wireless communications and liaison program module 37 of self-position
Institute intelligently 8 central processing module 43 and the mutually wireless communications and liaison program mould of self-position in multiplex tractor touch screen flat panel computer
Block 37 makes contrast calculation process jointly, only receives instruction and to the intelligent multiplex tractor of the nearest hospital in picking ground
The control signal of Navigator of intelligent navigation control module 39 can be input into central processing module 43, by central processing module
43 send rotating forward reversion and rotation that vector value removes two motors 34 of control to the drive circuit 36 of tractor motor
The number of turns until hospital, intelligently multiplex tractor reaches the drive circuit 36 of picking thing destination tractor motor to driving
Motor 34 is powered off.Picking delivery membrane keyboard is clicked on after reaching picking ground, after display screen shows and clicks on picking delivery membrane keyboard
Display is identical, goods is taken by upper acknowledgement key according to picking inventory, and at this moment intelligent navigation control module 39 is led in panel computer 8
Navigation signal is sent to central processing module 43 under the control of voyage sequence, navigation signal is after the calculation process of central processing module 43
Vector value is sent to the drive circuit 36 of tractor motor to go the rotating forward reversion of two motors 34 of control and rotate
Until hospital, intelligently multiplex tractor reaches delivery thing destination to the number of turns, and the drive circuit 36 of tractor motor is electric to driving
The intelligently multiplex tractor parking of the power-off of machine 34 hospital, at this moment the central processing module 43 in touch screen flat panel computer 8 is received and stopped
Car signal simultaneously notifies that speech-sound intelligent calling module 31 sends voice-sound call prompting picking people after making corresponding treatment.Smart mobile phone
Corresponding program in built-in upper flat plate computer can automatically with many intelligence wireless communications and liaison of multiplex tractor, any intelligence in institute
Mobile phone all can send delivery call instruction to the multiplex tractor of all intelligence.After the multiplex tractor of all intelligence receives instruction
Computing judgement will be each other carried out, finally an intelligence multiplex tractor nearest with delivery call instruction is sent will be automatic
Perform task with going to instruction calling.As each radar detection in the process of walking to have barrier when, the letter that radar will be detected
Number send Radar Signal Processing module 41 to, Radar Signal Processing module 41 to radar detection to signal pre-process after send out
Central processing module 43 is given, central processing module 43 carries out calculation process rapidly after being connected to pretreated signal, at computing
The drive circuit 36 for managing backward tractor motor sends vector value removes two motors 34 of control or left driving motor
Rotate forward or right driving motor is inverted or two motors 34 all stall to avoid barrier.Walking monitoring in the process of walking is taken the photograph
The image information in front of acquisition is inputed into forward video control mould 33 as first 22, the video control module 33 that moves ahead is connected to front figure
Calculation process is carried out as being pre-processed after information and pretreated image information in front being input into central processing module 43,
Vector value is sent to the drive circuit 36 of tractor motor go two motors 34 of control or left drive after calculation process
Dynamic motor is rotated forward or right driving motor is inverted or two motors 34 all stall to avoid barrier.Led when hospital is intelligently multiplex
Draw car more than one setting time in be not received by work order when, intelligent navigation control module 39 will activating charge navigation
Pattern, now the charging navigation model program control signal of intelligent navigation control module 39 is transferred to central processing module 43 is carried out
Calculation process, after the calculation process of central processing module 43 to the drive circuit 36 of tractor motor send vector value go control
The number of turns of the rotating forward reversion and rotation of two motors of system in central processing module 43 until close to charging pile 50, receiving and filling
Preparation charging work order is sent after conductance model plane formula program control signal and immediately to automatic aligning charge control module 18, when
Hospital intelligently charges contraposition infrared remote receiver 42 on multiplex tractor when receiving the infrared signal that charging pile 50 sends, and immediately
Automatic aligning charge control module 18 is transferred to, automatic aligning charge control module 18 receives charging contraposition infrared remote receiver 42
After the signal for transmitting, while stop sign is transmitted to central processing module 43, after central processing module 43 receives stop sign
Immediately treating and sending vector value to the drive circuit 36 of tractor motor goes two motors 34 of control to stall, another
While sending charging instruction to induction charging head drive circuit 17, induction charging head drive circuit 17 goes to drive according to charging instruction to be felt
The motor 46 of formula charging head 3 is answered, untill inductive charging first 3 and charging pile 50 are connected, is charged and is terminated or be connected to work
Inductive charging first 3 will be automatically retracted when instructing.
As can be seen that the present invention has with strong points, practical, intelligence degree in specific embodiment more than
The characteristics of high, easy for operation, safe and reliable, low cost.
Specific embodiment enumerated above is only one kind of numerous embodiments, it is impossible to enumerated.It is all according to the present invention
The improvement modification made of protection domain and modification belong to protection scope of the present invention, ought to be protected.
Claims (3)
1. the Intelligent control circuit system of the intelligent multiplex tractor of a kind of hospital, it is characterised in that including being arranged on touch screen flat panel
The mutual channel radio gang mould block of driver module, self-position, speech-sound intelligent calling module, the video that moves ahead in computer control mould
Block, addressee password are automated randomized to be generated wireless sending module, automatic aligning charge control module, cares for intelligent control module, thunder
Up to signal processing module, intelligent navigation control module, central processing module, the left and right limit of touch screen flat panel computer periphery is arranged on
Detection radar, drawing head shell above detection radar high, the upper and lower detection radar in front of 255 ° of main cases, 205o drawing head shells
Just center line detection radar, bar code scan logging apparatus, tractor drive above five detection radars, drawing head shell in left and right below
The drive circuit of dynamic motor, the manual Touch control key of traction, walking monitoring camera, charging contraposition infrared remote receiver, induction charging head
Drive circuit, trailer inductor is treated, bar sensors in place is cared for, is cared for motor-drive circuit, care for manual Touch control key, care for bar
Return sensor, the mutual channel radio gang mould block of the driver module, self-position, speech-sound intelligent calling module, move ahead regard
Frequency control module, addressee password are automated randomized to be generated wireless sending module, automatic aligning charge control module, cares for Based Intelligent Control
Module, Radar Signal Processing module, intelligent navigation control module are electrically connected with central processing module, the left and right limit for height detection
Detection radar above radar, the upper and lower detection radar in front of 255 ° of main cases, 205o drawing head shells, drawing head shell just under
Center line detection radar is electrically connected with Radar Signal Processing module above five detection radars, drawing head shell in face or so, institute
State the drive circuit of tractor motor, bar code scan logging apparatus to be electrically connected with central processing module, draw manual touch-control
Key is electrically connected with the drive circuit of tractor motor, and walking monitoring camera is electrically connected with forward video control module, is filled
Electricity contraposition infrared remote receiver, induction charging head drive circuit are electrically connected with automatic aligning charge control module, treat trailer inductor,
Care for bar sensors in place, care for motor-drive circuit, care for bar return sensor with care for intelligent control module and electrically connect,
Manual Touch control key is cared for be electrically connected with motor-drive circuit is cared for；It is described to treat trailer inductor, care for bar sensors in place, care for
Bar return sensor, care for motor-drive circuit, the intelligent control module being arranged in touch screen flat panel computer constitute care for bar
Folding and unfolding stops inductive control circuit, the induction charging head drive circuit, charging contraposition infrared remote receiver, automatic aligning charge control
Module composition automatic sensing charging control circuit.
2. the Intelligent control circuit system of the intelligent multiplex tractor of a kind of hospital according to claim 1, it is characterised in that
The bar return sensor of caring for is to be made up of infrared remote receiver and infrared transmitter, described touch screen flat panel computer be with
The touch screen flat panel computer of smart mobile phone function.
3. the Intelligent control circuit system of the intelligent multiplex tractor of a kind of hospital according to claim 1, it is characterised in that
Wireless instructions receiver module, wireless instructions receiver module and central processing module electricity are had additional in described touch screen flat panel computer
Connection, equipped with the wireless communications and liaison therewith of the common smart mobile phone to corresponding control program in touch screen flat panel computer.
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