CN107174457A - A kind of full-automatic vision guiding nurse's car and its control method - Google Patents
A kind of full-automatic vision guiding nurse's car and its control method Download PDFInfo
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- CN107174457A CN107174457A CN201710537305.XA CN201710537305A CN107174457A CN 107174457 A CN107174457 A CN 107174457A CN 201710537305 A CN201710537305 A CN 201710537305A CN 107174457 A CN107174457 A CN 107174457A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G12/00—Accommodation for nursing, e.g. in hospitals, not covered by groups A61G1/00 - A61G11/00, e.g. trolleys for transport of medicaments or food; Prescription lists
- A61G12/001—Trolleys for transport of medicaments, food, linen, nursing supplies
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nursing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of full-automatic vision guiding nurse's car, including Route guiding line harvester, avoidance detection device, steering, drive system, touch-screen, dolly, storage tank, processor；Storage tank is installed, the front of dolly is provided with fixed support above dolly；Touch-screen is installed at the top of storage tank, and touch-screen is connected with processor；Loaded medical equipment or medicine in storage tank, the collection in real time of Route guiding line harvester is laid in hospital environment the Route guiding line realizing route navigation on ground, obstacle signal is gathered by avoidance detection device in dolly traveling process and realizes avoiding barrier, processor control steering realizes that dolly is turned to, drive system drives dolly forward-reverse.The present invention need not lay related track, save very big space and material；It is being not required to find path in the case that very important person intervenes, voluntarily judge and recognize branch road, is realizing that full-automatic vision is guided, greatly mitigate the workload of health care workers, improve operating efficiency.
Description
Technical field
The present invention relates to technical field of medical equipment, specifically a kind of full-automatic vision guiding nurse's car and its controlling party
Method.
Background technology
At present, existing nurse's car is all, by nurse's hand push, medicine and Medical Devices to be sent into phase in medical equipment field
The ward answered.So very waste of manpower, in the market lacks by indicating accordingly come automatic identification terrestrial path guide line,
The full-automatic vision that medicine and Medical Devices are sent into corresponding ward guides nurse's car.
The content of the invention
To solve the above problems, it is an object of the invention to provide a kind of full-automatic vision guiding nurse's car and its controlling party
Method.
Technical solution of the present invention is：
A kind of full-automatic vision guides nurse's car, including Route guiding line harvester, avoidance detection device, steering system
System, drive system, touch-screen, dolly, storage tank, processor；Storage tank is installed, the front of dolly is provided with fixation above dolly
Support；Touch-screen is installed at the top of storage tank, and touch-screen is connected with processor；Loaded medical equipment or medicine in storage tank, lead to
The Route guiding line realizing route navigation that guide line harvester collection in real time in path is laid in hospital environment on ground is crossed, it is small
Garage gathers obstacle signal by avoidance detection device during entering and realizes avoiding barrier, and steering system is controlled by processor
System realizes that dolly is turned to, drive system drives dolly forward-reverse.
The Route guiding line harvester uses the camera on the fixed support of dolly；The output of camera
End, the output end of touch-screen connect the input of processor, output end connection steering, the drive system of processor.
The avoidance detection device uses the ultrasonic detector being arranged on fixed support；The output of ultrasonic detector
The input of end connection processor.
The steering includes steering lever, eccentric wheel, steering wheel；Steering lever is by a T-bar and two companies of steering
Bar is constituted, and the cross bar two ends of T-bar have hook formation, and montant one end of T-bar is connected to the middle part of cross bar, other end insertion
Eccentric wheel；Steering link is the bar linkage structure with 90 degree of corners, and one end has hook formation, the hook-shaped knot of two steering links
Hook formation of the structure respectively with cross bar two ends is connected, and the other end of two steering links connects two front-wheel centers of dolly respectively
Place；The output shaft connecting eccentric wheel of steering wheel.
Car interior also installs a fixed plate, and fixed plate is provided with provides the recessed of tracks for the montant of the T-bar
Groove, drive signal of the steering wheel reception processing device according to produced by Route guiding line harvester, avoidance detection device collection information,
Dolly is driven to carry out steering operation, the montant for rotating the T-bar that drive is connected with eccentric wheel of steering wheel is realized left along concave slot sports
Right turn.
The drive system includes motor, driving cross bar；The two ends of driving cross bar are connected to two rear cars of dolly
It is fixed with the center of wheel, driving cross bar on first gear, the output shaft of motor and is fixed with second gear, first gear
Engaged with second gear, second gear drives the first gear engaged to rotate with the output shaft rotation of motor, so that
Realize that driving cross bar drives the rotation of two rear wheels of dolly；Motor reception processing device is gathered according to Route guiding line and filled
Put, the drive signal produced by avoidance detection device collection information, driving dolly carries out forward/backward operation.
Described full-automatic vision guides the control method of nurse's car, it is characterised in that including：
Selected by touch-screen on the good map with Route guiding lines matching of advance typing departure place, destination and
Route, and medical equipment and medicine information by being loaded in touch-screen typing storage tank；In the incoming processor of above- mentioned information；
Full-automatic vision guiding nurse's car is placed on Route guiding line, starts stroke, the camera shot downwards and super
Acoustic detector is started working, and camera, ultrasonic detector are by the incoming processor of the data collected；
The Route guiding line that processor identification camera is collected is straight trip, is turned or branch road：
If straight trip, then one drive signal of motor of drive system is sent to, motor is believed according to driving
Number work drive dolly rear wheel advance；
If turning, then one turn signal of steering wheel in steering is sent to, steering wheel rotates according to turn signal
The eccentric wheel being connected on certain angle, steering wheel drives the steering that steering lever drives front-wheel to carry out respective direction；
If branch road, then contrasted according to the route set when starting working, it is determined that the direction turned to, and in steering
One turn signal of steering wheel, the eccentric wheel being connected on steering wheel drives steering lever to drive front-wheel to carry out turning for respective direction
To；
The data that processor is collected according to ultrasonic detector in dolly traveling process determine whether barrier：
If so, then the motor in control drive system stops operating, dolly stops, and waits barrier to move away from small
Motor driving dolly in car, control drive system continues to move ahead, until dolly is arrived at according to setting path.
Beneficial effect：
The present invention need not lay related track, only terrestrial path guide line need to be arranged on the ground, compared to rail mounted
Vision guide car saved very big space and material；Identification can be passed through according to setting place and terrestrial path guide line
Medicine and Medical Devices are sent to related ward by terrestrial path guide line；Be not required to very important person intervene in the case of find path,
It can voluntarily judge and recognize branch road, realize that full-automatic vision is guided, dramatically reduce the workload of health care workers, improve work
Make efficiency.
Brief description of the drawings
Fig. 1 is full-automatic vision guiding nurse's car overall structure diagram in the specific embodiment of the invention, and 1- is touched
Screen, 2- ultrasonic detectors, 2- dollies, 3- storage tanks, 4- fixed supports, 5- cameras, 6- ultrasonic detectors, 7- is eccentric
Wheel, 8- steering wheels, 9- steering links, 10- cross bars, 11- montants, 12- motors, 13- driving cross bars, 14- first gears, 15-
Second gear, 16- fixed plates, 17- grooves, 18- handrails；
Fig. 2 is full-automatic vision guiding nurse's car steering system structural schematic diagram in the specific embodiment of the invention；
Fig. 3 is full-automatic vision guiding nurse's motor vehicle drive system structural representation in the specific embodiment of the invention；
Fig. 4 is the car interior structural representation in the specific embodiment of the invention.
Embodiment
The embodiment to the present invention elaborates below in conjunction with the accompanying drawings.
Embodiment 1
Full-automatic vision guiding nurse's car as shown in Figure 1, including Route guiding line harvester, avoidance detection device,
Steering, drive system, touch-screen 1, dolly 2, storage tank 3, processor.Storage tank 3 is installed in the top of dolly 2, and dolly 2 is just
Face is provided with fixed support 4；Touch-screen 1 is installed to the top of storage tank 3, and touch-screen 1 is connected with processor, processor respectively with road
Footpath guide line harvester, avoidance detection device, steering, drive system connection.Loaded medical equipment or medicine in storage tank 3
Product, the medical equipment or medicine information that destination and input are loaded, passage path guide line harvester are selected by touch-screen 1
Collection in real time is laid in hospital environment in the Route guiding line realizing route navigation on ground, the traveling process of dolly 2 by keeping away
Barrier detection device collection obstacle signal realize avoiding barrier, by processor control steering realize dolly 2 turn to, by
The processor control drive system driving forward-reverse of dolly 2.
Embodiment 2
On the basis of embodiment 1, Route guiding line harvester uses taking the photograph on the fixed support 4 of dolly 2
As first 5；Output end, the output end of touch-screen 1 of camera 5 connect the input of processor, and the output end connection of processor turns
To system, drive system.The type selecting of camera 5 is OV7620, and processor type selecting is SPMC75 series monolithics or DSP, PLC.
The Route guiding line that dolly 2 is laid on ground by identification (is used black with one fixed width in present embodiment
Line) navigate, in order to improve the accuracy of identification, Route guiding line should have certain width, at the same in gray scale with ground
Background has larger difference.Because dolly 2 is mainly travelled in the environment of room hospital, under conditions of lighting is more sufficient,
Path image captured by camera has the characteristics that：
(1) ground gray scale is than more uniform, and grey scale change amplitude is small；
(2) there is larger contrast in path gray scale and ground gray scale；
(3) smaller due to shooting window, uneven illumination influences little to gradation of image；
(4) ground is substantially without spot, and path is blocked less, and chaff interference is few in background.
The purpose of Path Recognition is that the path in front of moving of car is finally obtained according to the Route guiding line image collected
Information, identification process can be divided mainly into three processes：IMAQ, image binaryzation and black line are extracted and image filtering.
The image that camera collection is returned is the gray-scale map with 256 GTGs, due to only needing to recognize the black line on ground,
Know the black and white situation on ground, for the ease of the further processing of image, two are carried out to the image that collection is returned
Value.The left and right boundary point of every row black line is accurately found out in view data after binarization.After binary conversion treatment
There is stain interference in view data, removing these stains by image filtering disturbs.
To avoid full-automatic vision from guiding nurse's car arbitrarily to be opened during traveling, it can install close on storage tank
Code locking device, is mainly made up of steering wheel and lock core piston.It is connected with cogged steering wheel with processor, and the tooth on lock core piston
Wheel is mutually engaged with the gear on steering wheel.Identification is compared by inputting password on the touchscreen, issuing processor after success refers to
Order, processor receives instruction and the forward or reverse of certain angle is carried out according to steering wheel of the instruction control with gear, so as to realize
Switch lock.
Embodiment 3
On the basis of embodiment 1, avoidance detection device uses the ultrasonic detector 6 being arranged on fixed support 4；It is super
The output end of acoustic detector 6 connects the input of processor.
Embodiment 4
On the basis of embodiment 1, steering as shown in Figure 2 includes steering lever, eccentric wheel 7, steering wheel 8；Turn to
Lever is made up of a T-bar and two steering links 9, and the two ends of cross bar 10 of T-bar have hook formation, the montant of T-bar
11 one end are connected to the middle part of cross bar 10, other end insertion eccentric wheel 7；Steering link 9 is the bar linkage structure with 90 degree of corners,
One end has a hook formation, and the hook formation of the hook formations of two steering links 9 respectively with the two ends of cross bar 10 is connected, and two turn
Connect two front-wheel centers of dolly 2 respectively to the other end of connecting rod.The output shaft connecting eccentric wheel 7 of steering wheel 8.Such as Fig. 4 institutes
One fixed plate 16 is also installed, fixed plate 16 is provided with the groove of the offer tracks of montant 11 for T-bar inside the dolly 2 shown
17, driving letter of the reception processing device of steering wheel 8 according to produced by Route guiding line harvester, avoidance detection device collection information
Number, driving dolly 2 carries out steering operation, and the rotation of steering wheel 8 drives the montant 11 of T-bar that is connected with eccentric wheel 7 along groove 17
Motion, realizes left and right turn.
Embodiment 5
On the basis of embodiment 1, drive system as shown in Figure 3 includes motor 12, driving cross bar 13；Driving is horizontal
The two ends of bar 13, which are connected on the center of two rear wheels of dolly 2, driving cross bar 13, is fixed with first gear 14, driving electricity
Second gear 15 is fixed with the output shaft of machine 12, first gear 14 is engaged with second gear 15, second gear 15 is with driving electricity
The output shaft rotation of machine 12, drives the first gear 14 engaged to rotate, so as to realize that driving cross bar 13 drives 2 two, dolly
The rotation of rear wheel.The reception processing device of motor 12 gathers information according to Route guiding line harvester, avoidance detection device
Produced drive signal, driving dolly 2 carries out forward/backward operation.
Embodiment 6
On the basis of embodiment 1, Route guiding line harvester uses taking the photograph on the fixed support 4 of dolly 2
As first 5；The output end of camera 5 connects the input of processor, and the output end of processor connects the defeated of the steering wheel 8 of steering
Enter end, the input of the motor 12 of drive system.Avoidance detection device uses the ultrasonic wave being arranged on fixed support 4 to visit
Survey device 6；The output end of ultrasonic detector 6 connects the input of processor.
Steering as shown in Figure 2 includes steering lever, eccentric wheel 7, steering wheel 8；Steering lever is by a T-bar and two
Individual steering link 9 is constituted, and the two ends of cross bar 10 of T-bar have hook formation, and one end of montant 11 of T-bar is connected to cross bar 10
Middle part, other end insertion eccentric wheel 7；Steering link 9 is the bar linkage structure with 90 degree of corners, and one end has hook formation, two
Hook formation of the hook formation of individual steering link 9 respectively with the two ends of cross bar 10 is connected, the other end difference of two steering links
Connect two front-wheel centers of dolly 2.The output shaft connecting eccentric wheel 7 of steering wheel 8.
Drive system as shown in Figure 3 includes motor 12, driving cross bar 13；The two ends of driving cross bar 13 are connected to small
It is fixed with the center of two rear wheels of car 2, driving cross bar 13 on first gear 14, the output shaft of motor 12 fixed
There is second gear 15, first gear 14 is engaged with second gear 15, and second gear 15 is with the output shaft rotation of motor 12, band
The dynamic first gear 14 engaged is rotated, so as to realize that driving cross bar 13 drives the rotation of 2 two rear wheels of dolly.Driving electricity
The drive signal of the reception processing device of machine 12, driving dolly 2 carries out forward/backward operation.
The control method of full-automatic vision guiding nurse's car is as follows in the present embodiment：
Selected by touch-screen on the good map with Route guiding lines matching of advance typing departure place, destination and
Route, and medical equipment and medicine information by being loaded in touch-screen typing storage tank；In the incoming processor of above- mentioned information.
Full-automatic vision guiding nurse's car is placed on Route guiding line, starts stroke, the camera shot downwards and super
Acoustic detector is started working, and camera, ultrasonic detector are by the incoming processor of the data collected.
The Route guiding line that processor identification camera is collected is straight trip, is turned or branch road：
If straight trip, then one drive signal of motor of drive system is sent to, motor is believed according to driving
Number work drive dolly rear wheel advance；
If turning, then one turn signal of steering wheel in steering is sent to, steering wheel rotates according to turn signal
The eccentric wheel being connected on certain angle, steering wheel drives the steering that steering lever drives front-wheel to carry out respective direction；
If branch road, then contrasted according to the route set when starting working, it is determined that the direction turned to, and in steering
One turn signal of steering wheel, the eccentric wheel being connected on steering wheel drives steering lever to drive front-wheel to carry out turning for respective direction
To；
The data that processor is collected according to ultrasonic detector in dolly traveling process determine whether barrier：
If so, then the motor in control drive system stops operating, dolly stops, and waits barrier to move away from small
Motor driving dolly in car, control drive system continues to move ahead, until dolly is arrived at according to setting path.
Nurse in ward can be entered after required medicine or Medical Devices are taken away by the handrail 18 on dolly to dolly
Row is turned to, and setting path is by dolly backtracking nurse station, or reaches next ward.
Claims (8)
1. full-automatic vision guides nurse's car, it is characterised in that including Route guiding line harvester, avoidance detection device, turn
To system, drive system, touch-screen (1), dolly (2), storage tank (3), processor；Storage tank (3) is installed above dolly (2),
The front of dolly (2) is provided with fixed support (4)；Touch-screen (1) is installed at the top of storage tank (3), touch-screen (1) and processor
Connection；Loaded medical equipment or medicine in storage tank (3), collection is laid on hospital's ring to passage path guide line harvester in real time
Obstacle is gathered by avoidance detection device in Route guiding line realizing route navigation on domestic ground, dolly (2) traveling process
Thing signal realizes avoiding barrier, controls steering to realize that dolly (2) is turned to, drive system drives dolly by processor
(2) forward-reverse.
2. full-automatic vision according to claim 1 guides nurse's car, it is characterised in that the Route guiding line collection dress
Put using the camera (5) on the fixed support (4) of dolly (2)；The output end of camera (5), touch-screen (1) it is defeated
Go out the input of end connection processor, output end connection steering, the drive system of processor.
3. full-automatic vision according to claim 1 guides nurse's car, it is characterised in that the avoidance detection device is used
Ultrasonic detector (6) on fixed support (4)；The output end of ultrasonic detector (6) connects the input of processor
End.
4. full-automatic vision according to claim 1 guides nurse's car, it is characterised in that the steering includes turning to
Lever, eccentric wheel (7), steering wheel (8)；Steering lever is made up of a T-bar and two steering links (9), the cross bar of T-bar
(10) two ends have hook formation, and montant (11) one end of T-bar is connected to the middle part of cross bar (10), other end insertion eccentric wheel
(7)；Steering link (9) is the bar linkage structure with 90 degree of corners, and one end has hook formation, the hook of two steering links (9)
Hook formation of the shape structure respectively with cross bar (10) two ends is connected, and the other end of two steering links (9) connects dolly (2) respectively
Two front-wheel centers；The output shaft connecting eccentric wheel (7) of steering wheel (8).
5. full-automatic vision according to claim 4 guides nurse's car, it is characterised in that also install one inside dolly (2)
Individual fixed plate (16), fixed plate (16) is provided with the groove (17) of montant (11) the offer tracks for the T-bar, steering wheel
(8) drive signal of the reception processing device according to produced by Route guiding line harvester, avoidance detection device collection information, driving
Dolly (2) carries out steering operation, and the montant (11) of the T-bar that the rotation drive of steering wheel (8) is connected with eccentric wheel (7) is along groove
(17) move, realize left and right turn.
6. full-automatic vision according to claim 1 guides nurse's car, it is characterised in that the drive system includes driving
Motor (12), driving cross bar (13)；The two ends of driving cross bar (13) are connected to the center of two rear wheels of dolly (2), drive
It is fixed with dynamic cross bar (13) on first gear (14), the output shaft of motor (12) and is fixed with second gear (15), first
Gear (14) is engaged with second gear (15), and second gear (15) drives and nibbled with it with the output shaft rotation of motor (12)
The first gear (14) of conjunction is rotated, so as to realize that driving cross bar (13) drives the rotation of (2) two rear wheels of dolly；Motor
(12) drive signal of the reception processing device according to produced by Route guiding line harvester, avoidance detection device collection information, drives
Dynamic dolly (2) carries out forward/backward operation.
7. full-automatic vision according to claim 1 guides nurse's car, it is characterised in that
The Route guiding line harvester uses the camera (5) on the fixed support (4) of dolly (2)；Camera
(5) output end connects the input of processor, the input of the steering wheel (8) of the output end connection steering of processor, drive
The input of the motor (12) of dynamic system；
The avoidance detection device uses the ultrasonic detector (6) being arranged on fixed support；Ultrasonic detector (6) it is defeated
Go out the input of end connection processor；
The steering includes steering lever, eccentric wheel (7), steering wheel (8)；Steering lever is turned to by a T-bar and two
Connecting rod (9) is constituted, and cross bar (10) two ends of T-bar have hook formation, and montant (11) one end of T-bar is connected to cross bar (10)
Middle part, the other end insertion eccentric wheel (7)；Steering link (9) is the bar linkage structure with 90 degree of corners, and one end has hook-shaped knot
Structure, the hook formation of the hook formations of two steering links (9) respectively with cross bar (10) two ends is connected, two steering links (9)
The other end connect two front-wheel centers of dolly (2) respectively；The output shaft connecting eccentric wheel (7) of steering wheel (8)；
The drive system includes motor (12), driving cross bar (13)；The two ends of driving cross bar (13) are connected to dolly (2)
Two rear wheels center, be fixed with first gear (14), the output shaft of motor (12) in driving cross bar (13)
Second gear (15) is fixed with, first gear (14) is engaged with second gear (15), and second gear (15) is with motor (12)
Output shaft rotation, drive the first gear (14) that engages to rotate, so as to realize that driving cross bar (13) drives dolly (2) two
The rotation of individual rear wheel；The drive signal of motor (12) reception processing device, driving dolly (2) carries out forward/backward operation.
8. the full-automatic vision described in claim 7 guides the control method of nurse's car, it is characterised in that including：
Departure place, destination and road are selected on the good map with Route guiding lines matching of advance typing by touch-screen
Line, and medical equipment and medicine information by being loaded in touch-screen typing storage tank；In the incoming processor of above- mentioned information；
Full-automatic vision guiding nurse's car is placed on Route guiding line, starts stroke, the camera and ultrasonic wave shot downwards
Detector is started working, and camera, ultrasonic detector are by the incoming processor of the data collected；
The Route guiding line that processor identification camera is collected is straight trip, is turned or branch road：
If straight trip, then be sent to one drive signal of motor of drive system, motor is according to drive signal work
Make to drive the rear wheel of dolly to advance；
If turning, then one turn signal of steering wheel in steering is sent to, steering wheel rotates certain according to turn signal
Angle, the eccentric wheel being connected on steering wheel drives the steering that steering lever drives front-wheel to carry out respective direction；
If branch road, then contrasted according to the route set when starting working, it is determined that the direction turned to, and the rudder in steering
The eccentric wheel being connected on one turn signal of machine, steering wheel drives the steering that steering lever drives front-wheel to carry out respective direction；
The data that processor is collected according to ultrasonic detector in dolly traveling process determine whether barrier：
If so, then the motor in control drive system stops operating, dolly stops, and waits barrier to move away from dolly,
The motor driving dolly in drive system is controlled to continue to move ahead, until dolly is arrived at according to setting path.
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| CN201710537305.XA CN107174457A (en) | 2017-07-04 | 2017-07-04 | A kind of full-automatic vision guiding nurse's car and its control method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111821195A (en) * | 2020-06-15 | 2020-10-27 | 沈阳农业大学 | Automatic old-people-assisting vehicle and using method thereof |
| CN113662784A (en) * | 2021-08-26 | 2021-11-19 | 廖慧颖 | Intelligent nursing vehicle |
| CN114376831A (en) * | 2021-12-16 | 2022-04-22 | 中国人民解放军第三〇五医院 | Multifunctional integrated intelligent nursing vehicle based on 5G remote control |
| CN114533446A (en) * | 2021-12-24 | 2022-05-27 | 北京航天测控技术有限公司 | Medical mobile nursing robot |
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