CN108578134A - A kind of medical AGV trolleies intelligent dispensing system - Google Patents
A kind of medical AGV trolleies intelligent dispensing system Download PDFInfo
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- CN108578134A CN108578134A CN201810214989.4A CN201810214989A CN108578134A CN 108578134 A CN108578134 A CN 108578134A CN 201810214989 A CN201810214989 A CN 201810214989A CN 108578134 A CN108578134 A CN 108578134A
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- elevator
- lesion
- rfid
- floor
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- 230000003902 lesion Effects 0.000 claims abstract description 39
- 238000000926 separation method Methods 0.000 claims abstract description 36
- 238000002955 isolation Methods 0.000 claims abstract description 19
- 230000006698 induction Effects 0.000 claims abstract description 17
- 238000013475 authorization Methods 0.000 claims abstract description 9
- 229940079593 drug Drugs 0.000 claims abstract description 9
- 239000003814 drug Substances 0.000 claims abstract description 9
- 235000011888 snacks Nutrition 0.000 claims description 19
- 229940126680 traditional chinese medicines Drugs 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 9
- 230000001939 inductive effect Effects 0.000 claims description 5
- 238000001990 intravenous administration Methods 0.000 claims description 4
- 238000012377 drug delivery Methods 0.000 claims description 3
- 238000010200 validation analysis Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000012790 confirmation Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 2
- 230000003993 interaction Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 abstract description 2
- 239000010410 layer Substances 0.000 description 25
- 238000005516 engineering process Methods 0.000 description 4
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001647 drug administration Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
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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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Nursing (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Elevator Control (AREA)
- Warehouses Or Storage Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of medical AGV trolleies intelligent dispensing systems, including：AGV trolleies and an isolation cabinet and central controller, authorization module, the first RFID reader with multiple separation layers, AGV trolleies drive isolation cabinet movement；Authorization module links with induction module, for opening separation layer under the permission of setting；Microswitch is used to incude the closure of separation layer；Touch display screen is used for the confirmation of staff for showing the corresponding lesion information of each separation layer.Second RFID reader carries out floor information update to RFID electronic label, and electric life controller obtains RFID electronic label relevant information, control elevator operation by the first RFID reader.The present invention combines safety, the diversity of Hospital Drugs dispatching conscientiously, by the way that hierarchical design, the independent control of separation layer of cabinet is isolated, while safety is sent to each lesion, reduces labor cost and operating cost.Intelligent interaction further is carried out with elevator, completes the whole control of medical logistics overall process.
Description
Technical field
The present invention relates to medicinal intelligent logistlcs technology fields, more particularly to a kind of medical AGV trolleies intelligent dispensing system.
Background technology
Automatic navigation vehicle (AGV) also known as automatic guided vehicle are a kind of unpiloted intelligent handbarrows, as movement
The robot system of formula gradually becomes one of the key equipment of modern industry automatic Material Handling System.Although AGV trolleies are in recent years
To play significant role in flexible manufacturing industry, automated warehousing industry, but be still blank in the application of medical logistics.
In medical logistic industry, growing logistics capacity and the contradiction of high cost of labor are more and more obvious, and are being cured
In institute, need in a hurry it is a set of efficiently, efficiently logistics system, give full play to the effect of AGV trolleies and intelligent medical distribution platform,
Break through space limitation in combination with Internet of Things technology, the features such as, strong antijamming capability contactless using RFID technique, real-time response vein
Between modification of drug center (PIVAS), Inpatient Dispensary and demand lesion and at the information of the related logistics of other types medical treatment
Reason solves the autonomous multi-level elevator linkage problem of AGV trolleies, reaches building for medicinal intelligent distribution platform system.
Invention content
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of medical AGV trolleies intelligent dispensing system.
The purpose of the present invention is what is be achieved through the following technical solutions：A kind of medical AGV trolleies intelligent dispensing system, packet
It includes：AGV trolleies and an isolation cabinet and central controller, communication module, authorization module, setting with multiple separation layers
The first RFID reader at elevator doorway, the AGV trolleies drive isolation cabinet movement；
First RFID reader is connected with electric life controller；The isolation cabinet includes RFID electronic label, the 2nd RFID readings
Write device, touch display screen, multiple microswitches, multiple induction modules；One microswitch, induction module correspond to one every
Absciss layer；
Central controller is connected with touch display, the second RFID reader, AGV trolleies；It is stored in central controller
Map is dispensed, including takes the coordinate of floor and coordinate and elevator where snack made with traditional Chinese medicines place floor and coordinate, lesion, and is set with and takes
The travel route of the round-trip elevator of snack made with traditional Chinese medicines, the round-trip elevator in each lesion；It is described that take snack made with traditional Chinese medicines include intravenous pharmacy allotment center
(PIVAS), pharmacy；
Allocation step is as follows：
(1) it initializes：Taking snack made with traditional Chinese medicines that drug to be dispensed is put into corresponding separation layer, by the corresponding disease of each separation layer
Area's information input is to central controller；The separation layer recorded in central controller-lesion information is transmitted by communication module, in tactile
It touches display and carries out presentation of information, and the floor corresponding to lesion is sent to the second RFID reader successively；
(2) second RFID readers are used to the floor information of receiving being written to RFID electronic label, first to wait for wait matching
The floor information of the lesion sent is first written into RFID electronic label；
(3) AGV trolleies obtain driving path from central controller, travel to elevator and come in and go out from warehouse according to preset path
Mouthful, the first RFID reader being arranged at elevator doorway acquires the signal of RFID electronic label in real time, and is sent to elevator
Controller；Electric life controller reads AGV trolleies from the RFID electronic label signal obtained and is currently located floor and purpose floor,
Control elevator first reaches current floor, and elevator door is opened, and AGV trolleies drive into elevator, then reach purpose floor；Elevator door is beaten
It opens, AGV trolleies are driven out to elevator；
(4) AGV trolleies obtain elevator to the driving path of current lesion to be dispensed, according to preset road from central controller
Diameter exercises to corresponding lesion and takes snack made with traditional Chinese medicines.
(3) after the authorized module mandate of induction module, corresponding separation layer unlock；After separation layer is closed, microswitch hair
Send switching value closure signal；
(4) when the microswitch of the corresponding all separation layers in a certain lesion sends switching value closure signal, and work people
After member is by touch display screen input validation signal, the floor corresponding to next lesion is sent to second by central controller
RFID reader, the second RFID reader update the floor information of RFID electronic label；
(5) the floor letter that the first RFID reader at elevator doorway reads updated RFID electronic label is set
Breath, and elevator is controlled by electric life controller and reaches respective storey, carry out the drug delivery of next lesion.
(6) after the dispatching for completing all lesiones, central controller will take the floor corresponding to snack made with traditional Chinese medicines to be sent to the 2nd RFID
Reader, the second RFID reader update the floor information of RFID electronic label, and controlling elevator by electric life controller reaches phase
Floor is answered, and is back to according to preset path and takes snack made with traditional Chinese medicines.
Further, further include sensor assembly, incude the opening and closing of elevator door, and inductive signal is sent to central control
Device, central controller send induction letter according to the movement of actuated signal control AGV trolleies, elevator door opening, sensor assembly
Number, triggering AGV trolleies drive into or are driven out to elevator.
Further, the authorization module is the non-contact IC card (intelligence after particular sector carries out priority assignation
Card).
Further, the separation layer is installed on isolation cabinet by a locking module, and locking module is connected with induction module.
(locking module is selected from magnetic key operated lock).
Further, further include RFID locating modules, the position for positioning isolation cabinet.
The beneficial effects of the present invention are：The present invention conscientiously combine Hospital Drugs dispatching safety, diversity, by every
The independent control of hierarchical design, separation layer from cabinet reduces labor cost and operation while safety is sent to each lesion
Cost.Intelligent interaction further is carried out with elevator, completes the whole control of medical logistics overall process.
Description of the drawings
Fig. 1 is the structure chart of the medical AGV trolleies of the present invention and isolation cabinet；
Fig. 2 is the data flow of present system；
Fig. 3 is the medical AGV trolleies smart allocation path planning figure of the present invention；
Each component label is as follows in attached drawing 1：1, supporting rack, 2, isolation cabinet, 3, separation layer, 4, microswitch, 5, locating core
Piece, 6, communication module, 7, induction module, 8, touch display, 9, AGV trolleies, 10, RFID electronic label, the 11, the first RFID is read
Write device.
Each component label is as follows in attached drawing 2：11, the second RFID reader, 12, electric life controller.
Specific implementation mode
With reference to attached drawing of the present invention, technical scheme of the present invention is described in detail so that advantages of the present invention and
Feature is more aobvious in being readily appreciated by one skilled in the art, to make apparent define to protection scope of the present invention.
Referring to Fig. 1, a kind of medical AGV trolleies smart allocation plateform system of this hair of Fig. 2, including：
AGV trolleies and one isolation cabinet and central controller with multiple separation layers, communication module, authorization module,
The first RFID reader being arranged at elevator doorway, the AGV trolleies drive isolation cabinet movement；First RFID reader with
Electric life controller is connected；
Multiple separation layers of the isolation cabinet are isolated on cabinet and are also set up convenient for distributing the drug and intravenous administration of different lesiones
There are RFID electronic label, the second RFID reader, touch display screen, multiple microswitches, multiple induction modules；One fine motion is opened
It closes, an induction module of swiping the card corresponds to a separation layer；
Authorization module links with induction module, for opening separation layer under the permission of setting；Microswitch be used for every
After absciss layer is closed, switching value closure signal is sent；Touch display screen is used in combination for showing the corresponding lesion information of each separation layer
In the confirmation of staff.
Second RFID reader carries out data (floor information) to RFID electronic label and updates, the acquisition of the first RFID reader
The information of RFID electronic label, electric life controller are communicated with the first RFID reader using RS485 agreements, and RFID electricity is obtained
Subtab relevant information, control elevator operation.
Central controller is communicated with communication module using ICP/IP protocol, to connect touch display, second
RFID reader, AGV trolleies；It is stored with dispatching map in central controller, including takes snack made with traditional Chinese medicines (intravenous pharmacy allotment center
PIVAS or pharmacy) where the coordinate of floor and coordinate and elevator where floor and coordinate, lesion, and it is round-trip to be set with warehouse
The travel route of elevator, the round-trip elevator in each lesion；
Allocation step is as follows：
(1) it initializes：Taking snack made with traditional Chinese medicines that drug to be dispensed is put into corresponding separation layer, by the corresponding disease of each separation layer
Area's information input is to central controller；The separation layer recorded in central controller-lesion information is transmitted by communication module, in tactile
It touches display and carries out presentation of information, and the floor corresponding to lesion is sent to the second RFID reader successively；
(2) second RFID readers are used to the floor information of receiving being written to RFID electronic label, first to wait for wait matching
The floor information of the lesion sent is first written into RFID electronic label；
(3) AGV trolleies obtain driving path from central controller, travel to elevator and come in and go out from warehouse according to preset path
Mouthful, the first RFID reader being arranged at elevator doorway acquires the signal of RFID electronic label in real time, and is sent to elevator
Controller；Electric life controller reads AGV trolleies from the RFID electronic label signal obtained and is currently located floor and purpose floor,
Control elevator first reaches current floor, and elevator door is opened, and AGV trolleies drive into elevator, then reach purpose floor；Elevator door is beaten
It opens, AGV trolleies are driven out to elevator；
(4) AGV trolleies obtain elevator to the driving path of current lesion to be dispensed, according to preset road from central controller
Diameter exercises to corresponding lesion and takes snack made with traditional Chinese medicines.
(3) Inpatient Dispensary related personnel checks that each interlayer corresponds to lesion and classifying drugs text by touch display first
Word information is placed in corresponding induction module using induction module (IC card) and opens progress authority recognition, purview certification to separation layer
Afterwards, separation layer unlocks, you can takes out drug therein etc.；When complete specify the lesion dispatching task after, close it is each every
Absciss layer, microswitch send switching value closure signal；
(4) when the microswitch of the corresponding all separation layers in a certain lesion sends switching value closure signal, and work people
After member is by touch display screen input validation signal, these switching value closure signals and confirmation signal are transmitted to by communication module
Floor corresponding to next lesion is sent to the second RFID reader, the 2nd RFID by central controller, central controller
Reader updates the floor information of RFID electronic label；
(5) the floor letter that the first RFID reader at elevator doorway reads updated RFID electronic label is set
Breath, and elevator is controlled by electric life controller and reaches respective storey, carry out the drug delivery of next lesion.
(6) after the dispatching for completing all lesiones, central controller will take the floor corresponding to snack made with traditional Chinese medicines to be sent to the 2nd RFID
Reader, the second RFID reader update the floor information of RFID electronic label, and controlling elevator by electric life controller reaches phase
Floor is answered, and is back to according to preset path and takes snack made with traditional Chinese medicines.
As a preferred option, further include sensor assembly, incude the opening and closing of elevator door, and inductive signal is sent to
Controller, central controller is entreated to be sent according to the movement of actuated signal control AGV trolleies, elevator door opening, sensor assembly
Inductive signal, triggering AGV trolleies drive into or are driven out to elevator.
Authorization module of the present invention be can be non-contact IC card, such as worker's all-purpose card, through simple priority assignation
After can be realized.
As common technical means in the art, the separation layer is installed on isolation cabinet by a locking module, locks mould
Block is connected with induction module.Magnetic key operated lock may be used in locking module.
Further include RFID locating modules, the position for positioning isolation cabinet.
The foregoing is merely the specific implementation modes of invention, but scope of protection of the present invention is not limited thereto, any ripe
It knows those skilled in the art in the technical scope disclosed by the present invention, directly or indirectly applies to other relevant technologies
Field is included within the scope of the present invention.
Claims (5)
1. a kind of medical AGV trolleies intelligent dispensing system, which is characterized in that including：AGV trolleies and one have multiple separation layers
Isolation cabinet and central controller, communication module, authorization module, the first RFID reader being arranged at elevator doorway,
The AGV trolleies drive isolation cabinet movement；
First RFID reader is connected with electric life controller；The isolation cabinet include RFID electronic label, the second RFID reader,
Touch display screen, multiple microswitches, multiple induction modules；One microswitch, an induction module correspond to a separation layer；
Central controller is connected with touch display, the second RFID reader, AGV trolleies；Dispatching is stored in central controller
Map, including the coordinate of floor and coordinate and elevator where snack made with traditional Chinese medicines place floor and coordinate, lesion is taken, and be set with and take snack made with traditional Chinese medicines
The travel route of round-trip elevator, the round-trip elevator in each lesion；It is described that take snack made with traditional Chinese medicines include intravenous pharmacy allotment center (PIVAS), medicine
Room；
Allocation step is as follows：
(1) it initializes：It is taking snack made with traditional Chinese medicines that drug to be dispensed is put into corresponding separation layer, the corresponding lesion of each separation layer is being believed
Breath is input to central controller；The separation layer recorded in central controller-lesion information is transmitted by communication module, aobvious in touching
Show that device carries out presentation of information, and the floor corresponding to lesion is sent to the second RFID reader successively；
(2) second RFID readers are used to the floor information of receiving being written to RFID electronic label, and first wait for will be to be dispensed
The floor information of lesion is first written into RFID electronic label；
(3) AGV trolleies obtain driving path from central controller, are travelled from warehouse to elevator doorway according to preset path,
The first RFID reader being arranged at elevator doorway acquires the signal of RFID electronic label in real time, and is sent to elevator controlling
Device；Electric life controller reads AGV trolleies from the RFID electronic label signal obtained and is currently located floor and purpose floor, control
Elevator first reaches current floor, and elevator door is opened, and AGV trolleies drive into elevator, then reach purpose floor；Elevator door is opened, AGV
Trolley is driven out to elevator；
(4) AGV trolleies obtain elevator to the driving path of current lesion to be dispensed, according to preset path row from central controller
Make to take snack made with traditional Chinese medicines to corresponding lesion.
(3) after the authorized module mandate of induction module, corresponding separation layer unlock；After separation layer is closed, microswitch transmission is opened
Measure closure signal in pass；
(4) when the microswitch of the corresponding all separation layers in a certain lesion sends switching value closure signal, and staff is logical
After crossing touch display screen input validation signal, the floor corresponding to next lesion is sent to the 2nd RFID and read by central controller
Device is write, the second RFID reader updates the floor information of RFID electronic label；
(5) floor information that the first RFID reader at elevator doorway reads updated RFID electronic label is set,
And elevator is controlled by electric life controller and reaches respective storey, carry out the drug delivery of next lesion.
(6) after the dispatching for completing all lesiones, central controller will take the floor corresponding to snack made with traditional Chinese medicines to be sent to the second RFID read-write
Device, the second RFID reader update the floor information of RFID electronic label, and controlling elevator by electric life controller reaches corresponding building
Layer, and be back to according to preset path and take snack made with traditional Chinese medicines.
2. system according to claim 1, which is characterized in that further include sensor assembly, incudes the opening and closing of elevator door, and
Inductive signal is sent to central controller, central controller is beaten according to the movements of actuated signal control AGV trolleies, elevator door
It opens, sensor assembly sends inductive signal, and triggering AGV trolleies drive into or be driven out to elevator.
3. system according to claim 1, which is characterized in that the authorization module is non-contact IC card (in specific fan
Area carries out the smart card after priority assignation).
4. system according to claim 1, which is characterized in that the separation layer is installed on isolation by a locking module
Cabinet, locking module are connected with induction module.(locking module is selected from magnetic key operated lock).
5. system according to claim 1, which is characterized in that further include RFID locating modules, for positioning isolation cabinet
Position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810214989.4A CN108578134B (en) | 2018-03-15 | 2018-03-15 | A kind of medical AGV trolley intelligent dispensing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810214989.4A CN108578134B (en) | 2018-03-15 | 2018-03-15 | A kind of medical AGV trolley intelligent dispensing system |
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| Publication Number | Publication Date |
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| CN108578134A true CN108578134A (en) | 2018-09-28 |
| CN108578134B CN108578134B (en) | 2019-07-12 |
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ID=63626446
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| CN201810214989.4A Expired - Fee Related CN108578134B (en) | 2018-03-15 | 2018-03-15 | A kind of medical AGV trolley intelligent dispensing system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109508005A (en) * | 2018-12-10 | 2019-03-22 | 无锡职业技术学院 | A kind of AGV trolley control system and control method that autonomous elevator is current |
| CN109543796A (en) * | 2018-11-27 | 2019-03-29 | 英业达科技有限公司 | Medicine box management method |
| CN109709957A (en) * | 2018-12-26 | 2019-05-03 | 重庆城市管理职业学院 | A kind of method for transporting object and system based on cell intelligent carriage |
| CN110530376A (en) * | 2019-10-10 | 2019-12-03 | 上海钛米机器人科技有限公司 | Robot localization method, apparatus, robot and storage medium |
| CN112206115A (en) * | 2020-08-27 | 2021-01-12 | 浙江大学 | Medical intelligent ward round car capable of continuously and stably supplying power |
| US11209832B2 (en) * | 2019-08-18 | 2021-12-28 | Cobalt Robotics Inc. | Elevator interactions by mobile robot |
| CN114246736A (en) * | 2020-09-21 | 2022-03-29 | 上海说以科技有限公司 | Intelligent unmanned vehicle for isolating and conveying suspected patients |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109543796A (en) * | 2018-11-27 | 2019-03-29 | 英业达科技有限公司 | Medicine box management method |
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| CN112206115A (en) * | 2020-08-27 | 2021-01-12 | 浙江大学 | Medical intelligent ward round car capable of continuously and stably supplying power |
| CN112206115B (en) * | 2020-08-27 | 2022-05-13 | 浙江大学 | Medical intelligent ward round car capable of continuously and stably supplying power |
| CN114246736A (en) * | 2020-09-21 | 2022-03-29 | 上海说以科技有限公司 | Intelligent unmanned vehicle for isolating and conveying suspected patients |
| CN114246736B (en) * | 2020-09-21 | 2022-11-11 | 上海说以科技有限公司 | Intelligent unmanned vehicle for isolating and conveying suspected patients |
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|---|---|
| CN108578134B (en) | 2019-07-12 |
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