CN109227566A - A kind of hospital's Intelligent transfer robot - Google Patents
A kind of hospital's Intelligent transfer robot Download PDFInfo
- Publication number
- CN109227566A CN109227566A CN201811239401.7A CN201811239401A CN109227566A CN 109227566 A CN109227566 A CN 109227566A CN 201811239401 A CN201811239401 A CN 201811239401A CN 109227566 A CN109227566 A CN 109227566A
- Authority
- CN
- China
- Prior art keywords
- module
- transfer robot
- control system
- intelligent transfer
- ontology
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012546 transfer Methods 0.000 title claims abstract description 48
- 238000004891 communication Methods 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000003993 interaction Effects 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 3
- 230000032258 transport Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
The invention discloses a kind of hospital's Intelligent transfer robots, it includes ontology, the ontology includes control system and the power supply for powering to the control system, the control system is for controlling described body running, to can just make the Intelligent transfer robot complete article carrying by the control system, conevying efficiency is substantially increased.
Description
Technical field
The present invention relates to hospital intelligent robot technology field more particularly to a kind of hospital's Intelligent transfer robots.
Background technique
Since China's elderly and the disabled's specific gravity increases year by year, and medical staff's quantity speedup slowly and nurse job
Pressure is larger, and wisdom hospital is the new stage of Development of Hospital, and the important directions of various big hospital transition and upgrade in recent years, because
This, in order to meet the requirement that wisdom hospital conveys article, while mitigating the pressure of doctor and nurse, and transfer robot is gradually
It is applied in wisdom hospital, in order to enable transfer robot contexture by self to transport track, completes article and convey task, need
A kind of hospital's Intelligent transfer robot with control system is provided.
Summary of the invention
For overcome the deficiencies in the prior art, technical problem solved by the invention is to provide a kind of hospital's intelligence carrying implement
The Automatic Control of the Intelligent transfer robot may be implemented in device people.
In order to solve the above technical problems, the technical solution adopted in the present invention content is specific as follows:
A kind of hospital's Intelligent transfer robot, including ontology, the ontology include control system and are used for the control
The power supply of system power supply processed, the control system is for controlling described body running.
Further, the ontology further includes the cabinet body of the ontology rear end being arranged in and for driving the cabinet body to transport
Dynamic drive module.
Further, the control system includes main control module, the motion control mould being connected with the main control module
Block and wireless communication module, the motion-control module drives the cabinet body movement for controlling the drive module, described
Wireless communication module is for communicating to connect robot management and running center.
Further, the ontology further includes that the jacking apparatus of body bottom portion two sides and described for driving is arranged in
Jacking apparatus carries out lifting jacking motor, and the motion-control module is also used to control the jacking motor work.
Further, the control system further includes the navigation positioning module being connected with the main control module, described
Navigation positioning module includes the laser radar that the ontology front end is arranged in.
Further, the control system further includes the security module being connected with the main control module, the safety
Module includes the touching side protective module that the ultrasonic sensor of the ontology front end is arranged in and the body bottom portion is arranged in.
Further, the control system further includes the human-computer interaction module that the ontology front end is arranged in.
Further, the control system further includes the automatic charging module that the bottom of cabinet bulk is arranged in, it is described from
Dynamic charging module is electrically connected the power supply.
Preferably, the ontology further includes identification module, and the identification module includes pair that the ontology front end is arranged in
Mesh sensor and fingerprint identification module, the binocular sensor and the fingerprint identification module are all connected with the main control module.
It is highly preferred that the main control module includes initialization module, interrupt module and data acquisition module, the initialization
Module for realizing the initialization to the control system, the interrupt module for realizing the control system logic control
System, the data acquisition module is for receiving and processing data.
Compared with prior art, the beneficial effects of the present invention are:
1, Intelligent transfer robot disclosed by the invention includes control system, to can be controlled by the control system
It makes the transfer robot and completes handling work, substantially increase the article carrying efficiency of hospital.
2, the ontology of the transfer robot is provided with jacking apparatus, and the jacking apparatus is arranged at ontology chassis both ends,
It not only improves the load capacity of the transfer robot, moreover, carrying out article carrying in the Intelligent transfer robot
During, the motion-control module carries out intelligent control to the speed of the jacking motor and direction, can also improve institute
State the stability and accuracy when Intelligent transfer robot operation.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects, features and advantages of the invention can
It is clearer and more comprehensible, it is special below to lift preferred embodiment, and cooperate attached drawing, detailed description are as follows.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of Intelligent transfer robot of the present invention；
Fig. 2 is the structural schematic diagram of control system of the present invention；
Fig. 3 is the structural schematic diagram of main control module in Fig. 2；
Wherein, the appended drawing reference in Fig. 1-Fig. 3 are as follows:
1, human-computer interaction module；2, binocular sensor；3, laser radar；4, ultrasonic sensor；5, automatic charging module；
6, side protective module is touched；7, drive module；8, indicator light；9, cabinet body；10, fingerprint identification module；11, jacking apparatus；12, master control
Module；13, wireless communication module；14, initialization module；15, interrupt module；16, data acquisition module；17, motion control mould
Block.
Specific embodiment
It is of the invention to reach the technical means and efficacy that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Attached drawing and preferred embodiment, to specific embodiment, structure, feature and its effect according to the present invention, detailed description are as follows:
Hospital's Intelligent transfer robot of the present invention as shown in Fig. 1 comprising ontology, the ontology include control
System processed and power supply for powering to the control system, the control system for controlling described body running, thus
The transfer robot can be controlled by the control system and completes handling work, substantially increase the article carrying of hospital
Efficiency.
The ontology further includes the cabinet body 9 that the ontology rear end is arranged in and the drive for driving the cabinet body 9 to move
Dynamic model block 7.
As shown in Fig. 2, the control system includes main control module 12, the motion control that is connected with the main control module 12
Module 17 and wireless communication module 13, the motion-control module 17 drive the cabinet body 9 for controlling the drive module 7
Movement, the wireless communication module 13 is for communicating to connect robot management and running center.Due to the wireless communication module 13
The communication connection between the Intelligent transfer robot and robot management and running center is realized, so that the intelligence
Energy transfer robot receives the instruction from robot management and running center by the wireless communication module 13, simultaneously
By real-time Transmissions such as the location information of the Intelligent transfer robot, working condition, information about power and working conditions to described
Robot management and running center, to facilitate robot management and running center to monitor the Intelligent transfer robot in real time.
In order to improve the load capacity of the Intelligent transfer robot, the ontology further includes being arranged in body bottom portion
The jacking apparatus 11 of two sides and jacking motor for driving the jacking apparatus 11 to be gone up and down, the motion-control module
17 are also used to control the jacking motor work, and the setting of the jacking apparatus 11 can make the robot load energy
Power is promoted to 300kg.Moreover, in the Intelligent transfer robot during carrying out article carrying, the motion control mould
Block 17 carries out intelligent control to the speed of the jacking motor and direction, when can also improve Intelligent transfer robot operation
Stability and accuracy.
In order to enable robot management and running center can understand in time the position of the Intelligent transfer robot with
And enabling to the Intelligent transfer robot that can transport article according to the transportation route of setting, the control system further includes
The navigation positioning module being connected with the main control module 12, specifically, the navigation positioning module include being arranged at described
The laser radar 3 of body front end, to not only may insure that the Intelligent transfer robot transports object along the transportation route of setting
Product, moreover, by the laser radar 3 it is also possible that the Intelligent transfer robot obtains its location information.
As a preferred embodiment, the control system further includes the safety being connected with the main control module 12
Module, specifically, the security module include that the ultrasonic sensor 4 of the ontology front end is arranged in and is arranged at described
The touching side protective module 6 of body bottom, when specific works, when the cabinet body 9 collides in the process of running, the touching side
Above- mentioned information will be transmitted to the main control module 12 by protective module 6, and then the main control module 12 is to the drive module 7
Instruction out of service is issued, is stopped working when the drive module 7 receives instruction out of service；The ultrasonic wave passes
Whether the real-time detection during Intelligent transfer robot transports article of sensor 4 there is barrier, when the ultrasonic wave
When sensor 4 detects barrier, above- mentioned information are transmitted to the main control module 12 by the ultrasonic sensor 4, then institute
State main control module 12 and issue instruction out of service to the drive module 7, when the drive module 7 receive it is out of service
It stops working when instruction.
As a preferred embodiment, the control system further includes that the human-computer interaction of the ontology front end is arranged in
The visualized operation of the Intelligent transfer robot may be implemented in module 1, the human-computer interaction module 1, improves the intelligence and removes
The operation ease of robot is transported, while operator can also be made to observe the intelligence at any time by the human-computer interaction module 1
Can transfer robot operating status, in addition, by the human-computer interaction module 1 it is also possible that operator can conveniently,
Realize the setting and modification to the Intelligent transfer robot relevant parameter, efficiently so as to ensure the intelligent carrying implement
Device people has optimal goods transportation ability under different transportation demands.
For the ease of Intelligent transfer robot charging, the control system further includes being arranged in 9 bottom of cabinet body
Automatic charging module 5, and the automatic charging module 5 is electrically connected the power supply, when the Intelligent transfer robot needs
When charging, the Intelligent transfer robot enters charging station under the guiding role of the laser radar 3, then described automatic
After charging module 5 is electrically connected with the charging port of the charging station, it can charge.
Since the article of Intelligent transfer robot conveying is different, in order to ensure only having proprietary personnel that can just open the cabinet
Body 9 takes out article, and the ontology further includes identification module, and the identification module includes the binocular biography that the ontology front end is arranged in
Sensor 2 and fingerprint identification module 10, the binocular sensor 2 and the fingerprint identification module 10 are all connected with the main control module
12, when specific works, only when the information and the master control that the binocular sensor 2 and the fingerprint identification module 10 detect
When the information stored in module 12 is identical, operator can just open the cabinet body 9.
The main control module 12 includes initialization module 14, interrupt module 15 and data acquisition module 16, the initialization
Module 14 for realizing the initialization to the control system, the interrupt module 15 for realizing the control system logic
Control, the data acquisition module 16 is for receiving and processing data, and specifically, the initialization module 14 is mainly realized to being
Unite the initialization of clock, the initialization of I/O port function, the initialization of system timer, the initialization of serial communication and AD
The initialization of digital-to-analogue conversion；The interrupt module 15 guarantees that the timing of control system described in program is patrolled by the setting of flag bit
It collects normally, specifically includes in three parts such as timer interruption is arranged, external event interrupts setting, serial communication interruption is arranged
Disconnected setting, in which: timer interruption is set as system control and provides timing, and it includes that encoder interruption is set that external event, which interrupts setting,
It sets to interrupt with ultrasonic wave and be arranged；The data acquisition module 16 mainly acquires the location information of the Intelligent carrier, electricity
Information etc..
The ontology further includes the indicator light 8 that 9 front end of cabinet body is arranged in, and the indicator light 8 is for showing robot
Steering state.
The above embodiment is only the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (10)
1. a kind of hospital's Intelligent transfer robot, including ontology, it is characterised in that: the ontology includes control system and is used for
The power supply powered to the control system, the control system is for controlling described body running.
2. Intelligent transfer robot as described in claim 1, it is characterised in that: the ontology further includes being arranged in the ontology
The cabinet body of rear end and drive module for driving cabinet body movement.
3. Intelligent transfer robot as claimed in claim 2, it is characterised in that: the control system include main control module, with
The motion-control module and wireless communication module that the main control module is connected, the motion-control module are described for controlling
Drive module drives the cabinet body movement, and the wireless communication module is for communicating to connect robot management and running center.
4. Intelligent transfer robot as claimed in claim 3, it is characterised in that: the ontology further includes being arranged in body bottom portion
The jacking apparatus of two sides and jacking motor for driving the jacking apparatus to be gone up and down, the motion-control module are also used
It works in controlling the jacking motor.
5. Intelligent transfer robot as claimed in claim 3, it is characterised in that: the control system further includes and the master control
The navigation positioning module that module is connected, the navigation positioning module include the laser radar that the ontology front end is arranged in.
6. Intelligent transfer robot as claimed in claim 5, it is characterised in that: the control system further includes and the master control
The security module that module is connected, the security module include that ultrasonic sensor and the setting of the ontology front end is arranged in
In the touching side protective module of the body bottom portion.
7. Intelligent transfer robot as claimed in claim 6, it is characterised in that: the control system further includes being arranged described
The human-computer interaction module of ontology front end.
8. Intelligent transfer robot as claimed in claim 7, it is characterised in that: the control system further includes being arranged described
The automatic charging module of bottom of cabinet bulk, the automatic charging module are electrically connected the power supply.
9. the Intelligent transfer robot as described in claim 3-8 any one, it is characterised in that: the ontology further includes identification
Module, the identification module include the binocular sensor and fingerprint identification module that the ontology front end is arranged in, and the binocular passes
Sensor and the fingerprint identification module are all connected with the main control module.
10. Intelligent transfer robot as claimed in claim 9, it is characterised in that: the main control module include initialization module,
Interrupt module and data acquisition module, the initialization module is for realizing the initialization to the control system, the interruption
Module is for realizing the logic control of the control system, and the data acquisition module is for receiving and processing data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811239401.7A CN109227566A (en) | 2018-10-23 | 2018-10-23 | A kind of hospital's Intelligent transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811239401.7A CN109227566A (en) | 2018-10-23 | 2018-10-23 | A kind of hospital's Intelligent transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109227566A true CN109227566A (en) | 2019-01-18 |
Family
ID=65081370
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811239401.7A Pending CN109227566A (en) | 2018-10-23 | 2018-10-23 | A kind of hospital's Intelligent transfer robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN109227566A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112828852A (en) * | 2020-12-22 | 2021-05-25 | 广州赛特智能科技有限公司 | Distribution robot |
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| CN108045754A (en) * | 2018-01-02 | 2018-05-18 | 上海木爷机器人技术有限公司 | A kind of storage cabinet and can be to transportation robot that storage cabinet charges |
| CN108436907A (en) * | 2018-02-28 | 2018-08-24 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of Intelligent transfer robot trolley and its management method |
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2018
- 2018-10-23 CN CN201811239401.7A patent/CN109227566A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205257305U (en) * | 2015-12-13 | 2016-05-25 | 云南国土资源职业学院 | Transfer robot of independently seeing new year in |
| CN105835059A (en) * | 2016-04-29 | 2016-08-10 | 国家电网公司 | Robot control system |
| CN106354131A (en) * | 2016-08-25 | 2017-01-25 | 苏州市艾信物联网技术有限公司 | Medical connection robot |
| CN206489449U (en) * | 2016-10-14 | 2017-09-12 | 深圳力子机器人有限公司 | AGV is carried in a kind of logistics with automatic charging stake |
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| CN107421544A (en) * | 2017-08-10 | 2017-12-01 | 上海大学 | A kind of modular hotel's handling robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112828852A (en) * | 2020-12-22 | 2021-05-25 | 广州赛特智能科技有限公司 | Distribution robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20190118 |