CN109521770A - Intelligent processing system and method for bedding and clothing of patient - Google Patents
Intelligent processing system and method for bedding and clothing of patient Download PDFInfo
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- CN109521770A CN109521770A CN201811377062.9A CN201811377062A CN109521770A CN 109521770 A CN109521770 A CN 109521770A CN 201811377062 A CN201811377062 A CN 201811377062A CN 109521770 A CN109521770 A CN 109521770A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 11
- 230000005484 gravity Effects 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims abstract description 6
- 239000000523 sample Substances 0.000 claims description 7
- 238000003672 processing method Methods 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 5
- 208000033748 Device issues Diseases 0.000 claims description 3
- 238000004260 weight control Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 description 4
- 230000003902 lesion Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 241001270131 Agaricus moelleri Species 0.000 description 1
- 101100172132 Mus musculus Eif3a gene Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000005059 dormancy Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000010409 ironing Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
- 238000011946 reduction process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses an intelligent processing system and method for bedding and clothing of a patient, which comprises an alarm button arranged at the head of a sickbed and a camera device arranged in a ward, wherein sickbeds in all the wards are numbered in sequence and are recorded into a central computer database; the intelligent cart device robot is characterized by further comprising an intelligent cart device robot, a cart structure is arranged on the body of the intelligent cart device robot, a gravity sensor is arranged on the cart structure, a mechanical arm is arranged on one side of the edge of the cart structure, the lower portion of the mechanical arm is connected with a crawler through a transmission device, the crawler is provided with a brake device, and the intelligent cart device robot is further provided with a storage module, a control module, a wireless module and a radar module; the alarm button, the wireless module and the camera device are all in communication connection with the central computer. The whole process is completed by the robot in cooperation with a central computer, so that a large number of workers are saved, the cost is low, the well is efficient, and the requirements of scientific management of modern hospitals are met.
Description
Technical field
The present invention relates to a kind of bedding and clothing intelligent processing system, in particular to a kind of bedding and clothing intelligent processing system and method.
Background technique
Increasingly developed with today's society, the material requisite of people is also more strong.It is some to repeat dull basic labor
The people that dynamic one side is felt like doing is few, on the other hand since to also result in service quality very different for worker's oneself state problem.
Hospital needs to handle daily the dirty bedding and clothing after a large amount of patients and staff's use, then sends the bedding and clothing of wash clean to
Each lesion.
The existing bedding and clothing processing method of hospital is to employ a large amount of worker and arrive each lesion daily to collect patient or work
Dirty bedding and clothing after personnel's use, and dirty bedding and clothing are sent to washing emporium, then put into cloth-washing cabinet cleaning by worker and dried, taking-up is washed
Clean bedding and clothing ironing is whole, stacks, and sends each lesion back to by the bedding and clothing plan of receiving that each lesion is write.
But employ a large amount of worker as bedding and clothing processing and increase hospital operating costs, do not meet modern hospital scientific management
Requirement.So being badly in need of a kind of patient's bedding and clothing intelligent processing system.
Summary of the invention
The present invention is directed to solve one of above-mentioned technical problem in the related technology at least to a certain extent.For this purpose, this hair
It is bright to propose a kind of patient's bedding and clothing intelligent processing system and method.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of patient's bedding and clothing intelligent processing system, including the hospital bed head of a bed setting alarm button and be set in ward
Photographic device, and the hospital bed in all wards is subjected to number consecutively typing central computer database；
It further include intelligent pusher gear robot, the intelligence pusher gear machine human organism is cart structure, described to push away
Bassinet structure is provided with gravity sensor, and cart structure edge side is provided with to connect below mechanical arm by transmission device and carry out
Band, the crawler belt are configured with brake gear, and the intelligence pusher gear robot is additionally provided with memory module, control module, nothing
Wire module and radar module；
The alarm button, the wireless module, the control module and the photographic device with the middle scheming
The communication connection of calculation machine.
Further, the wireless module is ZigBee module.
Further, the brake gear is brake block.
Further, the radar module uses ultrasonic positioner.
Further, the ultrasonic positioner includes the ultrasonic wave for being set to the intelligent pusher gear robot front end
Emitter and one group of ultrasonic probe, ultrasonic receiver being arranged around the ultrasonic transmission device.
Further, the fixed route of corresponding hospital bed number is stored in the memory module.
The present invention also provides a kind of patient's bedding and clothing processing methods, comprising steps of
S1, the judgement of bedding and clothing dirt process demand is carried out first:
S11, bed label bedding and clothing are corresponded to if alarm button is pressed be judged to having dirty process demand；
S12, setting 8 photographic devices every morning are shot, and are needed clearly if the bedding and clothing surface image taken is higher than
The stain threshold value washed then is judged to having dirty process demand；
If S2, being judged as demand, central computer is issued to robot by wireless module and is instructed, at random from mark
Be denoted as selected in available robot one according to setting path rush for the patient's hospital bed for being corresponding with demand；
S3, in robotic movement, ultrasonic transmission device issues ultrasonic wave and after reflection by ultrasonic probe, ultrasonic receiver
It receives, later by robot controller according to ultrasonic wave sending and echo reception time difference T and ultrasonic propagation velocity V, meter
Calculate propagation distance S, when calculating distance S be higher than risk distance threshold value, then control module issue instruction brake gear brake into
Row brake avoidance；
After S4, robot reach specified bed, control module issue instruction mechanical arm by bedding and clothing to be treated shovel into
Cart structure；
S5, gravity sensor experience additional weight control module order robot by setting path return, carry out simultaneously
Avoidance；
After S6, return are awaited orders a little, staff takes bedding and clothing away, and gravity sensor detects no additional weight, then by logical
Believe that module informs central computer, robot used in above-mentioned steps S3 to S5 is labeled as available shape by central computer later
State.
Further, in step s 12, if the bedding and clothing surface image that photographic device takes is higher than the stain threshold for needing to clean
Value is then judged to having demand to include the following steps,
Step S121, photographic device take bedding and clothing surface and obtain image；
Step S122 carries out Fourier transform to image and Wavelet Denoising Method is handled；
Step S123 carries out inverse fourier transform and obtains noise reduction figure；
Step S124, noise reduction figure calculate the similarity with clean bedding and clothing template picture by fingerprint character string algorithm；
Step S125, judges whether similarity is lower than threshold value, is if it is determined as there is demand.
The beneficial effects of the present invention are: the processing by robot real-time perfoming dirt bedding and clothing had methodically both saved doctor
The processing cost of institute's dirt bedding and clothing, efficiency is again high, and meets the requirement of modern hospital scientific management.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is intelligent pusher gear robot of the invention schematic diagram；
Fig. 2 is bedding and clothing processing method flow chart of the present invention；
Fig. 3 is that the present invention uses photographic device shooting to determine whether there is dirty bedding and clothing process demand flow chart；
Fig. 4 be the present invention with dress in fouling front and back exemplary diagram.
Specific embodiment
Referring to Fig.1, a kind of patient's bedding and clothing intelligent processing system Fig. 2 and Fig. 3 of the invention, including the setting of the hospital bed head of a bed
Alarm button and the photographic device being set in ward, and the hospital bed in all wards is subjected to number consecutively typing center
Computer Database；It allows patient that can call robot at any time by alarm button and carries out dirty bedding and clothing processing, and use camera shooting dress
The work that cooperation Fourier denoising substitution nurse's every morning checks the need for replacement bedding and clothing is set, is simple and efficient,
It further include intelligent pusher gear robot, the intelligence pusher gear machine human organism is cart structure 1, described to push away
Bassinet structure 1 is provided with gravity sensor 2, and the 1 edge side of cart structure is provided with below mechanical arm 3 to be connected by transmission device
Crawler belt 4 is connect, robot motion can be made to get up more steadily to some small barriers for being difficult to detect and injustice using crawler belt 4
Ground have stronger adaptability.The crawler belt 4 is configured with brake gear, and the intelligence pusher gear robot is additionally provided with
Memory module, control module, wireless module and radar module；
The alarm button, the wireless module, the control module and the photographic device with the middle scheming
The communication connection of calculation machine.
The present embodiment wireless module uses ZigBee module, and the application data rate that usual ZigBee node is carried all compares
It is lower.When not needing communication, node can enter the dormant state of very low-power consumption, and energy consumption may only work normally shape at this time
One thousandth under state.Since under normal circumstances, dormancy time accounts for the major part of total run time, the time worked normally sometimes
It is less than 1 percent, therefore reaches very high energy-saving effect.In terms of reliability, ZigBee has many aspects to be guaranteed.
Physical layer uses spread spectrum, can resist interference to a certain extent, and MAC application layer (part APS) has response to retransmit function
Energy.The CSMA mechanism of MAC layer first monitor channel before sending node, can play the role of avoiding interference.Work as ZigBee-network
By external interference, when can not work normally, whole network can be dynamically switched on another working channel.
The present embodiment brake gear uses brake block, and using brake block, structure is simply high-efficient.
The present embodiment radar module uses ultrasonic positioner, and ultrasonic positioner includes being set to the intelligence to push away
The ultrasonic transmission device of vehicle device robot front end and one group of ultrasonic probe, ultrasonic receiver being arranged around the emitter.
The working principle of ultrasonic wave navigator fix also with laser and infrared similar, usually by the transmitting of ultrasonic sensor
Probe launches ultrasonic wave, and ultrasonic wave encounters barrier in the medium and returns to reception device.By receiving own transmission
Ultrasonic reflections signal calculates propagation distance S, energy according to ultrasonic wave sending and echo reception time difference and spread speed
Barrier is obtained to the distance of robot, that is, has formula:
S=T*V/2, T is ultrasonic wave transmitting and received time difference in formula；V is the velocity of wave that ultrasonic wave is propagated in the medium.
Since ultrasonic sensor has many advantages, such as that low in cost, information rate is fast for acquisition, distance resolution is high, for a long time with
To be widely applied in the navigator fix of mobile robot.And complicated image is not needed when its acquisition environmental information and is matched
Standby technology, therefore ranging speed is fast, real-time is good.Meanwhile ultrasonic sensor is also not easily susceptible to such as weather condition, ambient lighting
And the influence of the external environmental conditions such as barrier shade, surface roughness.Ultrasonic wave carries out navigator fix and has been widely used
Into the sensory perceptual system of various mobile robots.
The fixed route of corresponding hospital bed number is stored in the memory module, using ROS robot system to robot into
The setting of walking along the street diameter and setting navigation target point, that is, each bed.And the manipulator motion for shoveling quilt instruction is stored to storage mould
In block, is run and executed by control module.
The present invention also provides a kind of patient's bedding and clothing processing methods, comprising steps of
S1, the judgement of bedding and clothing dirt process demand is carried out first:
S11, bed label bedding and clothing are corresponded to if alarm button is pressed be judged to having dirty process demand；
S12, setting 8 photographic devices every morning are shot, and are needed clearly if the bedding and clothing surface image taken is higher than
The stain threshold value washed then is judged to having dirty process demand；
If S2, being judged as demand, central computer is issued to robot by wireless module and is instructed, at random from mark
Be denoted as selected in available robot one according to setting path rush for the patient's hospital bed for being corresponding with demand；
S3, in robotic movement, ultrasonic transmission device issues ultrasonic wave and after reflection by ultrasonic probe, ultrasonic receiver
It receives, later by robot controller according to ultrasonic wave sending and echo reception time difference T and ultrasonic propagation velocity V, meter
Propagation distance S is calculated, when the distance S of calculating is higher than risk distance threshold value, risk distance threshold value can artificially recognize in 0.5 to 3 meter
Fixed, the present embodiment is set as 2 meters, then control module issues instruction brake gear brake and carries out brake avoidance；
After S4, robot reach specified bed, control module issue instruction mechanical arm by bedding and clothing to be treated shovel into
Cart structure；
S5, gravity sensor experience additional weight control module order robot by setting path return, carry out simultaneously
Avoidance；
After S6, return are awaited orders a little, staff takes bedding and clothing away, and gravity sensor detects no additional weight, then by logical
Believe that module informs central computer, robot used in above-mentioned steps S3 to S5 is labeled as available shape by central computer later
State.
In step s 12, sentence if the bedding and clothing surface image that photographic device takes is higher than the stain threshold value that needs clean
Being set to has demand to include the following steps,
Step S121, photographic device take bedding and clothing surface and obtain image；
Step S122 carries out Fourier transform to image and Wavelet Denoising Method is handled；
Step S123 carries out inverse fourier transform and obtains noise reduction figure；
Step S124, noise reduction figure calculate the similarity with clean bedding and clothing template picture by fingerprint character string algorithm；
Step S125, judges whether similarity is lower than similarity threshold, and similarity threshold oneself can be arranged to be arrived 90%
Between 100%, the present embodiment is set as 90%, is if it is determined as there is demand.
Carrying out noise reduction process to picture with Fourier transform and inverse fourier transform can be improved the precision of picture, allow judgement
More rationally.
Fingerprint character string algorithm is as follows:
1. input picture
2. by image gray processing
3. by image size normalization to 8*8 size
4. simplifying gray scale to reduce calculation amount, such as all gray scales divided by 5
5. calculating average gray value avg
6. compare the size of 8*8=64 pixel Yu average gray value avg, it is denoted as 1 if big, it is small to be denoted as 0, by certain
Sequence is arranged in the finger-print codes of 64 2 systems.
7. comparing the finger-print codes of two images, similarity is calculated.
The present embodiment provides dress and is denoted as A1 before pollution, and pollution postscript is A2, is passing through the above fingerprint character string
Show that similarity is 80% lower than 90% after algorithm, so A2 is determined as contaminated clothes.
The above specific structure and dimension data are to be illustrated to presently preferred embodiments of the present invention, but the present invention creates
It makes and is not limited to the specific embodiments, those skilled in the art can also make kind on the premise of without prejudice to spirit of the invention
The equivalent deformation or replacement of kind, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (8)
1. a kind of patient's bedding and clothing intelligent processing system, it is characterised in that: alarm button and setting including the setting of the hospital bed head of a bed
Photographic device in ward, and the hospital bed in all wards is subjected to number consecutively typing central computer database；
It further include intelligent pusher gear robot, the intelligence pusher gear machine human organism is cart structure, the cart knot
Structure is provided with gravity sensor, and cart structure edge side is provided with below mechanical arm through transmission device connecting band track,
The crawler belt is configured with brake gear, and the intelligence pusher gear robot is additionally provided with memory module, control module, wireless mould
Block and radar module；
The alarm button, the wireless module, the control module and the photographic device with the central computer
Communication connection.
2. a kind of patient's bedding and clothing intelligent processing system according to claim 1, it is characterised in that: the wireless module is
ZigBee module.
3. a kind of patient's bedding and clothing intelligent processing system according to claim 1, it is characterised in that: the brake gear is to stop
Vehicle piece.
4. a kind of patient's bedding and clothing intelligent processing system according to claim 1, it is characterised in that: the radar module uses
Ultrasonic positioner.
5. a kind of patient's bedding and clothing intelligent processing system according to claim 4, it is characterised in that: the ultrasonic wave positioning dress
It sets the ultrasonic transmission device including being set to the intelligent pusher gear robot front end and emits around the ultrasonic wave
One group of ultrasonic probe, ultrasonic receiver of device setting.
6. a kind of patient's bedding and clothing intelligent processing system according to claim 1, it is characterised in that: deposited in the memory module
Contain the fixed route of corresponding hospital bed number.
7. a kind of patient's bedding and clothing processing method, which is characterized in that utilize any one patient's bedding and clothing in the claim 1-6
Intelligent processing system:
S1, the judgement of bedding and clothing dirt process demand is carried out first:
S11, bed label bedding and clothing are corresponded to if alarm button is pressed be judged to having dirty process demand；
S12, setting 8 photographic devices every morning are shot, if the bedding and clothing surface image taken is higher than what needs cleaned
Stain threshold value is then judged to having dirty process demand；
If S2, being judged as demand, central computer is issued to robot by wireless module and is instructed, at random from being labeled as
One is selected in available robot rushes for the patient's hospital bed for being corresponding with demand according to setting path；
S3, in robotic movement, ultrasonic transmission device issue ultrasonic wave simultaneously received after reflection by ultrasonic probe, ultrasonic receiver,
Biography is calculated according to ultrasonic wave sending and echo reception time difference T and ultrasonic propagation velocity V by robot controller later
Distance S is broadcast, when the distance S of calculating is higher than risk distance threshold value, then control module issues instruction brake gear and brakes
Avoidance；
After S4, robot reach specified bed, control module issues instruction mechanical arm and shovels bedding and clothing to be treated into cart
Structure；
S5, gravity sensor experience additional weight control module order robot by setting path return, while carrying out avoidance；
After S6, return are awaited orders a little, staff takes bedding and clothing away, and gravity sensor detects no additional weight, then passes through communication mould
Block informs central computer, and robot used in above-mentioned steps S3 to S5 is labeled as available mode by central computer later.
8. a kind of patient's bedding and clothing processing method according to claim 7, it is characterised in that: in step s 12, if camera shooting dress
The stain threshold value that the bedding and clothing surface image taken is cleaned higher than needs is set then to be judged to having demand to include the following steps,
Step S121, photographic device take bedding and clothing surface and obtain image；
Step S122 carries out Fourier transform to image and Wavelet Denoising Method is handled；
Step S123 carries out inverse fourier transform and obtains noise reduction figure；
Step S124, noise reduction figure calculate the similarity with clean bedding and clothing template picture by fingerprint character string algorithm；
Step S125, judges whether similarity is lower than threshold value, is if it is determined as there is demand.
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| CN201811377062.9A CN109521770B (en) | 2018-11-19 | 2018-11-19 | Intelligent processing system and method for bedding and clothing of patient |
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| CN201811377062.9A CN109521770B (en) | 2018-11-19 | 2018-11-19 | Intelligent processing system and method for bedding and clothing of patient |
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