CN111661531A - Medical waste recovery system and data storage method thereof - Google Patents

Medical waste recovery system and data storage method thereof Download PDF

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Publication number
CN111661531A
CN111661531A CN202010505025.2A CN202010505025A CN111661531A CN 111661531 A CN111661531 A CN 111661531A CN 202010505025 A CN202010505025 A CN 202010505025A CN 111661531 A CN111661531 A CN 111661531A
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garbage
medical waste
recycling
information
current
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CN111661531B (en
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刘常伟
孟祥宝
崔成江
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Guangdong Huifu Digital Intelligent Technology Co.,Ltd.
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Guangdong Huifu Information Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F9/00—Transferring of refuse between vehicles or containers with intermediate storage or pressing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F1/00—Refuse receptacles; Accessories therefor
    • B65F1/14—Other constructional features; Accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F7/00—Cleaning or disinfecting devices combined with refuse receptacles or refuse vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/30—Administration of product recycling or disposal
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/20—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F2210/00—Equipment of refuse receptacles
    • B65F2210/138—Identification means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F2210/00—Equipment of refuse receptacles
    • B65F2210/184—Weighing means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W90/00—Enabling technologies or technologies with a potential or indirect contribution to greenhouse gas [GHG] emissions mitigation

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  • Business, Economics & Management (AREA)
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Abstract

The embodiment of the invention discloses a medical waste recovery system and a data storage method thereof. The medical waste is automatically weighed, packaged and transported by the medical waste transport robot, the automatic data uploading cloud server is realized, the data is fully transparent and cloud, and manual intervention and pollution are reduced in all links of the whole process.

Description

Medical waste recovery system and data storage method thereof
Technical Field
The invention relates to the technical field of medical waste recovery equipment, in particular to a medical waste recovery system and a data storage method thereof.
Background
The medical waste refers to the harmful garbage with direct or indirect infectivity or toxicity generated in the process of treating diseases in medical institutions (such as hospitals). Currently, medical waste is generally classified into 5 types: the medical waste contains bacteria or chemicals mostly, causes pollution to the surrounding environment, has great influence on the life of residents if the management and control are not strong, and has diseases even to be infected if some of the medical waste is ill, thus seriously harming the physical and mental health of people.
With the development of scientific and technical information technology and the improvement of living standard of people, people have great understanding on the hazard of medical wastes, and have great demand on the standard management of the medical wastes, especially the implementation of full-flow tracing management on the whole process of generating and recycling the medical wastes is urgent. At present, medical wastes are manually packed and weighed and recorded in the recycling process, hospital service personnel transport the medical wastes to a hospital medical waste concentration station, and then a special medical waste recycling company recycles and transports the wastes and carries out further harmless treatment. In the whole medical waste garbage transportation process, only weighing registration and partial marking record are carried out, and the final flow direction of each bag of medical waste is not traced and managed, so that great risk is caused. And the data recorded manually has the situations of loss, missing pen errors and the like. The transparency and accuracy of the recovery data of the medical waste cannot be guaranteed.
Disclosure of Invention
The embodiment of the invention provides a medical waste recovery system and a data storage method thereof, aiming at solving the problem that in the technical process of transporting medical waste garbage from a department to a final recovery station, weighing registration and partial marking record are only manually made, and the final flow direction of each bag of medical waste is not traced.
The present invention provides a medical waste recovery system, including: the medical waste recycling garbage can, the medical waste transportation robot, the medical waste transportation special elevator, the medical waste transportation robot charging pile, the medical waste centralized garbage station, the medical waste recycling transfer car and the cloud server;
the medical waste recycling garbage can is used for carrying out initial bagging recycling, sterilization and weighing on medical waste, generating corresponding two-dimensional code information and printing a two-dimensional code list, and uploading the two-dimensional code information to the cloud server;
the medical transport robot is used for transporting the bagged and packaged medical wastes in the medical waste recovery garbage can to a medical waste concentration garbage station, correspondingly scanning the two-dimensional code information of the bagged and packaged medical wastes of each bag, and uploading the two-dimensional code information to the cloud server;
the medical waste is transported to a medical waste centralized garbage station and is used for storing bagged and packaged medical wastes which are not transported by the medical waste recycling and transferring trolley, scanning the two-dimensional code information of the bagged and packaged medical wastes stored in the medical waste centralized garbage station and uploading the two-dimensional code information to a cloud server;
the medical waste recycling and transferring trolley is used for transferring the bagged and packaged medical waste stored in the medical waste centralized garbage station to a target recycling point, scanning the two-dimensional code information of the bagged and packaged medical waste stored in the medical waste centralized garbage station and uploading the two-dimensional code information to the cloud server;
the medical waste transportation special elevator is used for transporting the medical transportation robot to a floor where the medical waste centralized garbage station is located from a current floor;
medical waste transport robot fills electric pile for charge when medical waste transport robot's electric quantity is less than preset electric quantity threshold value.
The invention also provides a data storage method of the medical waste recovery system, which comprises the following steps:
acquiring a garbage bag picture corresponding to a current garbage bag through a medical waste recycling garbage can, and inputting the garbage bag picture into a convolutional neural network model to obtain a current garbage identification result;
if the current garbage identification result is the same as the garbage recovery type corresponding to the medical waste recovery garbage can, acquiring garbage bag processor information sent by a user terminal through the medical waste recovery garbage can;
acquiring a current real-time weighing value of the medical waste recycling garbage can to obtain a garbage bag weight value corresponding to a current garbage bag;
generating corresponding two-dimensional code information and current garbage bag storage information according to the current garbage identification result, the garbage bag processor information, the garbage bag weight value, the unique garbage can equipment code and the current garbage bag recovery time, and printing the two-dimensional code information through an electronic bill printer to obtain a current two-dimensional code bill corresponding to the current garbage bag so as to be pasted on the current garbage bag;
sending the current garbage bag storage information to a cloud server for storage;
if the cloud server detects a robot calling instruction sent by the medical waste recycling garbage can, acquiring a medical waste transport robot which is closest to the medical waste recycling garbage can and is idle at the current robot state, and sending initial path planning information of the medical waste transport robot moving to the medical waste recycling garbage can to the medical waste transport robot;
if a two-dimensional code list of the recycling garbage bags is detected by the medical waste transport robot, current recycling garbage bag storage information corresponding to the two-dimensional code list is obtained;
adding the current code scanning time and the unique identification number of the code scanning equipment to the current storage information of the recovered garbage bags to obtain corresponding updated storage information of the recovered garbage bags, and uploading the updated storage information of the recovered garbage bags to a cloud server;
the medical waste transport robot acquires the current positioning information of the starting point and receives the positioning information of the target medical waste concentration station sent by the cloud server;
the medical waste transport robot controls the recycling bin sterilization device and the recycling bin exhaust fan to be started, and controls the recycling bin sterilization device and the recycling bin exhaust fan to be stopped after the recycling bin sterilization device and the recycling bin exhaust fan are started and run for a preset first running time;
the medical waste transport robot carries out path planning according to the target medical waste concentration station information and the current starting point positioning information to obtain planned path information;
if the medical waste transport robot detects that the medical waste transport robot moves to a target end point corresponding to the target medical waste concentration station information according to the path planning information, the recovery barrel cover is controlled to be opened;
if the medical waste concentration garbage station detects a two-dimensional code face sheet of a recycling garbage bag, acquiring recycling garbage bag updating storage information corresponding to the two-dimensional code face sheet, increasing the current garbage recycling station code scanning time and the unique identification number of the garbage recycling station to the recycling garbage bag updating storage information to obtain corresponding recycling garbage bag second updating storage information, and uploading the recycling garbage bag second updating storage information to a cloud server;
if the medical waste recycling transfer trolley detects the two-dimensional code surface list of the recycling garbage bag, second updating storage information of the recycling garbage bag corresponding to the two-dimensional code surface list is obtained, the second updating storage information of the recycling garbage bag is added with the code scanning time of the current garbage recycling vehicle and the unique identification number of the garbage recycling vehicle, third updating storage information of the corresponding recycling garbage bag is obtained, and the third updating storage information of the recycling garbage bag is uploaded to the cloud server.
The medical waste recycling system and the data storage method thereof comprise a medical waste recycling garbage can, a medical waste transportation robot, a medical waste transportation special elevator, a medical waste transportation robot charging pile, a medical waste centralized garbage station, a medical waste recycling transfer trolley and a cloud server. The medical waste is automatically weighed, packaged and transported by the medical waste transport robot, the automatic data uploading cloud server is realized, the data is fully transparent and cloud, and manual intervention and pollution are reduced in all links of the whole process.
Drawings
Fig. 1 is a schematic structural view of a medical waste recycling system provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a medical waste recycling bin in the medical waste recycling system according to an embodiment of the present invention;
fig. 3 is a block diagram illustrating a medical waste recycling bin of the medical waste recycling system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a medical waste transportation robot in the medical waste recycling system according to the embodiment of the present invention;
fig. 5 is a schematic structural view of a robot transfer car (buggy) in a medical waste transport robot of the medical waste recycling system according to the embodiment of the present invention;
FIG. 6 is a block diagram showing the construction of a robot transfer vehicle in the medical waste transport robot of the medical waste recycling system according to the embodiment of the present invention
Fig. 7 is a block diagram of a two-dimensional code scanning device in a medical waste transport robot of the medical waste recycling system according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a medical waste recycling system according to an embodiment of the present invention. As shown in fig. 1, the medical waste recycling system includes:
a medical waste recycling garbage can 100, a medical waste transport robot 200, a medical waste transport special elevator 300, a medical waste transport robot charging pile 400, a medical waste concentration garbage station 500, a medical waste recycling transfer vehicle 600 and a cloud server (not shown);
the medical waste recycling garbage can 100 is used for carrying out initial bagging recycling, sterilization and weighing on medical waste, generating corresponding two-dimensional code information and a printed two-dimensional code list, and uploading the two-dimensional code information to a cloud server;
the medical transport robot 200 is configured to transport the bagged medical wastes in the medical waste recycling garbage can 100 to the medical waste centralized garbage station 500, and upload two-dimensional code information of the bagged medical wastes to a cloud server after correspondingly scanning the two-dimensional code information of each bag;
the medical waste is transported to a medical waste centralized garbage station 500, and is used for storing bagged medical waste which is not transported by the medical waste recycling and transferring vehicle 600, scanning two-dimensional code information of the bagged medical waste stored in each bag transported to the medical waste centralized garbage station, and uploading the two-dimensional code information to a cloud server;
a medical waste recycling and transferring vehicle 600 for transferring the bagged medical waste stored in the medical waste centralized garbage station 500 to a target recycling point, scanning the two-dimensional code information of the bagged medical waste stored in the medical waste centralized garbage station 500, and uploading the scanned two-dimensional code information to a cloud server;
a medical waste transportation special elevator 300 for transporting the medical transportation robot 200 from the current floor to the floor where the medical waste concentration garbage station is located;
the medical waste transport robot charging pile 400 is used for charging when the electric quantity of the medical waste transport robot 200 is lower than a preset electric quantity threshold value.
In this embodiment, medical waste recovery waste bins may be deployed at multiple departments of a hospital for recovering medical waste.
For example, medical waste collection garbage cans a1-a3 (i.e., medical waste collection garbage can a1, medical waste collection garbage can a3, and medical waste collection garbage can a3) are placed in the hospital department a, and after the medical waste transport robot 200 has collected the waste collection bags in the medical waste collection garbage cans a1-a3 for the first time, the medical waste collection garbage cans a1-a3 need to be newly covered with the waste collection bags.
Then, acquiring a garbage bag picture corresponding to the current garbage bag through the medical waste recycling garbage can 100, and inputting the garbage bag picture into the convolutional neural network model to obtain a current garbage identification result; if the current garbage identification result is the same as the corresponding garbage recycling type of the medical waste recycling garbage can 100, acquiring garbage bag handler information sent by a user terminal through the medical waste recycling garbage can 100; acquiring a current real-time weighing value of the medical waste recycling garbage can 100 to obtain a garbage bag weight value corresponding to a current garbage bag; generating corresponding two-dimensional code information and current garbage bag storage information according to the current garbage identification result, the garbage bag processor information, the garbage bag weight value, the unique garbage can equipment code and the current garbage bag recovery time, and printing the two-dimensional code information through an electronic bill printer to obtain a current two-dimensional code bill corresponding to the current garbage bag so as to be pasted on the current garbage bag; and sending the current garbage bag storage information to a cloud server for storage.
If the cloud server detects a robot call instruction sent by any one of the medical waste recycling garbage cans a1-a3, the medical waste transport robot 200 which is closest to the department A and is idle in the current robot state is acquired, and initial path planning information of the medical waste transport robot 200 moving to the department A is sent to the medical waste transport robot 200.
Then, after the medical waste transportation robot 200 moves to department a, the medical waste transportation robot 200 may manually take out the bags of the medical waste recycling garbage can a1-a3, transport and place the bagged medical waste in the medical waste transportation robot 200, or take out the bags of the medical waste recycling garbage can a1-a3, transport and place the bagged medical waste in the medical waste recycling garbage can a1-a3, in the medical waste transportation robot 200, by using a manipulator provided on each garbage can, wherein a two-dimensional code sheet is attached to each bag of the medical waste recycling garbage can a1-a3, and the medical waste transportation robot 200 needs to use a two-dimensional code scanner before each bag of the medical waste recycling garbage can a1-a3 is taken out and placed in the medical waste transportation robot 200 (the medical waste transportation robot 200 is provided with a two-dimensional code scanner, also can be understood as a first two-dimension code scanning device) to scan the two-dimension code surface list to obtain the current storage information of the recycling garbage bags. And then adding the current code scanning time and the unique identification number of the code scanning equipment to the current storage information of the recovered garbage bags to obtain corresponding updated storage information of the recovered garbage bags, and uploading the updated storage information of the recovered garbage bags to a cloud server. Therefore, the updated storage information of the recycled garbage bags comprises the current garbage identification result, the garbage bag processor information, the garbage bag weight value, the unique code of the garbage can equipment, the current garbage bag recycling time, the current code scanning time and the unique identification number of the code scanning equipment. The information of the garbage bag can be clearly obtained in the cloud server, and the destination of each garbage bag can be conveniently inquired.
Then, after the medical waste transportation robot 200 finishes recycling the garbage bags in the medical waste recycling garbage cans a1-a3, the medical waste transportation robot can go to the next department for further recycling or directly go to a target medical waste collecting station. For example, in the process that the medical waste transportation robot 200 moves to the target medical waste concentration station, the medical waste transportation robot 200 and the target medical waste concentration station are not located on the same floor, the medical waste transportation robot 200 needs to be transported to the same floor as the target medical waste concentration station by the medical waste transportation special elevator 300, and then the medical waste transportation robot 200 continues to move to the target medical waste concentration station, and each waste bag in the medical waste transportation robot 200 is placed in the target medical waste concentration station. Wherein, also be provided with the sign indicating number device is swept to the second two-dimensional code on target medical waste concentrates the station. Before each bag of garbage bags is taken out from the medical waste transport robot 200 and placed in the target medical waste concentration station, the second two-dimensional code scanning device on the target medical waste concentration station needs to scan the two-dimensional code list, and corresponding updated storage information of the recovered garbage bags is obtained. And then adding the code scanning time of the current garbage recycling station and the unique identification number of the garbage recycling station to the updated storage information of the recycled garbage bags to obtain corresponding second updated storage information of the recycled garbage bags, and uploading the second updated storage information of the recycled garbage bags to a cloud server. Therefore, the second time of updating the storage information of the recycled garbage bags comprises the current garbage identification result, the garbage bag processor information, the garbage bag weight value, the unique code of the garbage can equipment, the current garbage bag recycling time, the current code scanning time, the unique identification number of the code scanning equipment, the code scanning time of the current garbage recycling station and the unique identification number of the garbage recycling station. The information of the garbage bag can be clearly obtained in the cloud server, and the destination of each garbage bag can be conveniently inquired.
Thereafter, when the medical waste recycling transfer vehicle 600 reaches the target medical waste collecting station, the garbage bags collected by the target medical waste collecting station need to be placed on the medical waste recycling transfer vehicle 600. Wherein, retrieve the transfer car (600) and also be provided with the sign indicating number device is swept to the third two-dimensional code at medical waste. Before each garbage bag is taken out from the target medical garbage concentration station and placed in the medical waste recycling transfer trolley 600, the third two-dimensional code scanning device on the medical waste recycling transfer trolley 600 is used for scanning the two-dimensional code surface list, and corresponding secondary updating storage information of the recycled garbage bag is obtained. And then, adding the code scanning time of the current garbage recycling vehicle and the unique identification number of the garbage recycling vehicle to the second time of the recycling garbage bag updating storage information to obtain the corresponding third time of the recycling garbage bag updating storage information, and uploading the third time of the recycling garbage bag updating storage information to a cloud server. Therefore, the third time of updating and storing information of the recycled garbage bags comprises the current garbage identification result, the garbage bag processor information, the garbage bag weight value, the unique code of the garbage can equipment, the current garbage bag recycling time, the current code scanning time, the unique identification number of the code scanning equipment, the code scanning time of the current garbage recycling station, the unique identification number of the garbage recycling station, the code scanning time of the current garbage recycling vehicle and the unique identification number of the garbage recycling vehicle. The information of the garbage bag can be clearly obtained in the cloud server, and the destination of each garbage bag can be conveniently inquired. Finally, the medical waste recycling transfer trolley 600 transports the garbage bags to a medical waste recycling central station, and the code scanning process can be referred to before each garbage bag enters the medical waste recycling central station, so that code scanning time of the recycling central station and the unique identification number of the recycling central station are increased in the third time of updating the storage information of the recycled garbage bags, and the corresponding third time of updating the storage information of the recycled garbage bags is obtained. Therefore, accurate recording of each time node and a specific processing object of the complete transportation process of the garbage bag from a hospital department to a medical waste recycling main station is realized.
In an embodiment, as shown in fig. 2, it is a schematic structural diagram of a medical waste recycling garbage can in a medical waste recycling system according to an embodiment of the present invention. As shown in fig. 2, the medical waste recycling bin includes:
the garbage can comprises a garbage can body 101, an electronic scale 102, a garbage recovery bag 103, a garbage can cover 104, a garbage can sterilization device 105, a garbage can exhaust fan 106 and an electronic surface single printer 107;
the garbage can body 101 comprises an outer garbage can barrel 101a and an inner garbage can barrel 101b arranged in the outer garbage can barrel 101 a;
the electronic scale 102 is arranged between the outer garbage can 101a and the inner garbage can 101b, the lower end face of the electronic scale 102 is in contact with the inner wall of the bottom of the outer garbage can 101a, and the upper end face of the electronic scale 102 is in contact with the outer wall of the bottom of the inner garbage can 101 b;
the garbage recycling bag 103 is sleeved at the opening of the inner garbage can 101b and is in contact with the inner wall of the inner garbage can 101 b;
the garbage can cover 104 is arranged at an outer garbage can opening of the outer garbage can 101 a;
the garbage bin sterilizing device 105 is arranged at the bottom end of the garbage bin cover 104 and is aligned with the garbage recycling bag 103 so as to sterilize the recycled garbage in the garbage recycling bag 103;
the trash can exhaust fan 106 is arranged at the bottom end of the trash can cover 104, is aligned with the trash recycling bag 103, and is positioned on one side of the sterilization device 400 so as to circulate air in the trash recycling bag;
the electronic surface printer 107 is fixedly arranged on the outer wall of the outer barrel 101a of the garbage can.
In this embodiment, the medical waste recycling bin can be placed in each department of a hospital to recycle medical waste (i.e. medical waste). After the medical waste recycling garbage can is recycled at the last time, the garbage can cover 104 needs to be opened and a new garbage recycling bag 103 needs to be sleeved in the garbage can inner barrel 101b when the medical waste recycling garbage can is used at this time. And then, after the garbage can cover 104 is covered, the garbage can sterilization device 105 and the garbage can exhaust fan 106 are started to perform air circulation sterilization and inactivation on the interior of the garbage can. The trash can sterilization device 105 includes, but is not limited to, a common medical sterilization device such as ultraviolet sterilization, ozone sterilization, plasma sterilization, and the like. Moreover, the opening mode of the garbage bin sterilization device 105 can be set as the following trigger starting mode, for example, when the garbage recovery bag 103 is newly replaced, or after the garbage bin cover 104 is opened each time and garbage is discarded, the sterilization function is suspended, and after the garbage bin cover 104 is closed, the sterilization function is automatically restarted.
At this time, in order to enable the electronic scale 102 to more accurately weigh the garbage after the new garbage recycling bag 103 is replaced, the current initial weighing value of the electronic scale 102 needs to be obtained first to serve as the system weighing zero value, and the zero clearing of the weighing system is realized through the adjustment, so that the weight of the medical waste can be weighed more accurately.
Then, when a medical staff or other personnel needs to discard the medical waste in the medical waste recycling garbage can (the medical waste is generally recycled by using a corresponding small plastic bag, for example, the medical waste is generally divided into five types, i.e., infectious waste, pathological waste, traumatic waste, pharmaceutical waste, and chemical waste, and then the infectious waste, pathological waste, traumatic waste, pharmaceutical waste, and chemical waste can be respectively recycled by using 5 special plastic bags), a garbage bag picture corresponding to the current garbage bag (generally, which kind of medical waste recycling bag is clearly identified on the outer surface of the 5 garbage bags in the above example) can be obtained by using the electronic surface single printer 107, so as to identify and obtain the current garbage identification result.
If the current garbage identification result is that the garbage recovery type corresponding to the medical waste recovery garbage can is the same, the medical waste recovery garbage can is indicated to be specially used for recovering the garbage of the type. At this time, in order to clearly know the disposal bag information of the disposal bag of medical waste, the disposal bag handler may be required to establish a connection with the electronic receipt printer 107 by using a user terminal (such as a smart phone), and the disposal bag handler information (generally including information such as a name, a department, and a job number of the disposal bag handler) corresponding to the disposal bag handler may be sent to the electronic receipt printer 107 from the user terminal.
If a garbage bag discarded before is already in the medical waste recycling garbage can, the electronic scale 102 always displays the accumulated total weight of the garbage bag discarded before in the garbage recycling bag 103, and when the current garbage bag identified by the garbage type is placed in, the accumulated total weight of the current garbage bag measured by the electronic scale 102 (namely the current real-time weighing value of the electronic scale) is subtracted by the accumulated total weight of the previous garbage bag to obtain the weight value of the garbage bag corresponding to the current garbage bag.
At the moment, the current garbage identification result, the garbage bag processor information and the garbage bag weight value are known, the unique code of the garbage can equipment and the current garbage bag recovery time can be obtained, at the moment, two-dimensional code information and current garbage bag storage information (the two kinds of information correspond to the same data content, and only the two-dimensional code information is represented in a two-dimensional code mode) are generated according to the information, at the moment, the two-dimensional code information is printed through an electronic surface single printer 107, and the current two-dimensional code surface sheet corresponding to the current garbage bag is obtained to be pasted on the current garbage bag; and sending the current garbage bag storage information to a cloud server for storage.
In one embodiment, as shown in fig. 3, in the medical waste recycling bin, the electronic surface printer 107 includes:
a printer body 107 a;
a first circuit board 107b provided in the printer body 107 a;
a CPU control chip 107c provided on the first circuit board 107 b;
the touch screen 107d is arranged on the printer body 107a, and the touch screen 107d is connected with the CPU control chip 107 c;
a microphone 107e arranged on the printer body 107a, wherein the microphone 107e is connected with the CPU control chip 107 c;
a camera 107f disposed on the printer body 107a, the camera 107f being connected to the CPU control chip 107 c;
a speaker 107g provided on the printer body 107a, the speaker 107g being connected to the CPU control chip 107 c;
a first wireless communication module 107h disposed on the first circuit board 107b, wherein the first wireless communication module 107h is connected with the CPU control chip 107 c;
a memory module 107i disposed on the first circuit board 107b, the memory module 107i being connected to the CPU control chip 107 c;
a thermal printer 107j provided on the printer body, the thermal printer 107j being connected to the CPU control chip 107 c.
In this embodiment, the electronic surface sheet printer 107 and the handheld terminal used by the existing courier are the same device (i.e. an intelligent terminal having a print surface sheet function and a communication function, and more vividly understood as a smart phone having the print surface sheet function), so that a current garbage bag image can be collected by a camera 107f on the electronic surface sheet printer 107 to perform type recognition to obtain a current garbage recognition result, and garbage bag handler information sent after the user terminal establishes a communication connection with the electronic surface sheet printer 107 (e.g. the user terminal establishes a connection with the electronic surface sheet printer 107 by scanning a two-dimensional code on the electronic surface sheet printer 107) can be obtained, and a current real-time weighing value sent by the electronic scale 102 can also be received. Because the medical waste recycling garbage can is the only code of the garbage can equipment, the discarding time of the current garbage bag can be obtained. Therefore, the corresponding two-dimensional code information and the current garbage bag storage information can be generated in the electronic surface sheet printer 107 according to the current garbage identification result, the garbage bag processor information, the garbage bag weight value, the unique garbage can equipment code and the current garbage bag recovery time, and the two-dimensional code information is printed by a thermal printer in the electronic surface sheet printer 107 to obtain a current two-dimensional code surface sheet corresponding to the current garbage bag so as to be pasted on the current garbage bag.
In one embodiment, in the medical waste recycling bin, a second wireless communication module is further disposed in the electronic scale 102.
In this embodiment, the first wireless communication module 107h provided in the electronic surface printer 107 and the second wireless communication module provided in the electronic scale 102 may be any one of the following modules: Wi-Fi module, bluetooth module, 4G communication module, 5G communication module etc.. This allows the electronic facial sheet printer 107 to establish a communication link with the electronic scale 102, and also allows the electronic facial sheet printer 107 to establish a communication link with the cloud server.
In an embodiment, as shown in fig. 4, fig. 4 is a schematic structural diagram of a medical waste transportation robot in a medical waste recycling system according to an embodiment of the present invention. As shown in fig. 4, the medical waste transport robot 200 includes:
the robot transfer trolley 201, the recovery barrel 202, the recovery barrel cover 203, the alarm lamp 204, the recovery barrel sterilization device 205, the recovery barrel exhaust fan 206 and the two-dimensional code scanning device 207;
wherein, the recycling bin 202 is fixedly arranged on the upper end surface of the robot transfer trolley 201;
the recycling bin cover 203 is arranged at the bin mouth of the recycling bin 202;
the alarm lamp 204 is fixedly arranged at the top end of the recovery barrel cover 203;
the recycling bin sterilizing device 205 is arranged at the bottom end of the recycling bin cover 203 and is aligned with the inner cavity of the recycling bin 202 so as to sterilize the inner cavity of the recycling bin 202;
the recycling bin exhaust fan 206 is arranged at the bottom end of the recycling bin cover 203, aligned with the inner cavity of the recycling bin 202, and located at one side of the recycling bin sterilizing device 205, so as to circulate air in the inner cavity of the recycling bin 202;
the two-dimensional code scanning device 207 is fixedly arranged on the outer wall of the recycling bin 202.
In this embodiment, recycling bins for recycling medical waste are placed in a plurality of departments of a hospital, and the medical waste recycling system can go to each department at regular time to recycle the packaged medical waste. In the recycling bin that each administrative or technical offices placed, the surface of the rubbish recycling bag that each bag has accomplished the packing all pastes there is the two-dimensional code face list, and the information that the correspondence of the two-dimensional code on the two-dimensional code face list included has current rubbish identification result, disposal bag person information, disposal bag weight value, the only code of recycling bin equipment, current disposal bag recovery time etc..
For example, when 5 bags of medical waste are contained in the recycling bin a1 placed in the department a of a hospital, a corresponding two-dimensional code sheet is adhered to the surface of each garbage bag of medical waste. At this time, when the medical waste recycling system moves to department a of the hospital, a doctor may open the recycling bin cover 203 of the medical waste recycling system first, and then, each time a trash bag is taken out from the recycling bin a1, the two-dimensional code is scanned by the two-dimensional code scanning device 207 to obtain two-dimensional code information corresponding to the two-dimensional code list, and then the two-dimensional code information is uploaded to the cloud server. This pass through two-dimensional code sweep sign indicating number information that two-dimensional code face list on the disposal bag corresponds is in order to inform cloud server this bag rubbish by medical waste recovery system retrieves when for the rubbish transportation flow in the rubbish transportation process is also obtained accurate record, is convenient for follow-up inquiry and traces to the source. When the recycling bin a1 and other waste bags in the recycling bin 202 are all placed in the recycling bin A of the hospital, the recycling bin cover 203 is closed, and the medical waste recycling system is driven by the robot transfer trolley 201 to move to the next department for recycling or move to a target medical waste collecting station. In the process of transporting garbage, the recycling bin sterilizing device 205 and the recycling bin exhaust fan 206 on the recycling bin cover 203 are started to sterilize and circulate air in the recycling bin 202, so that pollution is avoided. And when the robot transfer trolley 201 moves, the alarm lamp 204 can be turned on, so that the light of the alarm lamp 204 flickers to prompt pedestrians that the medical waste recovery system is running, and the pedestrians are prompted to avoid. When the medical waste transport robot 200 moves to the medical waste transport special elevator 300 at the current floor, an elevator attendant of the medical waste transport special elevator 400 opens an elevator door for the elevator and presses an elevator button corresponding to the floor where the waste concentration garbage station 500 is located, so that the medical waste transport robot 200 automatically drives out of the medical waste transport special elevator 400 and then moves to the position where the waste concentration garbage station 500 is located after moving to the floor where the waste concentration garbage station 500 is located.
In one embodiment, as shown in fig. 4-6, the robotic transfer vehicle 201 comprises:
a robot transfer car body 201 a;
a main control board 201b arranged in the robot transfer trolley body 201 a; the main control board 201b is connected with the alarm lamp 204;
the battery 201c is arranged in the robot transfer trolley body 201a, and the battery 201c is connected with the main control board 201 b;
the engine 201d is arranged in the robot transfer trolley body 201a, the engine 201d is connected with the battery 201c, and the engine 201d is also connected with the main control board 201 b;
the rotary laser transmitter 201e is arranged at the bottom end of the robot transfer trolley body 201a, and the rotary laser transmitter 201e is connected with the main control board 201 b;
the infrared camera 201f is arranged on the robot transfer trolley body 201a, and the infrared camera 201f is connected with the main control board 201 b;
the RGB camera 201g is arranged on the robot transfer trolley body 201a, and the RGB camera 201g is connected with the main control board 201 b;
a plurality of transfer trolley wheels 201h arranged on the lower end surface of the robot transfer trolley body 201 a; the plurality of transfer vehicle wheels 201h comprise transfer vehicle driving wheels 201h1 and transfer vehicle driven wheels 201h2, and the transfer vehicle driving wheels 201h1 are connected with a rotating shaft of the engine 201 d;
a front-end bumper 201i provided at the front end of the robot transfer car body 201 a;
and a rear-end bumper 201j provided at the rear end of the robot transfer car body 201 a.
In this embodiment, the robot transporter 201 with the above structure is convenient for stably fixing the recycling bin, and can automatically travel to a target position (such as each department). In the robotic transfer vehicle 201, the master control board 201b employed may be similar to the control board in a sweeping robot (e.g., a microcontroller of texas instruments model No. TMS320F28026 DAS). The laser emitter 201e is rotated to continuously emit laser, the infrared camera 201f is used for shooting reflected light and imaging, the relative position of an object (such as a wall of a hospital corridor) and the robot transfer trolley 201 is measured by using a geometric distance measurement principle, a map of a complete boundary is drawn according to the relative position, the position of the robot transfer trolley 201 in the map is determined, the RGB camera 201g is used for continuously moving the position of the RGB camera to shoot, feature points of adjacent frame pictures are extracted and matched, and the distance of an obstacle is measured by using the distance measurement principle. That is, the arrangement of the rotating laser emitter 201e, the infrared camera 201f, and the RGB camera 201g on the robot transport vehicle 201 is to facilitate path planning and to realize automatic traveling of the robot transport vehicle 201.
And because the front end of the robot transfer car body 201a is provided with the front end bumper 201i and the rear end of the robot transfer car body 201a is provided with the rear end bumper 201j, the anti-collision performance of the robot transfer car 201 in the driving process is improved.
In an embodiment, the medical waste recycling system further includes a third wireless communication module disposed on the main control board 201 b.
The main control board 201b is provided with a third wireless communication module (the third wireless communication module can be any one of a Wi-Fi module, a Bluetooth module, a 4G communication module, a 5G communication module and the like), and through the third wireless communication module, the robot transfer trolley 201 can upload two-dimensional code information obtained by scanning of the two-dimensional code scanning device 207 to a server and can also upload the real-time position of the transfer trolley to a cloud server.
In an embodiment, the opening of the recycling bin 202 is further provided with a sealing ring (not shown).
The sealing ring is arranged at the opening of the recovery barrel 202, so that when the recovery barrel cover 203 is covered, the sealing performance is better, air exchange between the air in the recovery barrel 202 of the transfer trolley and the air outside the recovery barrel 202 is prevented, and pollution is prevented.
In one embodiment, as shown in fig. 2 and 5, in the medical waste recycling system, the two-dimensional code scanning device 207 includes:
a code scanning device body 207 a;
a second circuit board 207b provided in the code scanning device body 207 a;
an MCU control chip 207c disposed on the second circuit board 207 b;
the code scanning module 207d is arranged on the code scanning device body 207a, and the code scanning module 207d is connected with the MCU control chip 702;
and a fourth wireless communication module 207e disposed on the second circuit board 207b, wherein the fourth wireless communication module 207e is connected with the MCU control chip 207c, and the fourth wireless communication module 207e is further connected with the third wireless communication module in a communication manner.
In this embodiment, the two-dimensional code scanning device 207 and the code scanning gun have the same principle, and are all for acquiring two-dimensional code information corresponding to a two-dimensional code, and the two-dimensional code information acquired by scanning the code can be uploaded to the cloud server through the fourth wireless communication module 207 e.
The fourth wireless communication module 207e is also in communication connection with the third wireless communication module, so that the transfer trolley is in communication connection with the two-dimensional code scanning device 207, and both the transfer trolley and the two-dimensional code scanning device are in communication connection with the same cloud server, so that networking is facilitated for data transmission and interaction.
The invention also provides a data storage method of the medical waste recovery system, which comprises the following steps:
acquiring a garbage bag picture corresponding to a current garbage bag through a medical waste recycling garbage can, and inputting the garbage bag picture into a convolutional neural network model to obtain a current garbage identification result;
if the current garbage identification result is the same as the garbage recovery type corresponding to the medical waste recovery garbage can, acquiring garbage bag processor information sent by a user terminal through the medical waste recovery garbage can;
acquiring a current real-time weighing value of the medical waste recycling garbage can to obtain a garbage bag weight value corresponding to a current garbage bag;
generating corresponding two-dimensional code information and current garbage bag storage information according to the current garbage identification result, the garbage bag processor information, the garbage bag weight value, the unique garbage can equipment code and the current garbage bag recovery time, and printing the two-dimensional code information through an electronic bill printer to obtain a current two-dimensional code bill corresponding to the current garbage bag so as to be pasted on the current garbage bag;
sending the current garbage bag storage information to a cloud server for storage;
if the cloud server detects a robot calling instruction sent by the medical waste recycling garbage can, acquiring a medical waste transport robot which is closest to the medical waste recycling garbage can and is idle at the current robot state, and sending initial path planning information of the medical waste transport robot moving to the medical waste recycling garbage can to the medical waste transport robot;
if a two-dimensional code list of the recycling garbage bags is detected by the medical waste transport robot, current recycling garbage bag storage information corresponding to the two-dimensional code list is obtained;
adding the current code scanning time and the unique identification number of the code scanning equipment to the current storage information of the recovered garbage bags to obtain corresponding updated storage information of the recovered garbage bags, and uploading the updated storage information of the recovered garbage bags to a cloud server;
the medical waste transport robot acquires the current positioning information of the starting point and receives the positioning information of the target medical waste concentration station sent by the cloud server;
the medical waste transport robot controls the recycling bin sterilization device and the recycling bin exhaust fan to be started, and controls the recycling bin sterilization device and the recycling bin exhaust fan to be stopped after the recycling bin sterilization device and the recycling bin exhaust fan are started and run for a preset first running time;
the medical waste transport robot carries out path planning according to the target medical waste concentration station information and the current starting point positioning information to obtain planned path information;
if the medical waste transport robot detects that the medical waste transport robot moves to a target end point corresponding to the target medical waste concentration station information according to the path planning information, the recovery barrel cover is controlled to be opened;
if the medical waste concentration garbage station detects a two-dimensional code face sheet of a recycling garbage bag, acquiring recycling garbage bag updating storage information corresponding to the two-dimensional code face sheet, increasing the current garbage recycling station code scanning time and the unique identification number of the garbage recycling station to the recycling garbage bag updating storage information to obtain corresponding recycling garbage bag second updating storage information, and uploading the recycling garbage bag second updating storage information to a cloud server;
if the medical waste recycling transfer trolley detects the two-dimensional code surface list of the recycling garbage bag, second updating storage information of the recycling garbage bag corresponding to the two-dimensional code surface list is obtained, the second updating storage information of the recycling garbage bag is added with the code scanning time of the current garbage recycling vehicle and the unique identification number of the garbage recycling vehicle, third updating storage information of the corresponding recycling garbage bag is obtained, and the third updating storage information of the recycling garbage bag is uploaded to the cloud server.
In this embodiment, as a first embodiment for recycling the garbage recycling bag 103 in the medical waste recycling garbage can, a regular cleaning manner may be adopted, that is, whether the time interval between the current system time and the last garbage recycling time is equal to a preset recycling period (for example, the recycling period is set to be 24 hours) or not may be determined. If the time interval between the current system time and the last garbage recycling time is equal to the recycling period and indicates that the garbage bag cleaning time is up at the moment, a first garbage can cleaning instruction is sent to the cloud server at the moment, so that the cloud server informs a corresponding processing person or a processing terminal such as an intelligent robot to recycle the garbage recycling bag 103.
As a second embodiment of recycling the garbage recycling bags 103 in the medical waste recycling garbage can, a quantitative cleaning manner may be adopted, that is, it is determined whether the total weight value of the garbage bags exceeds a preset garbage weight threshold (for example, the garbage weight threshold is set to be 10 KG). If the total weight value of the garbage bags exceeds the garbage weight threshold value, it indicates that the weight of the garbage in the medical waste recycling garbage can reaches the upper bearing limit, and at this time, a second garbage can cleaning instruction is sent to the cloud server, so that the cloud server notifies a corresponding processing person or a processing terminal such as an intelligent robot to recycle the garbage recycling bags 103.
In an embodiment, the step of obtaining a garbage bag picture corresponding to a current garbage bag through a medical waste recycling garbage can, and inputting the garbage bag picture into a convolutional neural network model to obtain a current garbage identification result includes:
preprocessing the garbage bag picture to obtain a preprocessed picture and a picture pixel matrix corresponding to the preprocessed picture; the method comprises the steps of preprocessing a garbage bag picture, wherein the preprocessing of the garbage bag picture comprises the steps of carrying out graying, edge detection and binarization processing on the garbage bag picture in sequence;
inputting the picture pixel matrix corresponding to the preprocessed picture into a convolutional neural network model to be sequentially subjected to convolution, pooling and full connection to obtain a corresponding picture characteristic vector;
and inputting the patch feature vector into a softmax classifier in a convolutional neural network model to obtain a current garbage recognition result.
In this embodiment, graying, edge detection, and binarization processing are sequentially performed on the garbage bag picture, so that a preprocessed picture can be obtained. Since a color image contains more information, but the color image is directly processed, the execution speed in the electronic flat-screen printer is reduced, and the storage space becomes large. The gray level of the color image is a basic method for image processing, is widely applied in the field of pattern recognition, and the reasonable gray level can greatly help the extraction and subsequent processing of image information, thereby saving storage space and accelerating processing speed. The edge detection method is to examine the change condition of the gray level of the pixels of the image in a certain field and identify the points with obvious brightness change in the digital image. The edge detection of the image can greatly reduce the data volume, eliminate irrelevant information and save important structural attributes of the image. There are many operators for edge detection, and there are also Laplacian edge detectors (i.e. Laplacian edge detectors), Canny edge detectors (i.e. Canny edge detectors), and the like, in addition to Sobel operators (i.e. Sobel operators).
In order to reduce the influence of noise, it is necessary to perform binarization processing on an image subjected to edge detection, which is a type of thresholding the image. According to the selection condition of the threshold, the binarization method can be divided into a global threshold method, a dynamic threshold method and a local threshold method, the thresholding is performed by a maximum inter-class variance method (also called an Otsu algorithm) to eliminate some pixels with smaller gradient values, and the pixel value of the image after the binarization processing is 0 or 255. At this time, the preprocessed picture and the picture pixel matrix corresponding to the preprocessed picture can be obtained.
When the picture characteristic vector of the picture is obtained, a picture pixel matrix corresponding to the preprocessed picture is obtained firstly, then the picture pixel matrix corresponding to the preprocessed picture is used as the input of an input layer in a convolutional neural network model to obtain a characteristic diagram, then the characteristic diagram is input into a pooling layer to obtain a one-dimensional vector corresponding to the maximum value corresponding to the characteristic diagram, and finally the one-dimensional vector corresponding to the maximum value corresponding to the characteristic diagram is input into a full connection layer to obtain the picture characteristic vector corresponding to the preprocessed picture.
And then, inputting the picture feature vector corresponding to the garbage bag picture into a softmax classifier of the convolutional neural network model to obtain a current garbage identification result corresponding to the garbage bag picture. The softmax classifier maps each value in the feature vector of the picture as a real number between 0 and 1 as an input.
Since it is necessary to determine whether the garbage bag is the garbage collection type corresponding to the medical waste collection garbage can (the garbage collection type is one of 5 types of infectious waste, pathological waste, traumatic waste, pharmaceutical waste, and chemical waste) when the garbage bag handler places the current garbage bag into the garbage collection bag 103, if the current garbage recognition result obtained by recognition is the same as the garbage collection type of the garbage can, the user may be prompted to open the garbage can cover 400 in a voice prompt manner to place the current garbage bag into the garbage collection bag 103.
Since recovery tanks for recovering medical waste are disposed in a plurality of departments of a hospital, the medical waste recovery system can go to each department at regular time to recover the medical waste that has been packed. In the recycling bin that each administrative or technical offices placed, the surface of the rubbish recycling bag that each bag has accomplished the packing all pastes there is the two-dimensional code face list, and the information that the correspondence of the two-dimensional code on the two-dimensional code face list included has current rubbish identification result, disposal bag person information, disposal bag weight value, the only code of recycling bin equipment, current disposal bag recovery time etc..
For example, when 5 bags of medical waste are contained in the recycling bin a1 placed in the department a of a hospital, a corresponding two-dimensional code sheet is adhered to the surface of each garbage bag of medical waste. At this time, when the medical waste recycling system moves to department a of the hospital, a doctor may open the recycling bin cover 203 of the medical waste recycling system first, and then, each time a trash bag is taken out from the recycling bin a1, the two-dimensional code is scanned by the two-dimensional code scanning device 207 to obtain two-dimensional code information corresponding to the two-dimensional code list, and then the two-dimensional code information is uploaded to the cloud server. This pass through two-dimensional code sweep sign indicating number information that two-dimensional code face list on the disposal bag corresponds is in order to inform cloud server this bag rubbish by medical waste recovery system retrieves when for the rubbish transportation flow in the rubbish transportation process is also obtained accurate record, is convenient for follow-up inquiry and traces to the source. When the recycling bin a1 and other waste bags in the recycling bin 202 are all placed in the recycling bin A of the hospital, the recycling bin cover 203 is closed, and the medical waste recycling system is driven by the robot transfer trolley 201 to move to the next department for recycling or move to a target medical waste collecting station. In the process of transporting the garbage, the garbage can sterilization device 105 and the garbage can exhaust fan 106 on the recovery can cover 203 are started to sterilize and circulate air in the recovery can 202, so that pollution is avoided. And when the robot transfer trolley 201 moves, the alarm lamp 204 can be turned on, so that the light of the alarm lamp 204 flickers to prompt pedestrians that the medical waste recovery system is running, and the pedestrians are prompted to avoid.
When the medical waste recycling system finishes recycling all the garbage bags in a certain department, as a first embodiment of the application, the medical waste recycling system can be directly driven to a target medical waste collecting station. In order to guide the medical waste recovery system to move, the current starting point positioning information can be obtained at first, and the target medical waste concentration station positioning information sent by the cloud server is received; and then planning a path according to the information of the target medical waste concentration station and the positioning information of the current starting point to obtain planned path information. After the planned path information is obtained, the medical waste recycling system can control the garbage bin sterilization device 105 and the garbage bin exhaust fan 106 to be started when the driving starts, and control the garbage bin sterilization device 105 and the garbage bin exhaust fan 106 to stop after the garbage bin sterilization device 105 and the garbage bin exhaust fan 106 are started and operated for a preset first operation time (the preset first operation time can be set to be 5-10 minutes), namely, the sterilization and the air circulation are started in the driving process of the robot transport vehicle 201, so that the pollution of garbage bags is effectively prevented.
Since the robot transport vehicle 201 travels to the target end point corresponding to the information of the target medical waste concentration station according to the planned path information, if it is detected that the robot transport vehicle has moved to the target end point corresponding to the information of the target medical waste concentration station according to the path planning information, the recovery barrel cover 203 is controlled to be opened. At this moment, the alarm lamp 204 can be controlled to flash to prompt the staff at the target medical waste collecting station to collect the garbage bags in the recycling bin 202.
At this time, when the staff of the target medical waste concentration station takes out a bag of garbage bag from the recycling bin 202, the second two-dimensional code scanning device which can align the two-dimensional code of the garbage bag with the target medical waste concentration station needs to be arranged. The second two-dimensional code scanning device which is set by the target medical waste centralized station scans the two-dimensional code to acquire the two-dimensional code information corresponding to the two-dimensional code surface list and uploads the two-dimensional code information to the cloud server. This sweep the two-dimensional code information that the two-dimensional code face list on the disposal bag corresponds through another two-dimensional code, be in order to inform cloud server this bag rubbish when by target medical waste centralized station retrieve for the rubbish of rubbish transportation in-process is concentrated and is retrieved the flow and also is obtained accurate record, subsequent inquiry and traceability of being convenient for.
In an embodiment, the medical waste transport robot performs path planning according to the information of the target medical waste concentration station and the positioning information of the current starting point to obtain planning path information, and the method includes:
acquiring target end point information corresponding to the target medical waste concentration station information, and acquiring the current starting point positioning information;
obtaining the electronic map information of the building corresponding to the positioning information of the current starting point;
and acquiring corresponding planning path information according to the electronic building map information, the current starting point positioning information and the target end point information.
In this embodiment, in order to more quickly perform path planning on the transfer vehicle, the electronic map information of the building corresponding to the hospital where the transfer vehicle is located, which is stored in the cloud server, may be obtained at this time (that is, the electronic map information includes an indoor electronic map of the hospital and an outdoor electronic map of the hospital within 1 km, and generally, the target medical waste concentration station is set at a place within 1 km from the hospital, so that the transfer vehicle can conveniently find the target address). After the building electronic map information, the current starting point positioning information and the target terminal point information are obtained, planning path information corresponding to the transfer trolley can be obtained by combining the existing navigation technology, so that the transfer trolley is guided to run to a target medical waste concentration station in an optimal path to carry out waste concentration recovery.
In an embodiment, after the step of performing path planning by the medical waste transport robot according to the information of the target medical waste concentration station and the positioning information of the current starting point to obtain planned path information, the method further includes:
if the situation that the vehicle does not move to the target end point corresponding to the target medical waste concentration station information according to the path planning information is detected, current positioning information of the transfer vehicle is obtained;
acquiring current correction target positioning information of the transfer trolley according to the current positioning information of the transfer trolley and a pre-stored route correction distance;
carrying out correction path planning according to the current correction target positioning information of the transfer trolley and the current positioning information of the transfer trolley, and acquiring first correction planning path information;
and if the situation that the vehicle moves to a first correction target terminal corresponding to the current correction target positioning information of the transfer vehicle according to the first correction planning path information is detected, path planning is carried out according to the current correction target positioning information of the transfer vehicle and the target terminal information, and second correction planning path information is obtained.
In this embodiment, if it is detected that the vehicle does not move to the target end point corresponding to the target medical waste concentration station information according to the path planning information, it indicates that the vehicle cannot move to the target end point according to the original path planning information when moving to the obstacle. At this time, the following steps can be carried out:
A1) firstly, acquiring current positioning information of a transfer trolley;
A2) then, according to the current positioning information of the transfer vehicle and the pre-stored route correction distance (generally, the pre-stored route correction distance is set to be 1m), the current correction target positioning information of the transfer vehicle is obtained (the best mode is that the current positioning point corresponding to the current positioning information of the transfer vehicle is moved for 1 meter along the east direction to obtain the current correction target positioning information of the transfer vehicle);
A3) after the current correction target positioning information of the transfer trolley and the current positioning information of the transfer trolley are obtained, correcting path planning is carried out according to the current correction target positioning information of the transfer trolley and the current positioning information of the transfer trolley, and first correction planning path information is obtained; the first correction planned path information is used for guiding the robot transfer trolley 201 to correct a local route so as to avoid an obstacle;
A4) after the robot transfer vehicle 201 moves to a first correction target terminal corresponding to the current correction target positioning information of the transfer vehicle according to the first correction planning path information, path planning is carried out according to the current correction target positioning information of the transfer vehicle and the target terminal information at the moment, and second correction planning path information is obtained; and then the transfer trolley can move to the target terminal according to the second correction planning path information.
In the running process of the transfer trolley, if the transfer trolley continuously encounters an obstacle and needs to avoid the obstacle, local route adjustment can be carried out at the current position by referring to the obtained first correction planning path information to avoid the obstacle, and then the route is re-planned according to the position after the local obstacle avoidance and the target position. Through the process, the transfer trolley can be effectively ensured to move to the target terminal point.
In an embodiment, after the step of performing path planning by the medical waste transport robot according to the information of the target medical waste concentration station and the positioning information of the current starting point to obtain planned path information, the method further includes:
if a medical waste transport robot real-time positioning query instruction sent by a user terminal is detected, acquiring current real-time positioning information of the medical waste transport robot;
and the cloud server sends the current real-time positioning information of the medical waste transport robot to a user terminal.
In this embodiment, when the robot transfer vehicle 201 is traveling to the target destination, the user may establish a connection with the cloud server and the robot transfer vehicle using a user terminal (e.g., a smart phone), and send the real-time positioning query instruction of the medical waste transport robot to the robot transfer vehicle. If the robot transfer trolley detects a medical waste transport robot real-time positioning query instruction sent by a user terminal, acquiring current real-time positioning information of the medical waste transport robot; and sending the current real-time positioning information of the medical waste transport robot to a user terminal. Through the inquiry process, the robot transfer trolley is positioned in real time.
It can be seen that the embodiment of the present invention has the following beneficial effects:
1) the garbage in the garbage can and the recovery can be sterilized;
2) the circulating air function is realized, and the garbage can and the exhaust fan and the sterilization device which are arranged in the recovery can are combined to realize circulating air sterilization;
3) the path real-time uploading function is realized, and the current motion position of the robot transfer trolley and the corresponding planning path information can be uploaded to the cloud server in real time;
4) the two-dimension code scanning function is adopted, the two-dimension code scanning is required before each bag of garbage bags enters the garbage can, the recycling bin, the medical waste concentration garbage station and the medical waste recycling transfer trolley, and the cloud server is informed of when the bag of garbage is recycled by the corresponding position, so that the garbage transfer process is accurately recorded, and the follow-up query and source tracing are facilitated;
5) the garbage can and the recycling bin have sealing measures, air exchange between the inside and the outside of the bin is prevented, and pollution prevention is facilitated.
It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A medical waste recovery system, comprising: the medical waste recycling garbage can, the medical waste transportation robot, the medical waste transportation special elevator, the medical waste transportation robot charging pile, the medical waste centralized garbage station, the medical waste recycling transfer car and the cloud server;
the medical waste recycling garbage can is used for carrying out initial bagging recycling, sterilization and weighing on medical waste, generating corresponding two-dimensional code information and printing a two-dimensional code list, and uploading the two-dimensional code information to the cloud server;
the medical transport robot is used for transporting the bagged and packaged medical wastes in the medical waste recovery garbage can to a medical waste concentration garbage station, correspondingly scanning the two-dimensional code information of the bagged and packaged medical wastes of each bag, and uploading the two-dimensional code information to the cloud server;
the medical waste is transported to a medical waste centralized garbage station and is used for storing bagged and packaged medical wastes which are not transported by the medical waste recycling and transferring trolley, scanning the two-dimensional code information of the bagged and packaged medical wastes stored in the medical waste centralized garbage station and uploading the two-dimensional code information to a cloud server;
the medical waste recycling and transferring trolley is used for transferring the bagged and packaged medical waste stored in the medical waste centralized garbage station to a target recycling point, scanning the two-dimensional code information of the bagged and packaged medical waste stored in the medical waste centralized garbage station and uploading the two-dimensional code information to the cloud server;
the medical waste transportation special elevator is used for transporting the medical transportation robot to a floor where the medical waste centralized garbage station is located from a current floor;
medical waste transport robot fills electric pile for charge when medical waste transport robot's electric quantity is less than preset electric quantity threshold value.
2. The medical waste recovery system of claim 1, wherein the medical waste recovery waste bin comprises a waste bin body, an electronic scale, a waste recovery bag, a waste bin cover, a waste bin sterilization device, a waste bin exhaust fan, and an electronic surface sheet printer;
the garbage can body comprises an outer garbage can and an inner garbage can arranged in the outer garbage can;
the electronic scale is arranged between the outer barrel and the inner barrel of the garbage can, the lower end face of the electronic scale is in contact with the inner wall of the bottom of the outer barrel of the garbage can, and the upper end face of the electronic scale is in contact with the outer wall of the bottom of the inner barrel of the garbage can;
the garbage recycling bag is sleeved at the opening of the inner barrel of the garbage barrel and is in contact with the inner wall of the inner barrel of the garbage barrel;
the garbage can cover is arranged at an outer barrel opening of the garbage can;
the garbage bin and garbage bin sterilizing device is arranged at the bottom end of the garbage bin cover and is aligned with the garbage recycling bag so as to sterilize the recycled garbage in the garbage recycling bag;
the garbage bin exhaust fan is arranged at the bottom end of the garbage bin cover, is aligned with the garbage recovery bag and is positioned on one side of the garbage bin sterilization device so as to circulate air in the garbage recovery bag;
the electronic surface single printer is fixedly arranged on the outer wall of the garbage can outer barrel.
3. The medical waste recycling system of claim 2, wherein the electronic surface sheet printer comprises:
a printer body;
a first circuit board disposed within the printer body;
a CPU control chip arranged on the first circuit board;
the touch screen is arranged on the printer body and connected with the CPU control chip;
the microphone is arranged on the printer body and connected with the CPU control chip;
the camera is arranged on the printer body and connected with the CPU control chip;
the loudspeaker is arranged on the printer body and connected with the CPU control chip;
the first wireless communication module is arranged on the first circuit board and connected with the CPU control chip;
the storage module is arranged on the first circuit board and connected with the CPU control chip;
the thermal printer is arranged on the printer body and is connected with the CPU control chip;
and a second wireless communication module is also arranged in the electronic scale.
4. The medical waste recovery system of claim 1, wherein the medical waste transport robot comprises: the robot transfer trolley, the recycling bin cover, the alarm lamp, the recycling bin sterilization device, the recycling bin exhaust fan and the two-dimensional code scanning device;
the recovery barrel is fixedly arranged on the upper end face of the robot transfer trolley;
the recycling barrel cover is arranged at the barrel opening of the recycling barrel;
the alarm lamp is fixedly arranged at the top end of the recovery barrel cover;
the recycling bin sterilizing device is arranged at the bottom end of the recycling bin cover and is aligned to the inner cavity of the recycling bin, so that the inner cavity of the recycling bin is sterilized;
the recycling bin exhaust fan is arranged at the bottom end of the recycling bin cover, is aligned with the inner cavity of the recycling bin, and is positioned on one side of the recycling bin sterilization device to circulate air in the inner cavity of the recycling bin;
the two-dimensional code scanning device is fixedly arranged on the outer wall of the recycling bin.
5. The medical waste recovery system of claim 4, wherein the robotic transfer vehicle comprises:
a robot transfer car body;
the main control board is arranged in the robot transfer trolley body; the main control board is connected with the alarm lamp;
the storage battery is arranged in the robot transfer trolley body and is connected with the main control board;
the engine is arranged in the robot transfer trolley body and is connected with the battery jar, and the engine is also connected with the main control board;
the rotary laser transmitter is arranged at the bottom end of the robot transfer trolley body and is connected with the main control board;
the infrared camera is arranged on the robot transfer trolley body and is connected with the main control board;
the RGB camera is arranged on the robot transfer trolley body and is connected with the main control board;
the robot transfer trolley wheels are arranged on the lower end face of the robot transfer trolley body; the robot transfer trolley comprises a plurality of robot transfer trolley wheels, a plurality of engine wheels and a plurality of control devices, wherein the plurality of robot transfer trolley wheels comprise a robot transfer trolley driving wheel and a robot transfer trolley driven wheel;
the front-end bumper is arranged at the front end of the robot transfer trolley body;
and the rear-end anti-collision bar is arranged at the rear end of the robot transfer trolley body.
The wireless communication system also comprises a third wireless communication module arranged on the main control board.
6. The medical waste recycling system of claim 4, wherein the two-dimensional code scanning device comprises:
a code scanning device body;
the second circuit board is arranged in the code scanning device body;
the MCU control chip is arranged on the second circuit board;
the code scanning module is arranged on the code scanning device body and is connected with the MCU control chip;
and the fourth wireless communication module is arranged on the second circuit board, is connected with the MCU control chip and is also in communication connection with the third wireless communication module.
7. A data storage method of a medical waste recovery system as claimed in any one of claims 1 to 6, comprising:
acquiring a garbage bag picture corresponding to a current garbage bag through a medical waste recycling garbage can, and inputting the garbage bag picture into a convolutional neural network model to obtain a current garbage identification result;
if the current garbage identification result is the same as the garbage recovery type corresponding to the medical waste recovery garbage can, acquiring garbage bag processor information sent by a user terminal through the medical waste recovery garbage can;
acquiring a current real-time weighing value of the medical waste recycling garbage can to obtain a garbage bag weight value corresponding to a current garbage bag;
generating corresponding two-dimensional code information and current garbage bag storage information according to the current garbage identification result, the garbage bag processor information, the garbage bag weight value, the unique garbage can equipment code and the current garbage bag recovery time, and printing the two-dimensional code information through an electronic bill printer to obtain a current two-dimensional code bill corresponding to the current garbage bag so as to be pasted on the current garbage bag;
sending the current garbage bag storage information to a cloud server for storage;
if the cloud server detects a robot calling instruction sent by the medical waste recycling garbage can, acquiring a medical waste transport robot which is closest to the medical waste recycling garbage can and is idle at the current robot state, and sending initial path planning information of the medical waste transport robot moving to the medical waste recycling garbage can to the medical waste transport robot;
if a two-dimensional code list of the recycling garbage bags is detected by the medical waste transport robot, current recycling garbage bag storage information corresponding to the two-dimensional code list is obtained;
adding the current code scanning time and the unique identification number of the code scanning equipment to the current storage information of the recovered garbage bags to obtain corresponding updated storage information of the recovered garbage bags, and uploading the updated storage information of the recovered garbage bags to a cloud server;
the medical waste transport robot acquires the current positioning information of the starting point and receives the positioning information of the target medical waste concentration station sent by the cloud server;
the medical waste transport robot controls the recycling bin sterilization device and the recycling bin exhaust fan to be started, and controls the recycling bin sterilization device and the recycling bin exhaust fan to be stopped after the recycling bin sterilization device and the recycling bin exhaust fan are started and run for a preset first running time;
the medical waste transport robot carries out path planning according to the target medical waste concentration station information and the current starting point positioning information to obtain planned path information;
if the medical waste transport robot detects that the medical waste transport robot moves to a target end point corresponding to the target medical waste concentration station information according to the path planning information, the recovery barrel cover is controlled to be opened;
if the medical waste concentration garbage station detects a two-dimensional code face sheet of a recycling garbage bag, acquiring recycling garbage bag updating storage information corresponding to the two-dimensional code face sheet, increasing the current garbage recycling station code scanning time and the unique identification number of the garbage recycling station to the recycling garbage bag updating storage information to obtain corresponding recycling garbage bag second updating storage information, and uploading the recycling garbage bag second updating storage information to a cloud server;
if the medical waste recycling transfer trolley detects the two-dimensional code surface list of the recycling garbage bag, second updating storage information of the recycling garbage bag corresponding to the two-dimensional code surface list is obtained, the second updating storage information of the recycling garbage bag is added with the code scanning time of the current garbage recycling vehicle and the unique identification number of the garbage recycling vehicle, third updating storage information of the corresponding recycling garbage bag is obtained, and the third updating storage information of the recycling garbage bag is uploaded to the cloud server.
8. The data storage method of the medical waste recycling system according to claim 7, wherein the obtaining a garbage bag picture corresponding to a current garbage bag by the medical waste recycling garbage can, and inputting the garbage bag picture to the convolutional neural network model to obtain a current garbage recognition result comprises:
preprocessing the garbage bag picture to obtain a preprocessed picture and a picture pixel matrix corresponding to the preprocessed picture; the method comprises the steps of preprocessing a garbage bag picture, wherein the preprocessing of the garbage bag picture comprises the steps of carrying out graying, edge detection and binarization processing on the garbage bag picture in sequence;
inputting the picture pixel matrix corresponding to the preprocessed picture into a convolutional neural network model to be sequentially subjected to convolution, pooling and full connection to obtain a corresponding picture characteristic vector;
and inputting the patch feature vector into a softmax classifier in a convolutional neural network model to obtain a current garbage recognition result.
9. The data storage method of the medical waste recycling system according to claim 7, wherein the medical waste transport robot performs path planning according to the information of the target medical waste collecting station and the information of the current starting point location to obtain planned path information, and the method comprises:
acquiring target end point information corresponding to the target medical waste concentration station information, and acquiring the current starting point positioning information;
obtaining the electronic map information of the building corresponding to the positioning information of the current starting point;
and acquiring corresponding planning path information according to the electronic building map information, the current starting point positioning information and the target end point information.
10. The data storage method of a medical waste recycling system according to claim 7, wherein the medical waste transport robot performs path planning according to the information of the target medical waste collecting station and the information of the current starting point location, and further includes:
if the cloud server detects a medical waste transport robot real-time positioning query instruction sent by the user terminal, acquiring current real-time positioning information of the medical waste transport robot;
and the cloud server sends the current real-time positioning information of the medical waste transport robot to a user terminal.
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CN113501233A (en) * 2021-06-24 2021-10-15 浙江科技学院 Automatic recovery and distribution device and method for swill barrel
CN113501233B (en) * 2021-06-24 2023-03-14 浙江科技学院 Automatic recovery and distribution device and method for swill barrel
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CN113836150A (en) * 2021-11-29 2021-12-24 天津医药集团众健康达医疗器械有限公司 Intelligent monitoring system for regional medical waste
CN114987973A (en) * 2022-05-17 2022-09-02 上海莱陆科技有限公司 Medical waste digital management system and method based on robot
CN114987973B (en) * 2022-05-17 2023-08-25 上海莱陆科技有限公司 Medical waste digital management system and method based on robot
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CN114933107A (en) * 2022-05-25 2022-08-23 江苏木盟智能科技有限公司 Intelligent medical waste recycling method and system, medical waste recycling cabinet and robot
CN114999480A (en) * 2022-05-27 2022-09-02 安徽工业大学芜湖技术创新研究院 Medical waste classification temporary storage system and method
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