CN114246736B - Intelligent unmanned vehicle for isolating and conveying suspected patients - Google Patents
Intelligent unmanned vehicle for isolating and conveying suspected patients Download PDFInfo
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- CN114246736B CN114246736B CN202010993433.7A CN202010993433A CN114246736B CN 114246736 B CN114246736 B CN 114246736B CN 202010993433 A CN202010993433 A CN 202010993433A CN 114246736 B CN114246736 B CN 114246736B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/02—Stretchers with wheels
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/01—Measuring temperature of body parts ; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/021—Measuring pressure in heart or blood vessels
- A61B5/022—Measuring pressure in heart or blood vessels by applying pressure to close blood vessels, e.g. against the skin; Ophthalmodynamometers
- A61B5/0225—Measuring pressure in heart or blood vessels by applying pressure to close blood vessels, e.g. against the skin; Ophthalmodynamometers the pressure being controlled by electric signals, e.g. derived from Korotkoff sounds
- A61B5/02255—Measuring pressure in heart or blood vessels by applying pressure to close blood vessels, e.g. against the skin; Ophthalmodynamometers the pressure being controlled by electric signals, e.g. derived from Korotkoff sounds the pressure being controlled by plethysmographic signals, e.g. derived from optical sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/145—Measuring characteristics of blood in vivo, e.g. gas concentration, pH value; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid, cerebral tissue
- A61B5/1455—Measuring characteristics of blood in vivo, e.g. gas concentration, pH value; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid, cerebral tissue using optical sensors, e.g. spectral photometrical oximeters
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/04—Parts, details or accessories, e.g. head-, foot-, or like rests specially adapted for stretchers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G10/00—Treatment rooms or enclosures for medical purposes
- A61G10/005—Isolators, i.e. enclosures generally comprising flexible walls for maintaining a germ-free environment
Abstract
The invention relates to an intelligent unmanned vehicle for isolating and conveying suspected patients, which belongs to the field of intelligent medical treatment, and mainly comprises a positioning and navigation module of an intelligent unmanned vehicle carrying platform, a physical condition monitoring module, an intelligent control module, an identity confirmation module, a fault diagnosis module and a power module; the intelligent unmanned vehicle isolation cabin comprises an outer shell module of the intelligent unmanned vehicle isolation cabin, an in-cabin environment control module and a remote conversation module. The intelligent unmanned vehicle can realize stable running, intellectualization and unmanned operation in the transfer process through the carrying platform of the intelligent unmanned vehicle, and reduces the probability of personnel infection; the isolation cabin of the intelligent unmanned vehicle can ensure the safety in the transfer process, provides an environment favorable for the survival of suspected patients, and is convenient for doctors to know the physical conditions of the patients.
Description
Technical Field
The invention relates to the field of intelligent medical treatment, in particular to an intelligent unmanned vehicle capable of isolating and conveying suspected patients.
Background
In epidemic prevention and control, the isolation and transportation of the early suspected patients is an important point. Traditionally, most of the suspected patients are detected by measuring the body temperature of the patients with a hand-held thermometer, and medical personnel have to be in close contact with the suspected patients, which greatly increases the probability of infection of the medical personnel. After the body temperature of the suspected patient is abnormal, the person cannot be isolated immediately, the action track of the person is tracked, and the person in close contact with the suspected patient is checked. In order to reduce infection probability to the maximum extent, the realization of intellectualization and unmanned in the isolation and transportation process is an effective method in epidemic situation prevention and control.
Disclosure of Invention
The invention aims to solve the problems and provides an intelligent unmanned vehicle capable of isolating and conveying suspected patients, which can greatly reduce the use amount of medical staff, reduce the infection probability and realize intellectualization and unmanned operation in the isolation and transfer process.
The intelligent unmanned vehicle carrying platform comprises an intelligent unmanned vehicle carrying platform and a control system, wherein the intelligent unmanned vehicle carrying platform is used for carrying an isolation cabin; and the other is an isolation cabin for isolating suspected patients.
The intelligent unmanned vehicle carrying platform comprises the following modules:
the positioning and navigation module mainly comprises a high-precision map, a Global Navigation Satellite System (GNSS), an inertial navigation unit (IMU), a Lidar and a camera, and is used for sensing the surrounding environment and realizing autonomous navigation.
And the physical condition monitoring module is used for acquiring a body temperature signal, a blood oxygen signal and a heart rate signal of the suspected patient so as to realize real-time monitoring of the physical condition of the suspected patient in the conveying process.
And the intelligent control module collects the information of each module and sends the information to the remote terminal to enable medical staff to carry out analysis processing and decision making.
And the identity verification module acquires the identity information of the suspected patient by using a face recognition technology and a big data technology and confirms the identity of the suspected patient.
The power module adopts the battery as drive power, for realizing the smooth operation of transporting the platform, chooses for use the high performance lithium cell of the time of endurance of a specified duration.
And the fault diagnosis module can monitor the running state of the vehicle in real time, including whether the driving module is good or not and whether the sealing performance of the isolation cabin is good or not.
The isolation capsule comprises the following modules:
the shell module adopts high-strength glass fiber reinforced plastic as an outer cover of the isolation cabin, and can prevent fire, water and collision.
The air pressure in the isolation cabin is lower than the air pressure outside the isolation cabin through the indoor environment control module, the blower, the exhaust fan and the air purification equipment, so that virus leakage is prevented, and the breathing of a patient is maintained; the temperature control machine realizes constant temperature in the cabin and creates a good living environment for transferring patients.
And the remote conversation module is used for communication between the suspected patient and the doctor in a video mode, inquiring the medical history and relieving the pressure of the suspected patient.
The invention has the technical effects and advantages that: the positioning and navigation module, the physical condition monitoring module, the intelligent control module, the identity confirmation module, the fault diagnosis module and the power module of the intelligent unmanned vehicle carrying platform are used for realizing stable running, intellectualization and unmanned operation in the transfer process, so that the personnel infection probability is reduced; through the shell module, the in-cabin environment control module, the remote dialogue module of unmanned car isolation cabin of intelligence, can realize the security in the transportation, provide an environment that is favorable to suspected patient to survive, make things convenient for the doctor to know patient's health.
Drawings
Fig. 1 is a structural view of an intelligent unmanned vehicle according to the present invention.
Detailed Description
The invention relates to an intelligent unmanned vehicle for isolating and conveying suspected patients, which comprises an intelligent unmanned vehicle carrying platform, an isolation cabin, an intelligent control module, a power module and a fault diagnosis module, wherein the intelligent unmanned vehicle carrying platform is used for carrying the isolation cabin; and the isolation cabin for isolating suspected patients comprises an outer shell module, an in-cabin environment control module and a remote conversation module. The operation of the present invention will be further described with reference to fig. 1:
the positioning and navigation module of the intelligent unmanned vehicle carrying platform realizes the combination of the positioning and navigation technologies through the information fusion technology, so that the environment information and the vehicle body information are fused into a systematic whole. The high-precision map stores a large amount of driving assistance information as structured data, and the information can be divided into two types: firstly, road data; second is fixed object information around the lane. RTK (real time kinematic positioning) technology can compensate for the light velocity error of GNSS (global navigation satellite system), obtain the known position offset, and transmit it as the error in GPS measurement to other GPS receivers to adjust the positioning result itself. An IMU (inertial measurement unit) can accurately measure acceleration, and the measurement value of the gyroscope is converted into actual coordinates. And continuously matching the detection data from the laser radar sensor with a pre-existing high-precision map by the Lidar so as to obtain the global position and the driving direction of the unmanned vehicle. The camera senses surrounding environment data in real time, and autonomous navigation of the unmanned vehicle is achieved by utilizing a timely positioning and mapping technology (massive localization and mapping).
A body temperature measuring circuit in the body condition monitoring module of the intelligent unmanned vehicle carrying platform acquires a body temperature analog signal of a suspected patient through a temperature sensor and converts the body temperature analog signal into a digital signal; the heart rate circuit is used for converting the heart rate analog signal into a digital signal; the blood oxygen circuit receives light rays by using the light emitting diode and the infrared receiving and transmitting circuit, then generates voltage proportional to the intensity of the received light rays by using the amplifying circuit, and converts unstable blood oxygen signals acquired by the blood oxygen signals into stable digital signals by using the signal conditioning circuit; and sending the body temperature value, the heart rate value and the blood oxygen value to a background terminal for real-time monitoring of medical staff.
The intelligent control module of the intelligent unmanned vehicle carrying platform receives the position and environment information acquired by the positioning and navigation module through the CAN communication network, and sends an instruction to the power module to realize the real-time planning of the driving path of the unmanned vehicle; information from the physical condition monitoring module and the remote dialogue module of the isolation cabin is gathered and transmitted back to the background terminal, so that medical staff can analyze, process and judge the information conveniently.
The identity verification module of the intelligent unmanned vehicle carrying platform extracts portrait feature points from a video by using a computer image processing technology, analyzes by using a principle of biometrical and establishes a mathematical model, searches and searches all registered portraits in a database for whether the portrait of the suspected patient exists or not by a search type comparison mode, and confirms identity information of the suspected patient.
The fault diagnosis module of the intelligent unmanned vehicle carrying platform is used for judging faults by various sensors distributed on the unmanned vehicle, such as an air flow sensor, (used for checking the air tightness of an isolation cabin), an electronic control system and various execution elements, such as a relay, (monitoring whether a power module works) and aiming at the 3 objects. The fault diagnosis module shares a signal input circuit of an automobile electronic control system, input information of the 3 objects is monitored in the operation process of the unmanned automobile and is sent to a background terminal, when a certain signal exceeds a threshold value and cannot disappear within a certain time, the fault diagnosis module judges that a circuit or an element corresponding to the signal has a fault, the fault is stored in an internal memory in a code mode, and at the moment, related personnel need to take emergency measures to process the fault.
The power module of intelligent unmanned vehicle carrying platform adopts the chargeable lithium cell of the high performance of endurance of a specified duration as drive power, and this module can receive intelligent control module's instruction, realizes the in-process of marcing, and the electric current ration is exported the motor to realize unmanned vehicle's autonomic drive.
The shell module of unmanned car cofferdam of intelligence, adopt the dustcoat of high strength glass steel as the cofferdam, the interior limit uses the better rubber strip of paper used for sealing of gas tightness, the air vent distributes above that, with air filter in every air vent, when air exhauster during operation, can be with the extravehicular clean air input to the under-deck, when air-blower during operation, can get rid of the under-deck with the air that the under-deck pollutes through air filter outside, maintain the under-deck low pressure, make the inside circulation of air, this cofferdam can be prevented fires to its preparation material assurance, water-proofing, anticollision.
An in-cabin environment control module of an intelligent unmanned vehicle isolation cabin, a blower, an exhaust fan and air purification equipment work constantly in the transfer process, so that the air pressure inside the isolation cabin is lower than the air pressure outside the isolation cabin, virus gas is prevented from leaking, and fresh air is conveyed into the cabin to maintain the breathing of a patient; the temperature control machine senses the temperature in the cabin constantly, and when the temperature in the cabin is overhigh, the temperature reduction equipment is opened; when the temperature in the cabin is too low, the heating equipment is turned on, the constant temperature in the cabin can be realized through the operation, and a good living environment is created for transporting patients.
The remote dialogue module of the intelligent unmanned vehicle isolation cabin comprises a camera, a large display screen and a surrounding microphone receiving device, wherein the camera, the large display screen and the surrounding microphone receiving device are arranged in the cabin, and the camera can shoot and record in real time in the transferring process and sends the situation in the cabin to a remote terminal in a video streaming mode; the microphone is internally provided with a noise reduction chip to remove noise of the voice signal containing the noise, the suspected patient voice signal is transmitted to the remote terminal, and the operation adopts a video mode and is used for communication and communication between the suspected patient and a doctor, inquiry of medical history and relief of the pressure of the patient.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (10)
1. An intelligent unmanned vehicle for isolating and transporting suspected patients, comprising: the intelligent unmanned vehicle carrying platform comprises a positioning and navigation module, a physical condition monitoring module, an intelligent control module, an identity verification module, a fault diagnosis module and a power module of the intelligent unmanned vehicle carrying platform; the intelligent unmanned vehicle isolation cabin comprises a shell module of the intelligent unmanned vehicle isolation cabin, an in-cabin environment control module and a remote conversation module; the intelligent unmanned vehicle carrying platform has the following functions: the positioning and navigation module is used for sensing the surrounding environment to realize autonomous navigation; the physical condition monitoring module is used for acquiring physical condition information of suspected patients in the conveying process; the intelligent control module collects the information of each module and sends the information to the remote terminal; the identity verification module confirms identity information of the suspected patient by using a big data technology through a face recognition technology; the power module realizes the stable operation of the transfer platform; the fault diagnosis module can monitor the running state of the vehicle at any time; the isolation cabin has the following functions: the shell module can prevent fire, water and collision; the cabin environment control module creates a good living environment for the transported patients; the remote dialogue module is used for communication between the suspected patient and the doctor.
2. The intelligent unmanned vehicle for isolating and transporting suspected patients according to claim 1, wherein the positioning and navigation module of the intelligent unmanned vehicle carrying platform is mainly composed of a high precision map, a GNSS (global navigation satellite system), an IMU (inertial navigation unit), a Lidar (laser radar) and a camera, and is used for sensing surrounding environment to realize autonomous navigation.
3. The intelligent unmanned vehicle for isolating and transporting suspected patients according to claim 1, wherein the physical status monitoring module of the intelligent unmanned vehicle carrying platform is used for acquiring body temperature signals, blood oxygen signals and heart rate signals of suspected patients, so as to realize real-time monitoring of the physical status of suspected patients during transportation.
4. The intelligent unmanned vehicle for isolating and transporting suspected patients according to claim 1, wherein the intelligent control module of the intelligent unmanned vehicle carrying platform collects information of each module and sends the information to a remote terminal for medical staff to analyze, process and make decisions.
5. The intelligent unmanned vehicle for isolating and transporting suspected patients of claim 1, wherein the identity verification module of the intelligent unmanned vehicle carrying platform confirms identity information of suspected patients through face recognition technology.
6. The intelligent unmanned vehicle for isolating and transporting suspected patients according to claim 1, wherein the power module of the intelligent unmanned vehicle carrying platform adopts a battery as driving power, and a high-performance lithium battery with long endurance time is selected for stable operation of the transfer platform.
7. The intelligent unmanned vehicle for isolating and transporting suspected patients according to claim 1, wherein the fault diagnosis module of the intelligent unmanned vehicle carrying platform can monitor the running state of the vehicle at any time, including whether the driving module is good or not and whether the sealing performance of the isolation cabin is good or not.
8. The intelligent unmanned vehicle for isolating and transporting suspected patients according to claim 1, wherein the housing module of the isolation cabin of the intelligent unmanned vehicle adopts high-strength glass fiber reinforced plastic as the outer cover of the isolation cabin, and can prevent fire, water and collision.
9. The intelligent unmanned vehicle for isolating and transporting suspected patients according to claim 1, wherein an indoor environment control module, a blower, an exhaust fan and air purification equipment of the isolated cabin of the intelligent unmanned vehicle make the air pressure inside the isolated cabin lower than the air pressure outside the isolated cabin, so that viruses are prevented from leaking and the breathing of the patients is maintained; the temperature control machine realizes constant temperature in the cabin and creates a good living environment for transporting patients.
10. The intelligent unmanned vehicle for isolating and transporting suspected patients according to claim 1, wherein the remote dialogue module of the intelligent unmanned vehicle isolation cabin is used for communication between suspected patients and doctors, inquiry of medical history, relief of patient stress and the like in a video mode.
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| CN202010993433.7A CN114246736B (en) | 2020-09-21 | 2020-09-21 | Intelligent unmanned vehicle for isolating and conveying suspected patients |
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| CN114246736B true CN114246736B (en) | 2022-11-11 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101479622A (en) * | 2006-04-28 | 2009-07-08 | 卢克卓尼克斯有限公司 | System and method for positioning in configured environments |
| CN108578134A (en) * | 2018-03-15 | 2018-09-28 | 浙江大学医学院附属妇产科医院 | A kind of medical AGV trolleies intelligent dispensing system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20150223892A1 (en) * | 2014-02-07 | 2015-08-13 | Enovate Medical, Llc | Work platform for a wheeled medical cart |
| US11334070B2 (en) * | 2017-08-10 | 2022-05-17 | Patroness, LLC | Systems and methods for predictions of state of objects for a motorized mobile system |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101479622A (en) * | 2006-04-28 | 2009-07-08 | 卢克卓尼克斯有限公司 | System and method for positioning in configured environments |
| CN108578134A (en) * | 2018-03-15 | 2018-09-28 | 浙江大学医学院附属妇产科医院 | A kind of medical AGV trolleies intelligent dispensing system |
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