CN114397898A - Internet of things intelligent medicine delivery trolley and control method - Google Patents
Internet of things intelligent medicine delivery trolley and control method Download PDFInfo
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- 239000003814 drug Substances 0.000 title claims abstract description 134
- 238000000034 method Methods 0.000 title claims abstract description 35
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 114
- 238000001514 detection method Methods 0.000 claims abstract description 72
- 230000004888 barrier function Effects 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 230000005484 gravity Effects 0.000 claims description 37
- 229940079593 drug Drugs 0.000 claims description 20
- 230000035622 drinking Effects 0.000 claims description 13
- 238000001914 filtration Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 230000003321 amplification Effects 0.000 claims description 5
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 5
- 230000005236 sound signal Effects 0.000 abstract description 4
- 238000012377 drug delivery Methods 0.000 description 9
- 230000006872 improvement Effects 0.000 description 8
- 239000003651 drinking water Substances 0.000 description 5
- 235000020188 drinking water Nutrition 0.000 description 5
- 230000004807 localization Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
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- 230000036632 reaction speed Effects 0.000 description 1
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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Abstract
The invention discloses an Internet of things intelligent medicine delivery trolley and a control method, wherein the Internet of things intelligent medicine delivery trolley comprises the following steps: automobile body, voice module, host system, barrier detection module and automatic water receiving module, voice module is used for gathering sound signal and obtains sound source positional information and speech information, and host system exports first control signal and second control signal according to sound source positional information and speech information, and first control signal is used for controlling automatic water receiving module to realize automatic water receiving, and second control signal is used for controlling the dolly and moves to the sound source position. The invention is applied to the household environment and the hospital environment, controls the movement of the trolley and automatically receives water by using a voice control mode, and ensures that a patient can take medicine in time by using an internet of things technology, thereby greatly facilitating the taking and the administration of the patient with difficult mobility; in addition, the speaker can play reminding voice before the user takes the medicine to remind the user of the name and the correct dosage of the medicine, so that the phenomenon that the user takes wrong medicine by mistake and takes too much or too little medicine is avoided.
Description
Technical Field
The invention relates to an Internet of things intelligent medicine delivery trolley and a control method.
Background
At present, the intelligent medicine conveying trolley is widely applied to hospital situations and family situations, and the intelligent medicine conveying trolley brings convenience to patients or old people and other people with difficulty in self-care. The control mode of the existing intelligent medicine conveying trolley has two types: APP is controlled and is sought with automatic walking to all only be applicable to fixed occasion, when the application occasion is different, the dolly that sends medicine of intelligence receives very big limitation. When the intelligent medicine conveying trolley is applied to a hospital, the problem that a patient cannot take medicine in time due to insufficient medicine stored in the intelligent medicine conveying trolley exists; when the intelligence sent the medicine dolly to be applied to the family, the majority old person does not know how to use smart mobile phone, and the intelligence of being applied to the family sends the automatic water collector that establishes in the medicine dolly and probably receives water too much or too little and then leads to taking medicine complicacy.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides an thing allies oneself with intelligent medicine conveying dolly and control method to solve one or more technical problems that exist in the prior art, provide a useful selection or create the condition at least.
The solution of the invention for solving the technical problem is as follows: provided is a household intelligent health car, comprising: the intelligent water dispenser comprises a mobile chassis, a vehicle body, a voice module, a main control module, a barrier detection module, a wireless module and an automatic water receiving module, wherein the vehicle body is arranged on the mobile chassis, the main control module, the barrier detection module and the automatic water receiving module are all arranged inside the vehicle body, a drinking cup is placed at the top of the vehicle body, and a mode selection key is arranged on the surface of the vehicle body; the main control module is respectively connected with the voice module, the barrier detection module, the mode selection key, the wireless module, the mobile chassis and the automatic water receiving module;
the barrier detection module is used for detecting barriers on the moving path of the moving chassis in real time to obtain barrier information and feeding back the barrier information to the main control module; the main control module controls the mobile chassis to avoid the barrier according to the barrier information;
the wireless module is used for sending a detection instruction and receiving the detection instructions of other medicine delivery trolleys in real time, and when the wireless module receives the detection instructions of the other medicine delivery trolleys, the main control module reads the medicine delivery information of the other medicine delivery trolleys;
the voice module is used for collecting a voice signal, obtaining sound source position information and voice information according to the voice signal and transmitting the sound source position information and the voice information to the main control module;
the mode selection key is used for selecting the working mode of the trolley, the working mode comprises a hospital mode and a family mode, and when the family mode is selected, the wireless module does not work;
the main control module outputs a first control signal and a second control signal according to the sound source position information and the voice information, and the first control signal is used for controlling the automatic water receiving module to realize the water receiving function; the second control signal is used for controlling the moving chassis to move to the sound source position.
As a further improvement of the above technical solution, the voice module includes a sound source positioning module, a voice content recognition module, and an amplification filtering module, the sound source positioning module is configured to calculate a direction parameter and a distance parameter of a sound source according to a strength of the sound source and a time difference positioning method, and the direction parameter and the distance parameter constitute the sound source position information and are output to the main control module;
the voice content recognition module is used for recognizing voice information in voice;
and the amplifying and filtering module is used for carrying out secondary processing on the voice information.
As a further improvement of the above technical solution, the model of the voice content recognition module is SNR9813 super LD 3320.
As a further improvement of the above technical solution, the obstacle detection module includes an infrared obstacle detection module, an ultrasonic obstacle detection module, and a processing module; the infrared obstacle detection module, the ultrasonic obstacle detection module and the processing module are all arranged at the front end and the rear end of the trolley body;
the infrared obstacle detection module is used for detecting the information of an obstacle by using an infrared detection principle to obtain the position information of the first obstacle and outputting the position information of the first obstacle to the processing module;
the ultrasonic obstacle detection module is used for detecting the information of the obstacle by utilizing an ultrasonic detection principle to obtain the position information of a second obstacle and outputting the position information of the second obstacle to the processing module;
the processing module is used for calculating to obtain the position information of the target obstacle according to the position information of the first obstacle and the position information of the second obstacle.
As a further improvement of the above technical solution, the mobile chassis includes a driving module, a first driving wheel, a second driving wheel, a first driven wheel, a second driven wheel and a chassis frame; the first driving wheel, the second driving wheel, the first driven wheel, the second driven wheel and the driving module are all arranged on the chassis disc; the driving module is used for driving a first driving wheel and a second driving wheel to move, the first driving wheel drives a first driven wheel, the second driving wheel drives a second driven wheel, and the first driven wheel and the second driven wheel are universal casters.
As a further improvement of the technical scheme, the automatic water receiving module comprises a water storage tank, an electronic water pump, a water pipe and a water faucet, wherein the water storage tank and the electronic water pump are both arranged inside the trolley body; the water faucet is installed at the top of the trolley, a water inlet of the water faucet is connected with a water outlet of the electronic water pump through the water pipe, and a water outlet of the water faucet is aligned to a cup opening of the drinking cup;
the automatic water receiving module controls the electronic water pump to pump water from the water storage tank according to the first control signal, and water flows out of the water storage tank to the water drinking cup through the water faucet.
As a further improvement of the technical scheme, the trolley further comprises an intelligent medicine box, the intelligent medicine box is provided with a containing box for containing medicines, the bottom of the containing box is provided with a pressure sensor, the pressure sensor is used for detecting the gravity parameter of the medicines in the containing box and feeding the gravity parameter back to the main control module, when the gravity parameter is smaller than the gravity parameter value set by the main control module, the main control module outputs a third control signal to the mobile chassis, and the third control signal is used for controlling the mobile chassis to move to a pharmacy for taking medicines; the intelligent medicine box is configured to output prompt voice when the accommodating box is opened.
A control method for an Internet of things intelligent medicine delivery trolley is applied to the Internet of things intelligent medicine delivery trolley and comprises the following steps:
s100, selecting a working mode of the trolley according to an application scene;
s200, when the voice module detects the sound of a patient, the sound source positioning module calculates to obtain the position information of a sound source, the voice content recognition module recognizes the voice information in the sound, and the voice module feeds back the position information and the voice information to the main control module;
s300, the main control module judges whether the voice information comprises specific characters or not; if yes, go to step S310;
s310, the main control module outputs a first control signal to the automatic water receiving module, and the automatic water receiving module outputs water to a drinking cup arranged on the roof of the trolley;
s320, the main control module outputs a second control signal to the mobile chassis according to the position information and the voice information fed back by the voice module, and the trolley moves to the position of the sound source;
if the main control module determines that the voice message does not include the specific text, step S320 is executed.
As a further improvement of the above technical solution, in the selecting a working mode of the cart according to the application scenario, the method further includes:
s110, the main control module judges whether the working mode of the trolley is a hospital mode; if yes, go to step S120;
s120, detecting the gravity of the medicine in the containing box in real time by a pressure sensor at the bottom of the containing box and feeding the gravity back to a main control module, wherein a gravity parameter value is preset in the main control module;
s130, when the real-time gravity parameter is smaller than the preset gravity parameter, the main control module outputs a third control signal to the mobile chassis, and the trolley moves towards the pharmacy; in the movement process, the wireless module sends out a detection instruction and detects whether the detection instruction of other trolleys is received or not in real time;
s140, when the wireless module receives the detection instructions of other trolleys, the main control module reads the medicine delivery information of the other trolleys to obtain the names and the stock of the medicines contained in the other trolleys;
s150, the main control module judges whether other trolleys store the medicines required by the trolleys or not; if so, go to step S151;
s151, the main control module of the trolley sends a medicine delivery instruction to the trolley stored with the required medicine, and the main control module of the trolley stored with the required medicine receives the medicine delivery instruction and moves to the position close to the position of the patient; the trolley continues to go to the pharmacy, and the wireless module of the trolley stops sending the detection instruction; after the trolley finishes taking the medicine, the trolley returns to the position near the patient;
if the main control module judges that the other trolleys do not store the medicines required by the trolleys, executing a step S152;
s152, the trolley bypasses other trolleys and continues to go to a pharmacy to take the medicine.
As a further improvement of the above technical solution, the method further includes, in the case that the main control module determines whether the operating mode of the cart is the hospital mode:
and if the main control module judges that the working mode of the trolley is not the hospital mode, directly executing S200.
The invention has the beneficial effects that: the utility model provides an intelligent medicine delivery trolley with internet of things and a control method, comprising the following steps: the automatic water receiving trolley comprises a trolley body, a voice module, a main control module, a barrier detection module and an automatic water receiving module, wherein the voice module is used for collecting a sound signal and obtaining sound source position information and voice information; the main control module also outputs a third control signal according to the gravity parameter of the gravity sensor, and the third control signal is used for controlling the mobile chassis to move to a pharmacy for taking medicine.
The invention is convenient to adapt to the household environment and the hospital environment, eliminates the constraint condition of the place, controls the movement of the trolley and automatically receives water by using a voice control mode, and leads the people with difficulty in self-care and the people with inconvenience to take medicine conveniently; when the dolly is applied to hospital environment, when the medicine box in the dolly is deposited the medicine surplus and is not enough, the dolly can go to the drugstore by oneself and get it filled, makes the patient in time take medicine.
In addition, the obstacle detection module adopts two obstacle avoidance sensors, namely an infrared obstacle detection module and an ultrasonic obstacle detection module, to carry out double obstacle avoidance, so that the reaction speed and the obstacle avoidance precision of the trolley are improved; before the user takes the medicine, the loudspeaker can play reminding voice to remind the user of the name and the correct dosage of the medicine, so that the phenomenon that the user mistakenly takes the wrong medicine and takes too much or too little medicine is avoided.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.
FIG. 1 is a schematic block diagram of an intelligent Internet of things drug delivery cart according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an Internet of things intelligent drug delivery trolley according to an embodiment of the invention;
FIG. 3 is a schematic diagram of sound source localization of an intelligent drug delivery trolley of Internet of things according to an embodiment of the invention;
FIG. 4 is a sectional plan view of an Internet of things intelligent drug delivery trolley according to an embodiment of the invention;
FIG. 5 is a flowchart of the operation of a method for controlling an Internet of things intelligent drug delivery trolley according to an embodiment of the present invention;
FIG. 6 is a flowchart of the operation of the control method of the IOT intelligent drug delivery trolley in the hospital mode according to the embodiment of the present invention;
fig. 7 is a flowchart of the work of the control method of the internet of things intelligent medicine delivery trolley in the home mode according to the embodiment of the invention.
Detailed Description
The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention. In addition, all the coupling/connection relationships mentioned herein do not mean that the components are directly connected, but mean that a better coupling structure can be formed by adding or reducing coupling accessories according to specific implementation conditions. All technical characteristics in the invention can be interactively combined on the premise of not conflicting with each other.
The invention relates to an internet of things intelligent medicine delivery trolley and a control method thereof, and the invention is explained and introduced with reference to fig. 1 to 7. An thing allies oneself with intelligence and send medicine dolly includes: the intelligent water dispenser comprises a vehicle body 100, a voice module 200, a main control module 500, an obstacle detection module 300, an automatic water receiving module 400, a mobile chassis 600 and a wireless module 700, wherein the vehicle body 100 is arranged on the mobile chassis 600, the main control module 500, the obstacle detection module 300 and the automatic water receiving module 400 are all arranged inside the vehicle body 100, a drinking cup 800 is placed at the top of the vehicle body 100, and a mode selection key is arranged on the surface of the vehicle body 100; the main control module 500 is connected to the voice module 200, the obstacle detection module 300, the mobile chassis 600, the automatic water receiving module 400, and the wireless module 700, respectively.
Specifically, the obstacle detection module 300 is configured to detect obstacles on the movement path of the mobile chassis 600 in real time to obtain obstacle information, and feed the obstacle information back to the main control module 500; the main control module 500 controls the mobile chassis to avoid the obstacle according to the obstacle information;
the wireless module 700 is used for sending a detection instruction and receiving detection instructions of other medicine delivery trolleys in real time, and when the wireless module 700 receives the detection instructions of the other medicine delivery trolleys, the main control module 500 reads medicine delivery information of the other medicine delivery trolleys;
the voice module 200 is configured to collect a sound signal, obtain sound source position information and voice information according to the sound signal, and transmit the sound source position information and the voice information to the main control module 500;
the mode selection key is used for selecting the working mode of the trolley, the working mode comprises a hospital mode and a family mode, and when the family mode is selected, the wireless module 700 does not work;
the main control module 500 outputs a first control signal and a second control signal according to the sound source position information and the voice information, wherein the first control signal is used for controlling the automatic water receiving module 400 to realize the water receiving function; the second control signal is used to control the moving chassis 600 to move to the sound source position.
Further, the voice module 200 includes a sound source positioning module 210 and a voice content identification module 220, where the sound source positioning module 210 is configured to calculate a direction and a distance of a sound source according to an intensity and time difference positioning method (IBDOT, Location by difference of times) of the sound source, where information of the direction and the distance constitutes sound source position information, and the sound source position information is output to the main control module 500; the voice content recognition module 220 is configured to recognize voice information in voice, obtain the voice information, and output the voice information to the main control module 500.
Specifically, referring to fig. 3, fig. 3 is a schematic diagram of sound source positioning of an intelligent medicine delivery trolley of internet of things according to an embodiment of the present invention. The vehicle body 100 is provided with a first sound sensor and a second sound sensor, the sound intensity of the sound source sensed by each sensor is different, and the time for the sound source information to reach the first sound sensor is different from that of the second sound sensor. The first sound sensor detects the arrival time of the sound source information as
The second sound sensor detects the arrival time of the sound source information as
The distance between the first sound sensor and the sound source is set as
The distance between the second sound sensor and the sound source is
It is known that: the distance between the first acoustic sensor and the second acoustic sensor is constant
And the sound velocity is C, then the following can be obtained:
according to
、
The sound source positioning module 210 calculates a distance parameter of the sound source; according to
、
、
Value, the sound source localization module 210 calculates the direction parameter of the sound source; the sound source localization module 210 processes the distance parameter and the direction parameter of the sound source and outputs the sound source position information to the main control module 500.
In a preferred embodiment, the voice content recognition module 220 has a model number SNR9813 exceeding LD 3320.
Further, the voice module 200 further includes an amplifying and filtering module 230, where the amplifying and filtering module 230 is configured to perform secondary processing on the voice information to obtain more accurate voice information. In this embodiment, the amplification and filtering module 230 includes a PID controller, the PID controller includes a proportional controller, an integral controller and a derivative controller, and after the amplification and filtering module 230 obtains the voice information, the amplification and filtering module is calculated by the PID controller, and superimposes the calculation result on the voice information, so as to obtain more accurate voice information and output the more accurate voice information to the main control module 500. The integral controller is used for eliminating steady-state errors existing in the calculation process of the PID controller, and the differential controller is used for reducing oscillation errors in the calculation process of the PID controller.
Further, the obstacle detection module 300 includes an infrared obstacle detection module 310, an ultrasonic obstacle detection module 320, and a processing module 330, where the infrared obstacle detection module 310 and the ultrasonic obstacle detection module 320 are installed at the front end and the rear end of the vehicle body 100, and the infrared obstacle detection module 310 is configured to detect an obstacle by using an infrared detection principle, obtain first obstacle position information, and output the first obstacle position information to the processing module 330; the ultrasonic obstacle detection module 320 is configured to detect an obstacle by using an ultrasonic detection principle, obtain second obstacle position information, and output the second obstacle position information to the processing module 330; the processing module 330 is configured to analyze and process the first obstacle position information and the second obstacle position information, calculate target obstacle position information, and output the target obstacle position information to the main control module 500.
In this embodiment, the obstacle detection module 300 employs the infrared obstacle detection module 310 and the ultrasonic obstacle detection module 320, and obtains position information of two obstacles, so that the obtained position information of the obstacles is more accurate, and the vehicle can accurately avoid the obstacles.
Further, referring to fig. 2 and 4, the mobile chassis 600 includes a driving module 610, a first driving wheel 620, a second driving wheel 630, a first driven wheel 640, a second driven wheel 650 and a chassis frame, wherein the first driving wheel 620, the second driving wheel 630, the first driven wheel 640, the second driven wheel 650 and the driving module 610 are all mounted on the chassis frame 660;
the driving module 610 is configured to drive a first driving wheel 620 and a second driving wheel 630 to move, the first driving wheel 620 drives a first driven wheel 640, and the second driving wheel 630 drives a second driven wheel 650.
In a preferred embodiment, the first driven wheel 640 and the second driven wheel 650 are casters. The first driven wheel 640 and the second driven wheel 650 share part of the weight of the medicine conveying trolley for the first driving wheel 620 and the second driving wheel 630, so that the bearing of the first driving wheel 620 and the second driving wheel 630 is reduced, and the medicine conveying trolley can realize omnibearing motion.
Further, referring to fig. 4, the automatic water receiving module 400 includes a water storage tank 410, an electronic water pump 420, a water pipe 430 and a water faucet 440, the water storage tank 410 and the electronic water pump 420 are installed inside the vehicle body 100, drinking water is contained in the water storage tank 410, and the electronic water pump 420 can pump out water in the water storage tank 410; the water tap 440 is installed on the top of the vehicle body 100, the water inlet of the water tap 440 is connected with the water outlet of the electric water pump 420 through the water pipe 430, and the water outlet of the water tap 440 is aligned with the rim of the drinking cup 800.
Further, the dolly still includes intelligent medical kit 800, intelligent medical kit 800 is placed in the automobile body, the intelligent medical kit is equipped with the box and the speaker that hold of placing the medicine, the intelligence medical kit is configured to output suggestion pronunciation when holding the box and being opened. In this embodiment, the suggestion pronunciation of speaker broadcast accessible dolly control APP sets up in advance, and when the user opened and holds the box and prepare to take medicine, the speaker broadcast suggestion pronunciation, and pronunciation are reminded and have been replaced the buzzer of traditional dolly of sending medicine and remind to remind the name and the correct quantity of the medicine that the user took.
Further, the bottom of the accommodating box is provided with a pressure sensor 900, the pressure sensor 900 is used for detecting the gravity parameter of the medicine in the accommodating box and feeding the gravity parameter back to the main control module 500, when the gravity parameter is smaller than the gravity parameter value set by the main control module 500, the main control module 500 outputs a third control signal to the movable chassis 600, and the third control signal is used for controlling the movable chassis 600 to move to the pharmacy for taking medicine. The gravity parameter value set by the main control module 500 can be set in advance through the APP. In this embodiment, the real-time gravity parameter of the medicine detected by the pressure sensor 900 may be converted into the real-time remaining amount of the medicine by the main control module 500, and when the gravity parameter is smaller than the gravity parameter value set by the main control module 500, that is, the remaining amount of the medicine in the cassette is insufficient, the main control module 500 outputs a third control signal to the moving chassis 600, and the moving chassis 600 moves to the pharmacy to take the medicine.
The application provides a medicine conveying principle of thing allies oneself with intelligence and send medicine dolly as follows:
according to the application scene, the working mode of the trolley is selected through the mode selection key, and the working mode can be selected to be a hospital mode and a family mode. When the operating mode of the cart is selected to the home mode, the wireless module 700 does not operate.
When the trolley works in a hospital mode, the pressure sensor 900 at the bottom of the containing box detects the gravity parameters of the medicine in the containing box in real time and feeds the gravity parameters back to the main control module 500, when the gravity parameters of the medicine in the containing box are smaller than the gravity parameter value set by the main control module 500, the main control module 500 outputs a third control signal to the mobile chassis 600, and the trolley moves to a pharmacy to take medicine. On the way that the trolley goes to a pharmacy for taking the medicine, the wireless module 700 of the trolley sends out a detection instruction and detects whether the detection instruction of other trolleys is received or not in real time.
When the wireless module receives the detection instruction of other trolleys, the main control module 500 reads the names and the stock of the medicines contained in the other trolleys. According to the read medicine information, the main control module 500 of the trolley judges whether other trolleys store the medicines required by the trolley, if so, the main control module 500 of the trolley sends a medicine sending instruction to the trolley storing the required medicines, and the main control module of the trolley storing the required medicines receives the medicine sending instruction and moves to the position close to the position of the patient, so that the patient can take the medicine in time; the trolley continues to go to the pharmacy, the wireless module 700 stops sending the detection instruction, and the trolley returns to the ward after being filled with the required medicine.
The patient needs to take medicine to make a sound, and the voice module 200 acquires the sound information of the patient and calculates the sound source position information of the patient and the voice information contained in the sound. Outputting a first control signal and a second control signal according to the sound source position information and the voice information, wherein the first control signal is used for controlling the automatic water receiving module 400 to realize the water receiving function; the second control signal is used to control the moving chassis 600 to move to the sound source position. In this embodiment, the sound source position is a position 30 cm from the sound source point.
The user can realize the automatic water receiving action of the trolley through certain specific voices. The specific voice comprises specific characters of 'stop' or 'connect', and the specific voice can be set by the APP controlling the trolley. After the car obtains the specific voice, the voice module 200 outputs the voice information to the main control module 500, and the main control module 500 processes the voice information and outputs a first control signal to the automatic water receiving module 400. At this time, the electric water pump 420 sucks the drinking water from the water reservoir 410 and discharges the drinking water to the drinking cup 800 through the water pipe 430 and the water tap 440.
Based on the above embodiment, fig. 5 is a flowchart of a method for controlling an intelligent drug delivery cart based on internet of things according to an embodiment of the present invention, and the present application provides a method for controlling an intelligent drug delivery cart based on internet of things, including:
s100, selecting a working mode of the trolley according to an application scene;
s200, when the voice module detects the sound of a patient, the sound source positioning module calculates to obtain the position information of a sound source, the voice content recognition module recognizes the voice information in the sound, and the voice module feeds back the position information and the voice information to the main control module;
s300, the main control module judges whether the voice information comprises specific characters or not; if yes, go to step S310;
s310, the main control module outputs a first control signal to the automatic water receiving module, and the automatic water receiving module outputs water to a drinking cup arranged on the roof of the trolley;
s320, the main control module outputs a second control signal to the mobile chassis according to the position information and the voice information fed back by the voice module, and the trolley moves to the position of the sound source;
if the main control module determines that the voice message does not include the specific text, step S320 is executed.
Specifically, in step S100, according to the application scenario, the operating mode of the cart is selected through the mode selection key, and the operating mode of the cart can be selected to be the home mode and the hospital mode.
In step S200, when the voice module detects the sound of the patient, the sound source localization module calculates the direction and distance of the sound source according to the intensity of the sound source and the time difference localization method, and the information of the direction and distance constitutes the position information of the sound source; the voice content recognition module recognizes voice information in the voice, and the position information and the voice information are both fed back to the main control module to be processed in the next step.
In step S300, the main control module determines whether the voice message includes specific characters to determine whether water is needed. If so, step S310 is performed.
In step S310, the main control module outputs a first control signal to the automatic water receiving module, and the electronic water pump sucks the drinking water from the water storage tank and discharges the drinking water to the drinking cup through the water pipe and the faucet.
In step S320, the main control module outputs a second control signal to the moving chassis according to the position information and the voice information fed back by the voice module, and the trolley moves to a sound source position, where the sound source position is 30 cm away from the sound source point.
Based on the above embodiment, fig. 6 is a working flow chart of the control method of the intelligent drug delivery trolley with internet of things according to the embodiment of the present invention, working in a hospital mode, please refer to fig. 6, where the working mode of the trolley is selected according to an application scenario, the method further includes:
s110, the main control module judges whether the working mode of the trolley is a hospital mode; if yes, go to step S120;
s120, detecting the gravity of the medicine in the containing box in real time by a pressure sensor at the bottom of the containing box and feeding the gravity back to a main control module, wherein a gravity parameter value is preset in the main control module;
s130, when the real-time gravity parameter is smaller than the preset gravity parameter, the main control module outputs a third control signal to the mobile chassis, and the trolley moves towards the pharmacy; in the movement process, the wireless module sends out a detection instruction and detects whether the detection instruction of other trolleys is received or not in real time;
s140, when the wireless module receives the detection instructions of other trolleys, the main control module reads the medicine delivery information of the other trolleys to obtain the names and the stock of the medicines contained in the other trolleys;
s150, the main control module judges whether other trolleys store the medicines required by the trolleys or not; if so, go to step S151;
s151, the main control module of the trolley sends a medicine delivery instruction to the trolley stored with the required medicine, and the main control module of the trolley stored with the required medicine receives the medicine delivery instruction and moves to the position close to the position of the patient; the trolley continues to go to the pharmacy, and the wireless module of the trolley stops sending the detection instruction; after the trolley finishes taking the medicine, the trolley returns to the position near the patient;
if the main control module judges that the other trolleys do not store the medicines required by the trolleys, executing a step S152;
s152, the trolley bypasses other trolleys and continues to go to a pharmacy to take the medicine.
Based on the above embodiments, fig. 7 is a working flow chart of the control method of the intelligent medicine delivery trolley for internet of things according to the embodiment of the present invention, which works in the home mode, please refer to fig. 7, where the main control module determines whether the working mode of the trolley is the hospital mode, and if the main control module determines that the working mode of the trolley is not the hospital mode, that is, the main control module determines that the working mode of the trolley is the home mode, directly executes step S200.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention as set forth in the claims appended hereto.
Claims (10)
1. The utility model provides a thing allies oneself with intelligence and send medicine dolly which characterized in that includes: the intelligent water dispenser comprises a mobile chassis, a vehicle body, a voice module, a main control module, a barrier detection module, a wireless module and an automatic water receiving module, wherein the vehicle body is arranged on the mobile chassis, the main control module, the barrier detection module and the automatic water receiving module are all arranged inside the vehicle body, a drinking cup is placed at the top of the vehicle body, and a mode selection key is arranged on the surface of the vehicle body; the main control module is respectively connected with the voice module, the barrier detection module, the mode selection key, the wireless module, the mobile chassis and the automatic water receiving module;
the barrier detection module is used for detecting barriers on the moving path of the moving chassis in real time to obtain barrier information and feeding back the barrier information to the main control module; the main control module controls the mobile chassis to avoid the barrier according to the barrier information;
the wireless module is used for sending a detection instruction and receiving the detection instructions of other medicine delivery trolleys in real time, and when the wireless module receives the detection instructions of the other medicine delivery trolleys, the main control module reads the medicine delivery information of the other medicine delivery trolleys;
the voice module is used for collecting a voice signal, obtaining sound source position information and voice information according to the voice signal and transmitting the sound source position information and the voice information to the main control module;
the mode selection key is used for selecting the working mode of the trolley, the working mode comprises a hospital mode and a family mode, and when the family mode is selected, the wireless module does not work;
the main control module outputs a first control signal and a second control signal according to the sound source position information and the voice information, and the first control signal is used for controlling the automatic water receiving module to realize the water receiving function; the second control signal is used for controlling the moving chassis to move to the sound source position.
2. The intelligent medicine delivery trolley based on internet of things as claimed in claim 1, wherein the voice module comprises a sound source positioning module, a voice content recognition module and an amplification and filtering module, the sound source positioning module is used for calculating a direction parameter and a distance parameter of a sound source according to the intensity of the sound source and a time difference positioning method, and the direction parameter and the distance parameter form sound source position information and are output to the main control module;
the voice content recognition module is used for recognizing voice information in voice;
and the amplifying and filtering module is used for carrying out secondary processing on the voice information.
3. The intelligent medicine delivery trolley of claim 2, wherein the voice content recognition module is model number SNR9813 super LD 3320.
4. The intelligent medicine-delivery trolley of claim 1, wherein the obstacle detection module comprises an infrared obstacle detection module, an ultrasonic obstacle detection module and a processing module; the infrared obstacle detection module, the ultrasonic obstacle detection module and the processing module are all arranged at the front end and the rear end of the trolley body;
the infrared obstacle detection module is used for detecting the information of an obstacle by using an infrared detection principle to obtain the position information of the first obstacle and outputting the position information of the first obstacle to the processing module;
the ultrasonic obstacle detection module is used for detecting the information of the obstacle by utilizing an ultrasonic detection principle to obtain the position information of a second obstacle and outputting the position information of the second obstacle to the processing module;
the processing module is used for calculating to obtain the position information of the target obstacle according to the position information of the first obstacle and the position information of the second obstacle.
5. The intelligent medicine delivery trolley of claim 1, wherein the mobile chassis comprises a driving module, a first driving wheel, a second driving wheel, a first driven wheel, a second driven wheel and a chassis frame; the first driving wheel, the second driving wheel, the first driven wheel, the second driven wheel and the driving module are all arranged on the chassis disc; the driving module is used for driving a first driving wheel and a second driving wheel to move, the first driving wheel drives a first driven wheel, the second driving wheel drives a second driven wheel, and the first driven wheel and the second driven wheel are universal casters.
6. The intelligent medicine delivery trolley based on internet of things as claimed in claim 1, wherein the automatic water receiving module comprises a water storage tank, an electronic water pump, a water pipe and a water faucet, and the water storage tank and the electronic water pump are both mounted inside a trolley body of the trolley; the water faucet is installed at the top of the trolley, a water inlet of the water faucet is connected with a water outlet of the electronic water pump through the water pipe, and a water outlet of the water faucet is aligned to a cup opening of the drinking cup;
the automatic water receiving module controls the electronic water pump to pump water from the water storage tank according to the first control signal, and water flows out of the water storage tank to the water drinking cup through the water faucet.
7. The trolley for intelligent delivery of medicines through internet of things as claimed in claim 1, further comprising an intelligent medicine box, wherein the intelligent medicine box is provided with a containing box for placing medicines, a pressure sensor is arranged at the bottom of the containing box and used for detecting a gravity parameter of the medicines in the containing box and feeding the gravity parameter back to the main control module, when the gravity parameter is smaller than a gravity parameter value set by the main control module, the main control module outputs a third control signal to the mobile chassis, and the third control signal is used for controlling the mobile chassis to move to a pharmacy for taking medicines; the intelligent medicine box is configured to output prompt voice when the accommodating box is opened.
8. A control method of an Internet of things intelligent medicine conveying trolley, which is applied to the Internet of things intelligent medicine conveying trolley as claimed in any one of claims 1 to 7, and is characterized by comprising the following steps:
s100, selecting a working mode of the trolley according to an application scene;
s200, when the voice module detects the sound of a patient, the sound source positioning module calculates to obtain the position information of a sound source, the voice content recognition module recognizes the voice information in the sound, and the voice module feeds back the position information and the voice information to the main control module;
s300, the main control module judges whether the voice information comprises specific characters or not; if yes, go to step S310;
s310, the main control module outputs a first control signal to the automatic water receiving module, and the automatic water receiving module outputs water to a drinking cup arranged on the roof of the trolley;
s320, the main control module outputs a second control signal to the mobile chassis according to the position information and the voice information fed back by the voice module, and the trolley moves to the position of the sound source;
if the main control module determines that the voice message does not include the specific text, step S320 is executed.
9. The method for controlling the internet of things intelligent medicine delivery trolley according to claim 8, wherein in the application scene, the working mode of the trolley is selected, and the method further comprises the following steps:
s110, the main control module judges whether the working mode of the trolley is a hospital mode; if yes, go to step S120;
s120, detecting the gravity of the medicine in the containing box in real time by a pressure sensor at the bottom of the containing box and feeding the gravity back to a main control module, wherein a gravity parameter value is preset in the main control module;
s130, when the real-time gravity parameter is smaller than the preset gravity parameter, the main control module outputs a third control signal to the mobile chassis, and the trolley moves towards the pharmacy; in the movement process, the wireless module sends out a detection instruction and detects whether the detection instruction of other trolleys is received or not in real time;
s140, when the wireless module receives the detection instructions of other trolleys, the main control module reads the medicine delivery information of the other trolleys to obtain the names and the stock of the medicines contained in the other trolleys;
s150, the main control module judges whether other trolleys store the medicines required by the trolleys or not; if so, go to step S151;
s151, the main control module of the trolley sends a medicine delivery instruction to the trolley stored with the required medicine, and the main control module of the trolley stored with the required medicine receives the medicine delivery instruction and moves to the position close to the position of the patient; the trolley continues to go to the pharmacy, and the wireless module of the trolley stops sending the detection instruction; after the trolley finishes taking the medicine, the trolley returns to the position near the patient;
if the main control module judges that the other trolleys do not store the medicines required by the trolleys, executing a step S152;
s152, the trolley bypasses other trolleys and continues to go to a pharmacy to take the medicine.
10. The method for controlling the internet of things intelligent medicine delivery trolley according to claim 9, wherein the main control module judges whether the working mode of the trolley is a hospital mode, and the method further comprises the following steps:
and if the main control module judges that the working mode of the trolley is not the hospital mode, directly executing S200.
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