CN114700966A - Non-contact ward medicine delivery mobile robot based on machine learning - Google Patents
Non-contact ward medicine delivery mobile robot based on machine learning Download PDFInfo
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- CN114700966A CN114700966A CN202210335389.XA CN202210335389A CN114700966A CN 114700966 A CN114700966 A CN 114700966A CN 202210335389 A CN202210335389 A CN 202210335389A CN 114700966 A CN114700966 A CN 114700966A
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- 239000003814 drug Substances 0.000 title claims abstract description 46
- 238000010801 machine learning Methods 0.000 title claims abstract description 16
- 230000009467 reduction Effects 0.000 claims abstract description 51
- 229940079593 drug Drugs 0.000 claims description 11
- 238000012377 drug delivery Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 description 5
- 206010011409 Cross infection Diseases 0.000 description 4
- 206010029803 Nosocomial infection Diseases 0.000 description 4
- 208000015181 infectious disease Diseases 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 244000052616 bacterial pathogen Species 0.000 description 3
- 230000002458 infectious effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 241000894006 Bacteria Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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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
- A61G12/00—Accommodation for nursing, e.g. in hospitals, not covered by groups A61G1/00 - A61G11/00, e.g. trolleys for transport of medicaments or food; Prescription lists
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The invention discloses a non-contact type sickroom medicine delivery mobile robot based on machine learning, which comprises a programmable camera module, a camera module bracket, infrared geminate transistors, a diffuse reflection laser sensor, a controller, a voltage reduction module, a brush speed reduction motor, rubber wheels, a laser transmitter, a laser receiver, an indicator light, a vehicle body and a battery box, the programmable camera module is arranged on the camera module bracket and is arranged at the front end of the vehicle body, the laser transmitter and the laser receiver are arranged in the middle of the vehicle body, the controller is arranged at the rear end of the vehicle body, the indicator light is arranged above the first voltage reduction module, the diffuse reflection laser sensor is arranged above the second voltage reduction module, the rubber wheel is arranged in the vehicle body, and the brush speed reducing motors are respectively arranged, and a battery box is arranged at the lower end of the vehicle body. The invention has simple structure and low cost, and solves the problems of complex model and high price of the medicine delivery robot.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a non-contact machine learning-based ward medicine delivery mobile robot.
Background
The existing non-contact type machine learning-based ward medicine delivery mobile robot model is complex in structure, high in price and incapable of being effectively popularized, so that the mode of manual medicine delivery is adopted at present, manual medicine delivery cannot avoid mutual contact of personnel, and the risk that the personnel carry infectious germs and the possibility of cross infection exist in the medicine delivery process.
Disclosure of Invention
The invention provides a non-contact ward medicine delivery mobile robot based on machine learning, which is used for delivering medicines between wards, has a simple structure and low cost, avoids unnecessary personnel contact in medicine delivery, solves the manual operation in medicine delivery, improves the operation efficiency of medical personnel, and reduces the risk of bacteria infection carried by personnel in the medicine delivery process and the possibility of cross infection;
in order to solve the technical problems, the invention provides the following technical scheme:
the invention provides a non-contact machine learning-based ward medicine delivery mobile robot,
the robot comprises a programmable camera module, a camera module bracket, infrared geminate transistors, a diffuse reflection laser sensor, a controller, a voltage reduction module, a brush speed reduction motor, a rubber wheel, a laser transmitter, a laser receiver, an indicator light, a vehicle body and a battery box, wherein the programmable camera module is arranged on the camera module bracket and is arranged at the front end of the vehicle body, the laser transmitter and the laser receiver are arranged in the middle of the vehicle body, the controller is arranged at the rear end of the vehicle body, the voltage reduction module comprises a first voltage reduction module and a second voltage reduction module, the first voltage reduction module is arranged at the left side of the vehicle body, the second voltage reduction module is arranged at the right side of the vehicle body, the indicator light is arranged above the first voltage reduction module, and the diffuse reflection laser sensor is arranged above the second voltage reduction module, the rubber wheels are installed in the vehicle body and are respectively provided with the brush speed reduction motors, the lower end of the vehicle body is provided with a battery box, a medicine box is arranged on the vehicle body and used for storing medicines, and the laser transmitter and the laser receiver are arranged on two sides of the medicine box.
Optionally, the controller includes power module, singlechip, motor drive module, power module electric connection the singlechip with motor drive module, power module is used for right the singlechip with motor drive module supplies power, singlechip electric connection motor drive module, the singlechip is used for right motor drive module output control signal, singlechip electric connection infrared geminate transistor, the module of making a video recording able to programme and diffuse reflection laser sensor gather the sensing data.
Optionally, the first voltage reduction module on the vehicle body provides 6V voltage to be connected to the brushed speed reduction motor for power supply.
Optionally, the second voltage reduction module on the vehicle body provides 5V voltage to be connected to the single chip microcomputer for power supply, and the single chip microcomputer provides 5V voltage to be connected to the programmable camera module, the infrared pair tubes, the diffuse reflection laser sensor, the laser transmitter and the laser receiver for power supply.
Optionally, the infrared pair transistors are arranged in at least four groups, wherein two groups of infrared pair transistors are arranged in the middle of the head of the vehicle body side by side, and two outer two groups of infrared pair transistors are fixed on two sides of the head of the vehicle body in a splayed shape.
Optionally, the programmable camera module is mounted in the i-shaped camera module bracket and is arranged at the front side of the vehicle body.
The invention has the beneficial effects
The invention provides a non-contact ward drug delivery robot based on machine learning, which is used for delivering drugs among wards, has simple structure and low cost, avoids unnecessary personnel contact in drug delivery, improves the operation efficiency of medical personnel, and reduces the risk of carrying infectious germs and the possibility of cross infection in the drug delivery process; meanwhile, the medicine delivery robot is simple in structure and low in cost, and solves the problems that a medicine delivery robot model is complex and expensive.
Drawings
FIG. 1 is a top view of the structure of the present invention.
Fig. 2 is a bottom view of the structure of the present invention.
Description of reference numerals: the system comprises a programmable camera module 1, a camera module 2, a camera module bracket 3, an infrared pair tube 4, a vehicle body 5, a laser emitter 6, a rubber wheel 7, an indicator light 8, a controller 9, a voltage reduction module 10, a diffuse reflection laser sensor 11, a laser receiver 12, a medicine box 13, a battery box 14, a brush speed reduction motor 15 and a motor driving module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
Examples
As shown in fig. 1-2, the present invention provides a contactless machine learning-based ward medication delivery mobile robot,
the robot comprises a programmable camera module 1, a camera module support 2, an infrared geminate transistor 3, a diffuse reflection laser sensor 10, a controller 8, a voltage reduction module 9, a brush speed reduction motor 14, a rubber wheel 6, a laser emitter 5, a laser receiver 11, an indicator light 7, a vehicle body 4 and a battery box 13, wherein the programmable camera module 1 is installed on the camera module support 2 and is arranged at the front end of the vehicle body 4, the laser emitter 5 and the laser receiver 11 are installed in the middle of the vehicle body 4, the controller 8 is arranged at the rear end of the vehicle body 4, the voltage reduction module 9 comprises a first voltage reduction module and a second voltage reduction module, the first voltage reduction module is arranged at the left side of the vehicle body 4, the second voltage reduction module is arranged at the right side of the vehicle body 4, and the indicator light 7 is arranged above the first voltage reduction module, the diffuse reflection laser sensor 10 is arranged above the second voltage reduction module, the rubber wheels 6 are arranged in the vehicle body 4 and are respectively provided with the brush speed reduction motors 14, the lower end of the vehicle body 4 is provided with a battery box 13, the vehicle body 4 is provided with a medicine box 12, the medicine box 12 is used for storing medicines, the laser transmitter 5 and the laser receiver 11 are arranged on two sides of the medicine box 12,
the controller 8 comprises a power module, a single chip microcomputer and a motor driving module 15, wherein the power module is electrically connected with the single chip microcomputer and the motor driving module 15, the power module is used for supplying power to the single chip microcomputer and the motor driving module 15, the single chip microcomputer is electrically connected with the motor driving module 15 and is used for outputting a control signal to the motor driving module 15, the single chip microcomputer is electrically connected with the infrared pair tube 3, the programmable camera module 1 and the diffuse reflection laser sensor 10 to acquire sensing data, the first voltage reduction module on the vehicle body 4 provides 6V voltage to be connected to the brushed speed reduction motor 14 for supplying power, the second voltage reduction module on the vehicle body 4 provides 5V voltage to be connected to the single chip microcomputer for supplying power, and the single chip microcomputer provides 5V voltage to be connected to the programmable camera module 1, The infrared tube 3, the diffuse reflection laser sensor 10, the laser transmitter 5 and the laser receiver 11 are powered,
the infrared pair transistors 3 are at least arranged into four groups, wherein two groups of infrared pair transistors 3 are arranged in the middle of the head of the vehicle body 4 side by side, two outer two groups of infrared pair transistors 3 are fixed on two sides of the head of the vehicle body 4 in a splayed shape, the programmable camera shooting module 1 is arranged in the camera shooting module bracket 2 in an I shape and is arranged at the front side of the vehicle body 4,
the placement information of the medicines is detected by adopting the laser emitter 5 and the laser receiver 11, the laser receiver 11 is used for detecting whether the medicines are put into the medicine box 12, when the laser receiver 11 detects that the medicine box 12 is placed in the medicine box 12, the robot can dispatch, and when the medicines arrive in a ward, the robot can return after taking away the medicines.
First, the hardware model of this experimental example is as follows:
(1) brushed gear motor 14:
a DC speed reducing motor 14 with rated voltage of 6V and maximum torque of 0.75kg/cm is selected and provided with a rubber wheel 6 with the diameter of 65mm, the motor is controlled by a single pulse signal, the speed and the direction can be adjusted, and no load is 620 n/min.
(2) The motor drive module 15:
the MDA06R11 motor driving module 15 is selected, but not limited to, the wheel driving module can help the wheels of the robot trolley to realize forward rotation, reverse rotation or static rotation, and the rotation speed can be adjusted by adjusting the pulse length. The drive assembly has two electrical signal input ports, one 3PIN interface and one 4PIN interface (not used). The 3PIN interface is defined as follows: a negative electrode of a VSS power supply; a VCC power supply positive electrode; SIG monopulse signal input.
(3) Programmable camera module 1:
the OPEN MV camera module is selected but not limited to the selection, has 480MHz dominant frequency, contains various integration and optimization, supports a large number of visual algorithms, has a plurality of IO pins, and supports ADC, DAC, PWM, I2C, serial ports and SPI.
(4) Diffuse reflection laser sensor 10:
the diffuse reflection laser sensor 10 with the working voltage of 10-30V is selected, and the detection distance is adjustable within 50 cm.
(5) The infrared pair tubes 3:
an infrared pair transistor 3 with the working voltage of 3.3-5V is selected, the detection angle is 35 degrees, and the effective distance range is 2-30 cm.
(6)MCU:
The AT89S52 single chip microcomputer is selected as the microcontroller 8, but not limited to, the microcontroller 8 has a complete bitwise operating system from internal hardware to software, and comprises 4 groups of 8 bits and 32 input/output, 5 to 6 interrupt sources, 2 priorities, a full-duplex serial port, and an on-chip RAM interval which has a dual-function address interval and has multiplication and division instructions.
Secondly, this embodiment needs to be performed in cooperation with a corresponding software system:
(1) the main procedure is as follows: firstly, the initialization of the IO port, the serial port, the programmable camera module 1, the brush speed reduction motor 14, the PID parameters of the programmable camera module 1 and the brush speed reduction motor 14 and the initialization of the registers of the corresponding timers are required to be completed. Then, line data of the infrared pair transistors 3, corner data of the diffuse reflection laser sensor 10 and room data of the programmable camera module 1 are continuously collected, and finally the direct current speed reducing motor 14 is controlled to execute tasks.
(2) And (3) PID control algorithm:
firstly, parameters such as P, I, D are initialized, and the parameters mainly comprise: current deviation, last deviation, and P, I, D constants and setpoints and accumulated error. And then calculating a path deviation value and an integral value according to a PID algorithm principle, and calculating a current position value after amplitude limiting.
With the software described above, the following experimental operations can be performed:
(1) firstly, as shown in fig. 1, a vehicle body 4 is made of 12cm × 20cm aluminum alloy, a programmable camera module 1 is mounted on the vehicle body and is arranged at the front end of the vehicle body 4, two infrared geminate transistors 3 are respectively fixed at two sides of a vehicle head, the other two infrared geminate transistors 3 are arranged in the middle of the vehicle head in parallel, a laser emitter 5 and a laser receiver 11 are mounted in the middle of the vehicle body 4, a controller 8 is arranged at the rear end of the vehicle body 4, a first voltage reduction module is arranged at the left side of the vehicle body 4, a second voltage reduction module is arranged at the right side of the vehicle body 4, an indicator light 7 is arranged above the first voltage reduction module, a diffuse reflection laser sensor 10 is arranged above the second voltage reduction module, and a battery box 13 is arranged at the bottom of the vehicle.
(2) Secondly, for hardware, a printing fixer and a connecting piece need to be modeled, and a unit module circuit above the mainboard can be designed or purchased by self.
(3) And finally, writing a corresponding program in the KEIL software by using C language according to the set function, designing a corresponding PID control system algorithm, and completing a corresponding task function.
Therefore, the working principle of the contactless ward medicine delivery robot is as follows:
the line data of the infrared geminate transistors 3, the corner data of the diffuse reflection laser sensor 10 and the room data of the programmable camera module 1 are continuously collected, the line information, the corner information and the room information are fed back to the singlechip 8, and finally the direct current speed reducing motor 14 is controlled to execute tasks.
Through the mode, the invention covers the PID automatic control principle and algorithm, has high cost performance, low price, easy assembly, convenient use, simple maintenance and convenient movement, avoids manual operation during medicine distribution, and is greatly helpful for improving the operation efficiency of medical workers.
In conclusion, the invention provides the non-contact type ward medicine delivery robot based on the machine learning, which is used for delivering medicines among wards, has the advantages of simple structure and low cost, avoids unnecessary personnel contact in medicine delivery, improves the operation efficiency of medical personnel, and reduces the risk of carrying infectious germs and the possibility of cross infection in the medicine delivery process. Meanwhile, the medicine delivery robot is simple in structure and low in cost, and solves the problems that a medicine delivery robot model is complex and expensive.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments, or make equivalent substitutions and improvements to part of the technical features of the foregoing embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A non-contact ward medicine delivery mobile robot based on machine learning, which is characterized in that,
the robot comprises a programmable camera module, a camera module bracket, infrared geminate transistors, a diffuse reflection laser sensor, a controller, a voltage reduction module, a brush speed reduction motor, a rubber wheel, a laser transmitter, a laser receiver, an indicator light, a vehicle body and a battery box, wherein the programmable camera module is arranged on the camera module bracket and is arranged at the front end of the vehicle body, the laser transmitter and the laser receiver are arranged in the middle of the vehicle body, the controller is arranged at the rear end of the vehicle body, the voltage reduction module comprises a first voltage reduction module and a second voltage reduction module, the first voltage reduction module is arranged at the left side of the vehicle body, the second voltage reduction module is arranged at the right side of the vehicle body, the indicator light is arranged above the first voltage reduction module, and the diffuse reflection laser sensor is arranged above the second voltage reduction module, the rubber wheels are installed in the vehicle body and are respectively provided with the brush speed reduction motors, the lower end of the vehicle body is provided with a battery box, a medicine box is arranged on the vehicle body and used for storing medicines, and the laser transmitter and the laser receiver are arranged on two sides of the medicine box.
2. The contactless machine learning based ward drug delivery robot of claim 1,
the controller comprises a power module, a single chip microcomputer and a motor driving module, wherein the power module is electrically connected with the single chip microcomputer and the motor driving module, the power module is used for supplying power to the single chip microcomputer and the motor driving module, the single chip microcomputer is electrically connected with the motor driving module, the single chip microcomputer is used for outputting control signals to the motor driving module, and the single chip microcomputer is electrically connected with the infrared geminate transistors, the programmable camera module and the diffuse reflection laser sensor to acquire sensing data.
3. The contactless machine learning based ward drug delivery robot of claim 1,
the first voltage reduction module on the vehicle body provides 6V voltage to be connected to the brush speed reduction motor for power supply.
4. The contactless machine learning based ward drug delivery robot of claim 1,
the second voltage reduction module on the vehicle body provides 5V voltage to be connected to the single chip microcomputer for power supply, and the single chip microcomputer provides 5V voltage to be connected to the programmable camera module, the infrared pair tubes, the diffuse reflection laser sensor, the laser transmitter and the laser receiver for power supply.
5. The contactless machine learning based ward drug delivery robot of claim 1,
the infrared pair transistors are arranged in four groups at least, wherein the two groups of infrared pair transistors are arranged in the middle of the head of the vehicle body side by side, and the two outer groups of infrared pair transistors are fixed on two sides of the head of the vehicle body in a splayed shape.
6. The contactless machine learning based ward drug delivery robot of claim 2,
the programmable camera module is arranged in the I-shaped camera module bracket and is arranged at the front side of the vehicle body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210335389.XA CN114700966A (en) | 2022-03-31 | 2022-03-31 | Non-contact ward medicine delivery mobile robot based on machine learning |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210335389.XA CN114700966A (en) | 2022-03-31 | 2022-03-31 | Non-contact ward medicine delivery mobile robot based on machine learning |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994693A (en) * | 2017-05-23 | 2017-08-01 | 杭州师范大学钱江学院 | Automatic medicine delivery cart and its drug delivery method |
| CN107671872A (en) * | 2017-11-03 | 2018-02-09 | 长安大学 | A kind of attitude-adaptive is helped the elderly disabled aiding robot |
| CN208102704U (en) * | 2018-04-20 | 2018-11-16 | 西安交通大学医学院第一附属医院 | wearable medicine taking device |
| US20190339715A1 (en) * | 2018-05-04 | 2019-11-07 | Lg Electronics Inc. | Plurality of autonomous mobile robots and controlling method for the same |
| CN112093467A (en) * | 2020-09-30 | 2020-12-18 | 中国计量大学 | Mobile carrying robot system and control method thereof |
| CN114153171A (en) * | 2021-12-06 | 2022-03-08 | 天津工业大学 | Intelligent medicine delivery system based on computer vision and multi-sensor fusion |
-
2022
- 2022-03-31 CN CN202210335389.XA patent/CN114700966A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994693A (en) * | 2017-05-23 | 2017-08-01 | 杭州师范大学钱江学院 | Automatic medicine delivery cart and its drug delivery method |
| CN107671872A (en) * | 2017-11-03 | 2018-02-09 | 长安大学 | A kind of attitude-adaptive is helped the elderly disabled aiding robot |
| CN208102704U (en) * | 2018-04-20 | 2018-11-16 | 西安交通大学医学院第一附属医院 | wearable medicine taking device |
| US20190339715A1 (en) * | 2018-05-04 | 2019-11-07 | Lg Electronics Inc. | Plurality of autonomous mobile robots and controlling method for the same |
| CN112093467A (en) * | 2020-09-30 | 2020-12-18 | 中国计量大学 | Mobile carrying robot system and control method thereof |
| CN114153171A (en) * | 2021-12-06 | 2022-03-08 | 天津工业大学 | Intelligent medicine delivery system based on computer vision and multi-sensor fusion |
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