CN116306009A - Distribution system and method thereof - Google Patents

Abstract

The invention relates to a delivery system, comprising a driving main body, a control unit and a control unit, wherein the driving main body is used for executing delivery tasks; the system further comprises a main control module, wherein the main control module is configured to: calculating path planning data by taking the shortest total travel path among a plurality of total travel paths of each delivery node as an objective function, taking at least one travel path selected by the driving main body as a decision variable and taking the driving main body as a constraint condition that the delivery task can be completed; and planning an optimized driving path based on the path planning data. The main control module is provided with an optimized path solving algorithm, so that the driving main body can calculate an execution path with highest distribution efficiency, and the working pressure of staff is further relieved; the convolutional neural network algorithm is carried, the image information is processed to judge the arrival position of the driving main body, the recognition efficiency and the recognition accuracy are improved, the operation flow of the distribution personnel and the receiving personnel in the distribution process is simplified, and the distribution is more convenient.

Description

Distribution system and method thereof

Technical Field

The invention relates to the technical field of dispensing apparatuses, in particular to a dispensing system and a method thereof.

Background

The medicine delivery system refers to a medical system for transferring in ward, and is suitable for ward and emergency room of various big hospitals, shelter hospitals, isolation points and the like. At present, the infection of the first and second infectious diseases causes the drug delivery work to have a certain infection risk, and the high efficiency and non-contact requirements are put on the drug delivery system.

On the one hand, the conventional drug delivery system on the market has the problems of poor automation, more human intervention and low efficiency; on the other hand, a certain infection risk exists, and the method is not suitable for being used in high infection risk occasions such as epidemic situation periods. In addition, each delivery system in the prior art can not accurately and efficiently transport under a medical complex transport environment, particularly when a class A infectious disease or a class B infectious disease is outbreak, enough staff are not needed to clear the drug transport path in real time, the drug or other people are easy to be injured due to collision, and the optimal running path can be selected from the medical complex environment. Therefore, how to realize high efficiency of delivery while ensuring a medical contactless condition is a problem that needs to be solved urgently in the prior art.

Chinese patent CN114397898B discloses an intelligent drug delivery trolley for internet of things and a control method, comprising: the car comprises a car body, a voice module, a main control module, an obstacle detection module and an automatic water receiving module, wherein the voice module is used for collecting voice signals and obtaining sound source position information and voice information, 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, the first control signal is used for controlling the automatic water receiving module to realize automatic water receiving, and the second control signal is used for controlling the car to move to the sound source position. The intelligent medical device is applied to a household environment and a hospital environment, the movement of the trolley is controlled by a voice control mode, water is automatically received, and a patient can take medicines in time by using an Internet of things technology, so that the medicine taking and taking of people with difficulty in movement are greatly facilitated; in addition, the speaker can play reminding voice before the user takes the medicine to remind the user of the name and correct dosage of the medicine, so that the situation that the user mistakenly takes wrong medicine, takes excessive medicine or takes too little medicine is avoided. The disadvantage of this patent is that the disinfection of the transported drug is lacking and the planning of the trolley path is lacking, belonging to cruising trolleys, rather than one-to-one delivery for specific several delivery nodes, not suitable for contactless delivery of highly dangerous infectious diseases.

Chinese patent CN110235077B discloses a drug delivery method and delivery vehicle, the drug delivery method comprising: receiving a delivery instruction sent by a server, wherein the delivery instruction comprises a delivery area, the delivery area comprises target rooms, and at least one target room is provided; determining a medicine to be dispensed corresponding to the target room; and delivering the medicine to be delivered to the target room. The medicine distribution method is used for realizing automatic medicine distribution, thereby saving the manpower resources of hospitals and reducing the workload of medical staff. However, the disadvantage of this patent is that the most preferred planning of the travel path for several target rooms is missing, and that the re-planning of the travel path is missing in the face of the real-time changing external environment of the hospital. If the target rooms for front delivery are too many, the planning and selection of the optimal driving path are difficult to perform, so that the time cost is wasted, and even the treatment process of the patient is delayed.

Furthermore, there are differences in one aspect due to understanding to those skilled in the art; on the other hand, since the applicant has studied a lot of documents and patents while making the present invention, the text is not limited to details and contents of all but it is by no means the present invention does not have these prior art features, but the present invention has all the prior art features, and the applicant remains in the background art to which the right of the related prior art is added.

Disclosure of Invention

In view of the shortcomings of the prior art, the present invention provides a dispensing system comprising a drive body for performing a dispensing task; the system further comprises a main control module, wherein the main control module is configured to: calculating path planning data by taking the shortest total travel path among a plurality of total travel paths of each delivery node as an objective function, taking at least one travel path selected by the driving main body as a decision variable and taking the driving main body as a constraint condition that the delivery task can be completed; and planning an optimized driving path based on the path planning data.

According to a preferred embodiment, the constraint comprises: the first constraint condition is used for constraining the decision variable matrix to be a logic variable matrix; a second constraint for constraining correspondence of entry and exit of the driving body to the delivery node, while also constraining passage of the selected travel path at least once through the delivery node; a third constraint for constraining the drive subject to start from a dispensing end point and to return to the dispensing end point; the master control module is further configured to: establishing a decision variable matrix based on the first constraint condition, and generating a plurality of driving paths by simulating the values of the decision variable matrix; judging the entry and exit conditions of the driving main body to the distribution node based on the second constraint condition by at least one path in the simulated decision variable matrix; and judging the entry and exit conditions of the driving main body to the delivery end point based on the third constraint condition by using the simulated delivery end point in the decision variable matrix. The constraint condition enables the optimization planning of the driving path to have practical application limitation, prevents the situation that the driving main body cannot complete the distribution task in order to shorten the total distribution distance, and enables the designed driving path to conform to objective facts and be used for the distribution task of the driving main body.

According to a preferred embodiment, in the case where the driving body entering and exiting quantization values of the second constraint condition are equal to and greater than one, the main control module judges that the driving body enters from a delivery node and exits therefrom at least once, the second constraint condition is expressed as:

wherein x is _ik Representing the driving of the body into the i bed, x _ki Representing the drive body exiting the i-bed;

the method comprises the steps of carrying out a first treatment on the surface of the When the quantized values of the entry and the exit of the driving main body of the third constraint condition are equal to one, the main control module judges that the driving main body starts from a distribution terminal point and returns to the distribution terminal point; wherein the third constraint is expressed as:

wherein x is _0k X represents the drive body starting from the dispensing end point _ki Representing the return of the drive body to the dispensing end point. The constraint condition numerical comparison is adopted to realize the judgment that the driving main body enters and leaves the delivery node and/or the delivery terminal point, so that the total distance of the total running paths of a plurality of delivery nodes is convenient to judge and plan, and the driving main body is prevented from entering the same delivery node for a plurality of times.

According to a preferred embodiment, the main control module calculates the path planning data and selects the optimal driving path as follows: under the condition that the simulated decision variable matrix meets the first constraint condition, the second constraint condition and the third constraint condition, the main control module calculates the total distance of the total travel path based on the objective function; the calculated total distance of a plurality of total travel paths is used as the path planning data; the main control module selects a total travel path of the shortest distance in the total travel paths as the optimal travel path in a mode of traversing the total travel paths meeting constraint conditions in the path planning data, and stores the total distance of the selected total travel path and a decision variable matrix.

According to a preferred embodiment, the objective function represents that the travel path with the smallest total distance is selected among a number of travel paths satisfying the constraint,

wherein the objective function is expressed as:

wherein i represents the ith distribution node; j represents a j-th distribution node; a, a _ij Representing the shortest distance from the i distribution node to the j distribution node; x is x _ij Representing a decision variable matrix; minz represents the travel path with the smallest distance.

According to a preferred embodiment, the system further comprises a travel control module. And the main control module corrects the running state of the current driving main body based on the track running data, the obstacle data and the path planning data based on the distribution node planning of the driving main body and sends out a running instruction. And responding to the running instruction sent by the main control module, and generating a control signal for controlling the driving main body to run by the running control module. The main control module is provided with an optimized path solving algorithm, so that the driving main body can calculate an execution path with highest distribution efficiency, and the working pressure of staff is further relieved; the convolutional neural network algorithm is carried, the image information is processed to judge the arrival position of the driving main body, the recognition efficiency and the recognition accuracy are improved, the operation flow of the distribution personnel and the receiving personnel in the distribution process is simplified, and the distribution is more convenient.

According to a preferred embodiment, the system further comprises: and the tracking module is used for detecting the track running data of the driving main body. And the obstacle avoidance module is used for acquiring ranging information and determining obstacle data. The tracking module and the obstacle avoidance module acquire track running data of the driving main body and obstacle data on the track, and send the track running data acquired by the tracking module and the obstacle data acquired by the obstacle avoidance module to the main control module so as to participate in correcting the running state of the driving main body. The tracking module and the obstacle avoidance module provided by the invention can control the driving main body to run along a specified road, prevent the driving main body from deviating, and prevent the damage to the delivery objects and others caused by collision of the driving main body.

According to a preferred embodiment, the drive body is provided with a drive module which adjusts the speed and direction of the drive body based on the control signals of the travel control module to cause the system to perform a dispensing task.

According to a preferred embodiment, the tracking module comprises an optical sensor unit, and the main control module judges the current running condition of the driving main body based on the track running data acquired by the optical sensor unit; the obstacle avoidance module comprises an ultrasonic unit and an infrared ranging unit, the obstacle avoidance module can acquire the outline of the obstacle, and the main control module is used for simultaneously acquiring and calculating the data of the obstacle based on the ultrasonic unit and the infrared ranging unit. The driving main body is flexible in distribution work and complete in protection through the tracking module and the obstacle avoidance module, and the risk of cross infection in the medicine conveying process can be reduced while medicines are conveyed with the highest efficiency.

According to a preferred embodiment, the system further comprises an image acquisition module for acquiring image information of the environment in which the driving subject is located. And responding to the planning of the main control module on the optimized driving path based on the path planning data, and in the driving process of the driving main body according to the planned path, acquiring image information from at least two acquisition angles by the image acquisition module and transmitting the image information to the main control module in a staggered transmission mode. And the main control module performs interleaving processing on the image information acquired from at least two acquisition angles so as to confirm the distribution end point. The image information of the driving main body is acquired through multiple acquisition angles, so that the current external situation can be accurately judged, the planning and reselection of the optimal driving path can be timely carried out aiming at the external situation, the current position of the driving main body can be judged, the path planning data of the follow-up delivery process can be updated, the path planning can be carried out on the basis of the path planning of other driving main bodies, the delivery time is saved, and the delivery efficiency is improved.

According to a preferred embodiment, the master control module is further configured to: and extracting the sign features in the image information acquired by the image acquisition module based on a neural network algorithm, and judging the position of the driving main body based on the sign features. The main control module judges whether the image information of the image acquisition module contains the mark features by utilizing the CNN neural network carried by the main control module so as to judge the current position of the driving main body and prevent the situation of wrong distribution places.

According to a preferred embodiment, the system further comprises: and the distribution control module is used for realizing the specified disinfection requirement of the driving main body and the locking of the distribution object storage box by operating the automatic disinfection unit and the locking unit based on the control instruction of the main control module. The automatic sterilizing unit selects at least one of ultraviolet sterilization and disinfectant sterilization based on a sterilization instruction of the dispensing control module to sterilize the medicine in the dispensing storage bin; the locking unit is based on an opening and closing instruction of the delivery storage box of the delivery control module, and locking and unlocking of the delivery storage box are achieved by controlling rotation of the servo motor. The automatic disinfection system is used for spraying disinfection liquid for disinfection before the driving main body starts, after the task ends and when the delivery objects are delivered, and starting ultraviolet lamps in corresponding boxes for disinfection before the driving main body delivers the delivery objects and after the delivery objects are delivered, so that the automatic disinfection system has high frequency and multiple ways for disinfection, reduces the possibility of cross infection of medical staff and patients, and is suitable for special scenes of epidemic situation drug delivery.

According to a preferred embodiment, the system further comprises a man-machine interaction module, wherein the man-machine interaction module comprises a medical-care-end man-machine interaction unit for controlling the driving body to deliver and a sickbed-end man-machine interaction unit for receiving and feeding back delivery information. The main control module determines a plurality of distribution nodes based on the control and feedback of the medical care end human-computer interaction unit and the sickbed end human-computer interaction unit, and updates the path planning data. According to the man-machine interaction system, the man-machine interaction screen and the communication module are communicated with the driving main body, so that man-machine interaction operation is simpler and more convenient, the use difficulty is low, and the use efficiency is high.

The invention also relates to a delivery method, comprising: calculating path planning data by taking the shortest total travel path among a plurality of total travel paths of each distribution node as an objective function, taking a driving main body to select at least one travel path as a decision variable and taking a constraint condition that the driving main body can complete a distribution task; and planning an optimized driving path based on the path planning data.

Drawings

FIG. 1 is a schematic view of the overall structure of a dispensing system according to a preferred embodiment of the present invention;

FIG. 2 is a simplified system module connection diagram of a dispensing system according to a preferred embodiment of the present invention;

FIG. 3 is a simplified schematic illustration of a dispenser storage compartment of a preferred embodiment of a dispenser system according to the present invention;

FIG. 4 is a simplified schematic diagram of a man-machine interaction module of a dispensing system according to a preferred embodiment of the present invention;

fig. 5 is a simplified system flow diagram of a dispensing system of a preferred embodiment provided by the present invention.

List of reference numerals

1: a main control module; 2: an image acquisition module; 3: an infrared ranging unit; 4: an ultrasonic unit; 5: a tracking module; 6: a travel wheel; 7: a travel control module; 8: a driving motor; 9: a motor driving unit; 1O: a distribution control module; 11: a servo motor control assembly; 12: a communication module; 13: a DC-DC component; 14: a rechargeable lithium battery; 15: a main body sterilizing valve; 16: a delivery article storage box; 17: a mechanical lock; 18: a servo motor; 19: a relay assembly; 20: ultraviolet lamp in the box; 21: a sterilizing valve in the box; 22: a driving module; 23: an obstacle avoidance module; 24: a medical care end man-machine interaction unit; 25: and a man-machine interaction unit at the sickbed end.

Detailed Description

The following detailed description refers to the accompanying drawings.

Example 1

The present invention provides a dispensing system, and more particularly, to a high efficiency, contactless dispensing system. The invention also provides a high-efficiency medical contactless drug delivery system.

The dispensing of the present invention will be described with reference to a drug.

The present invention provides a dispensing system, as shown in fig. 1 to 3, comprising: the main control module 1 is configured to calculate path planning data using a shortest total travel path of each delivery node as an objective function, using a driving body to select at least one travel path as a decision variable, and using a constraint condition that the driving body is capable of completing a delivery task. Preferably, the main control module 1 calculates path planning data based on an optimized path planning algorithm to distinguish the delivery sequence, thereby improving the delivery efficiency of the delivery system. Preferably, the main control module 1 is further used for receiving and processing the image signal of the driving main body position of the image acquisition module 2 based on the LeNet neural network algorithm, and identifying the current driving main body to reach the position. Preferably, the main control module 1 is further configured to send running instructions and control instructions to the running control module 7 and the distribution control module 10 through serial communication. Preferably, the main control module 1 is further used for exchanging information with the man-machine interaction module through the communication module 12. The communication module 12 can communicate by WiFi, bluetooth, zigBee, or the like, and preferably WiFi communication. The driving body is a traveling device capable of completing a delivery task, for example, a vehicle body. Specifically, the main control module 1 can use a bot BCM2711 chip as a core processing chip.

Preferably, the optimization path planning algorithm calculates path planning data with the shortest total travel path of each delivery node as an objective function, with the driving body selecting at least one travel path as a decision variable, and with the driving body being able to complete the delivery task as a constraint. The specific algorithm formula is as follows:

objective function obj:

decision variables:

x _ij

constraint s.t.:

first constraint:

x _ij (1-x _ij )＝0

second constraint:

third constraint:

wherein I is E I, N is E N; i represents the ith bed (or i represents the ith delivery node); j represents a jth bed (or j represents a jth delivery node); a, a _ij Represents the shortest distance from bed i to bed j (or a) _ij Representing the shortest distance from the i delivery node to the j delivery node); x is x _ij Representing whether to drive a driving route from i bed to j bed, namely, a decision variable of an optimization algorithm; i is a bed set of all the beds requiring drug delivery, and N is a set of all the beds and pharmacies. If there is no direct path between i beds to j beds to be delivered, the distance is considered to be infinite, so that the algorithm automatically excludes the path.

The objective function indicates that the search target path is a path having the smallest total travel distance among all paths satisfying the constraint condition. The decision variables represent all travel routes that can be traveled from i to j beds. The constraint condition indicates a condition that the driving body needs to satisfy to complete the delivery task on all the traveling routes that can be traveled. The constraints include a first constraint, a second constraint, and a third constraint. The first constraint is used for constraining the decision variable x _ij Is a logical variable, i.e. the value can only be 0 or 1. The second constraint is used to constrain all cases that enter the i-bed to necessarily exit from the i-bed, i.e. there must be an entry and an exit, while also constraining the selected path to have to pass through the drug delivery target bed at least once. The third constraint is used to constrain the drive subject to have to start from the pharmacy (i.e., point O) and eventually return to the pharmacy. The path planning data refers to the parameters of the optimized running path obtained by the calculation of the objective function, and comprises the delivery sectionsThe position information of the point, the travel path information (i.e., information such as forward travel or turning) from one delivery node to another, and the like.

Preferably, the main control module 1 establishes the distance matrix a based on the pre-stored distances between the distribution nodes. The main control module 1 establishes a target delivery node set I based on delivery node requirements of the delivery task. Preferably, the main control module 1 establishes a decision variable matrix x by simulating x _ij A number of travel paths are generated. Preferably, the main control module 1 simulates x _ij Any one of the paths is based on

And->

To judge the entering and leaving conditions of the target point. Preferably, in->

And->

When the values of (2) are equal to or greater than 1, the main control module 1 determines that the drive subject enters and exits from the distribution node at least once. Preferably, the main control module 1 simulates x _ij Is based on the dispensing end point of (c)

And->

To determine entry and exit conditions for the dispensing endpoint. Preferably, in->

And

if the values of (2) are equal to each other and equal to 1, the main control module 1 determines that the drive subject returns to the dispensing end point. Preferably, in the simulated x _ij In case the above constraints are fulfilled, the main control module 1 is based on +.>

A total distance of the total travel path is calculated. Preferably, the main control module 1 compares the calculated total distance of the total travel path with the total distance of the last total travel path to select the shortest one of the two total travel paths, and stores the selected total distance of the total travel paths and the decision variable matrix x. Preferably, the main control module 1 obtains the shortest total distance of the total travel path through a plurality of iterative computations, and selects the optimal travel path in a manner of traversing the total travel path conforming to the constraint condition.

Specifically, before the drive main body formally works, it is necessary to input the distance between the pharmacy (point No. 0) and each bed in advance in the system, and to set the distance of the beds or the pharmacy which are not directly connected to infinity. It should be noted that if any one line does not pass through other beds or pharmacies among all the lines with the shortest distance between the two beds or pharmacies, the two beds or pharmacies may be considered to be directly connected. Thereby creating a bed distance matrix a. After the system receives the task, firstly, determining a drug delivery target bed and establishing a target bed set I. Then establishing decision variable matrix x by simulating x _ij Generates all possible path cases. For a particular path, calculate

And->

To determine the entry and exit conditions for the target point, which should be equal to and greater than 1, representing that the driving body enters and exits the target point at least once. Recalculating->

And->

To determine the entry and exit conditions for the pharmacy, which should be equal and equal to 1, representing the drive subject starting from the pharmacy and finally returning to the pharmacy. If the above-mentioned condition is satisfied,calculate->

The total distance of the path is compared with the total distance of the path which meets the requirement, the smaller path is selected, and the total distance of the path is saved again with the decision variable matrix x for comparison with the subsequent path. And selecting one path with the minimum total distance by traversing all paths meeting the requirements, wherein the path is the path selected by the driving main body. Preferably, before the driving main body formally works, the strategy that the trolley goes to each bed, namely the left-turning, right-turning and straight-going strategies for each intersection, is also stored. After the optimal path is calculated, the driving main body calls an execution strategy required by running from the pre-stored strategies according to the path and sequentially executes the execution strategy according to the selected strategy, so that the driving main body can be ensured to run along the appointed path.

According to a preferred embodiment, the drive body is provided with a drive module 22, the drive module 22 adjusting the speed and direction of the drive body based on the control signal of the travel control module 7 to cause the system to perform the dispensing task. The travel control module 7 generates a control signal for controlling the driving body to travel based on the travel instruction. Preferably, the content of the control signal of the driving control module 7 comprises the generation of corresponding motor speed regulation, start-stop. Preferably, the control signal of the driving control module 7 is generated to the driving module 22 to enable the driving module 22 to adjust the working state of the corresponding driving motor 8.

Preferably, the drive module 22 comprises a main chassis, a drive motor 8 and a road wheel 6. Preferably, the driving module 22 further includes at least two motor driving units 9 respectively provided to the left front wheel and the left rear wheel, and the right front wheel and the right rear wheel of the driving body. Preferably, the driving module 22 controls the corresponding motor to perform speed regulation or stopping by receiving the control signal of the driving control module 7, thereby realizing driving control of the driving body. Preferably, the steering of the drive body is differential steering. At least two motor drive units 9 achieve steering of the drive body by controlling the left and right wheel speed difference. Specifically, the driving motor 8 can select a direct-current gear motor, and the motor driving unit 9 selects an L298N component.

According to a preferred embodiment, the system further comprises: and the tracking module 5 is used for detecting the track running data of the driving main body. The obstacle avoidance module 23 is used for acquiring ranging information and determining obstacle data. The tracking module 5 and the obstacle avoidance module 23 collect track running data of the driving main body and obstacle data on the track, and send the track running data collected by the tracking module 5 and the obstacle data collected by the obstacle avoidance module 23 to the main control module 1. The tracking module 5 and the obstacle avoidance module 23 provided by the invention can control the driving main body to run along a specified road, prevent the driving main body from deviating, and prevent the driving main body from colliding to cause damage to the distributed objects and others. Specifically, the tracking module 5 can be configured with four TCRT5000 infrared tracking assemblies; and returning a four-bit digital signal through the identification result of the four infrared tracking components on the road line, and selecting a proper execution strategy according to the four-bit digital signal. The obstacle avoidance module 23 is composed of an HY-SRF05 ultrasonic assembly and two GP2Y0A02YKOF infrared ranging assemblies, wherein the HY-SRF05 ultrasonic assembly is used for measuring forward obstacle distance, and the GP2YOA02YKOF infrared ranging assemblies are used for measuring forward lateral obstacle distance.

According to a preferred embodiment, the tracking module 5 includes an optical sensor unit, and the main control module 1 determines the current driving situation of the driving subject based on the trajectory driving data acquired by the optical sensor unit. The obstacle avoidance module 23 includes an ultrasonic unit 4 and an infrared ranging unit 3. The obstacle avoidance module 23 is able to acquire the obstacle profile. The main control module 1 simultaneously collects and calculates obstacle data based on the ultrasonic unit 4 and the infrared ranging unit 3. The trajectory traveling data includes at least an optical signal collected by the optical sensor unit. Preferably, the tracking module 5 comprises at least four optical sensor units. The tracking unit judges the current running condition of the driving main body by receiving the optical signal of the optical sensor unit and generating the optical signal to the main control module 1, so that the driving main body is adjusted to the track for running. Preferably, the obstacle avoidance module 23 comprises at least one ultrasonic unit 4 and two infrared ranging units 3. The ultrasonic unit 4 is mainly used for detecting the forward obstacle distance. The infrared ranging unit 3 is mainly used for detecting the distance of the front side obstacle. The obstacle avoidance module 23 transmits the acquired obstacle data to the main control module 1 to prevent injury of personnel or damage of delivery objects caused by collision of the driving body. The above-mentioned obstacle data includes at least the front obstacle distance acquired by the ultrasonic unit 4, the front-side obstacle distance of the infrared ranging unit 3 Cai Hu, and the commonly acquired obstacle profile.

Further preferably, when receiving the obstacle data collected by the ultrasonic unit 4 and the infrared ranging unit 3, the main control module 1 will compare and overlap the two obstacle data, so as to accurately determine the outline of the obstacle. When the difference of the received obstacle data collected by the ultrasonic unit 4 and the infrared ranging unit 3 is large, the main control module 1 can increase the collection frequency of the ultrasonic unit 4 and the infrared ranging unit 3, simultaneously send a running command to the running control module 7, reduce the moving speed of the driving main body, and send a running recovery command to the running control module 7 to control the driving main body to run normally when the main control module 1 receives the obstacle data to recover to be normal.

According to a preferred embodiment, the master control module 1 is further configured to: the main control module 1 corrects the running state of the current driving body based on the processed trajectory running data of the driving body, the obstacle data, and the path planning data based on the distribution node planning, and transmits a running instruction to the running control module 7. Preferably, the main control module 1 receives the trajectory traveling data and the obstacle avoidance data transmitted from the tracking module 5 and the obstacle avoidance module 23 to calculate the path planning data at high frequency in a short period of time, and issues a traveling instruction to instruct the traveling control module 7 to control the displacement of the driving body. Preferably, the main control module 1 generates several travel paths based on an optimized path planning algorithm and on the distribution of several delivery nodes for storage in the form of data. When the current travel path is blocked and cannot pass, the main control module 1 can provide at least one other travel path different from the current travel path and send the travel path to the travel control module 7 in a manner of updating the travel instruction if the path is blocked. Preferably, the main control module 1 determines that the basis of blocking a certain travel path is the current environmental traffic condition acquired through the communication module 12 and/or the condition of the driving subject determined by the image acquisition module 2.

According to a preferred embodiment, the system further comprises an image acquisition module 2 for acquiring image information of the environment in which the driving subject is located. At least two image acquisition modules 2 acquire image information of the environment in which the driving subject is located in such a way that the acquired images have an included angle. The main control module 1 processes at least the image information of the environment where the driving main body is located, which is transmitted by at least two image acquisition modules 2 in an interlaced manner, so as to determine the position of the driving main body. Preferably, at least two image acquisition modules 22 transmit image information to the main control module 1 in a cyclic and staggered manner, and the main control module 1 processes the images transmitted by the two image acquisition modules 2 respectively. Preferably, after at least one image acquisition module 2 acquires image information, the main control module 1 judges whether a mark feature exists in an image based on a classification network, and if not, the main control module receives the image information of another image acquisition module 2; if yes, the marking features are brought into the marking feature recognition network to judge whether the marking features are the marking features of the target distribution node, if not, the image information of the other image acquisition module 2 is received, and if yes, the corresponding strategy is executed. Compared with synchronous processing, the method can reduce the calculation power requirement on the main control module 1, reduce the situations of misjudgment and missed judgment of images, accelerate the speed of image processing and save resources and cost. Preferably, in response to the planning of the optimized driving path of the main control module 1, the image acquisition module 2 acquires image information from at least two acquisition angles and transmits the image information to the main control module 1 in a staggered transmission manner during the driving subject driving according to the planned path. The main control module 1 performs interleaving processing on the image information acquired from at least two acquisition angles to confirm the distribution end point. For example, the image acquisition modules 2 can be provided on both sides of the driving body. The image capturing module 2 is, for example, a camera capable of capturing a moving image or a camera capable of capturing a still image, or an image capturing apparatus or the like capable of capturing a corresponding moving and/or still image. Specifically, the image acquisition module 2 can select the OV5647 camera assembly.

According to a preferred embodiment, the master control module 1 is further configured to: the method comprises the steps of extracting the sign features in the image information acquired by the image acquisition module 2 based on a neural network algorithm, and judging the position of the driving main body based on the sign features. The above-mentioned characteristic features refer to special features that can highlight the current position of the driving body. Specifically, for example, a sign board, a bed number, a nurse station platform, and the like for each hospital bed. The main control module 1 judges whether the image information of the image acquisition module 2 contains the mark features by utilizing the CNN neural network carried by the main control module to judge the current position of the driving main body, so as to prevent the situation of wrong distribution places. Further, if it is determined that the driving body reaches the delivery node or the delivery end point, the main control module 1 sends a running command to enable the running control module 7 to control the motor to be powered off so as to stop at the delivery node or the delivery end point. The main control module 1 sends a control command to the dispensing control module 1O, and the dispensing control module 10 controls the designated relay assembly 19 to turn off the ultraviolet lamp 20 in the box and turn on the sterilizing valve 21 in the box, and then turns on the dispensing storage box 16 by the rotation of the servo motor 18.

According to a preferred embodiment, the system further comprises: the dispensing control module 10 realizes the sterilization requirement designated by the driving body and the locking of the dispensing storage bin 16 by operating the automatic sterilization unit and the locking unit based on the control instruction of the main control module 1. The automatic sterilizing unit selects at least one of ultraviolet sterilization and disinfectant sterilization based on a sterilization instruction of the dispensing control module 10 to sterilize the medicine in the dispensing storage bin 16; the locking unit controls the rotation of the servo motor 18 based on the opening and closing command of the dispensing storage case 16 of the dispensing control module 10 to lock and unlock the dispensing storage case 16. Preferably, the automatic sterilizing unit includes an in-tank sterilizing valve 21, a main body sterilizing valve 15, an in-tank ultraviolet lamp 20, a relay assembly 19, a flow path line, a sterilizing liquid tank, and a power supply assembly. Upon receiving the ultraviolet sterilization command from the dispensing control module 10, the automatic sterilization unit controls the actuation of the corresponding relay assembly 19 to energize the ultraviolet lamp 20 in the box for ultraviolet sterilization. When a disinfectant sterilization instruction of the dispensing control module 10 is received, the automatic sterilization unit controls the corresponding relay assembly 19 to be attracted to enable the in-box sterilization valve 21 or the main body sterilization valve 15 to be electrified, and the disinfectant enters the in-box sterilization valve 21 or the main body sterilization valve 15 from the disinfectant tank through the runner pipeline and is sprayed with fluid by utilizing hydraulic pressure. The delivery control module 10 can use STM32F407ZGT6 as a master control chip. The in-box sterilizing valve 21 and the main sterilizing valve 15 in the automatic sterilizing unit are electromagnetic adsorption type needle valves, and the in-box ultraviolet lamp 20 is a 12V low-pressure ultraviolet lamp.

Preferably, the in-tank sterilizing valve 21 and the main body sterilizing valve 15 are electromagnetic hydraulic sterilizing fluid ball valves. The valve mainly comprises a valve body, an electromagnet, a pressing spring and a valve ball. When the valve body is electrified, the electromagnet is electrified to have magnetism, the magnetism is larger than the pressing force of the pressing spring, the valve ball is sucked up, and the disinfectant is pressed out of the valve body under the hydraulic action and sprayed. When the valve body is powered off, the valve ball sinks under the action of the pressing spring to block the disinfectant spraying port, so that the valve is closed.

Preferably, the locking unit comprises a servo motor control assembly 11, a servo motor 18 and a mechanical lock 17. The servo motor control assembly 11 receives the opening and closing instruction of the delivery storage box 16 sent by the delivery control module 10, sends a designated PWM signal to the corresponding servo motor 18, and enables the servo motor 18 to rotate 180 degrees clockwise or anticlockwise so as to achieve locking and unlocking in cooperation with the mechanical lock 17. Specifically, the servo motor control unit 11 can employ a pca9685 module, and the servo motor 18 employs an MG995 type servo motor.

According to a preferred embodiment, the system further comprises a man-machine interaction module, wherein the man-machine interaction module comprises a medical-side man-machine interaction unit 24 controlling the driving of the body for dispensing and a hospital-side man-machine interaction unit 25 for receiving and feeding back dispensing information. The main control module 1 determines a plurality of delivery nodes based on control and feedback of the medical care side man-machine interaction unit 24 and the sickbed side man-machine interaction unit 25, and updates path planning data. Preferably, the communication module 12 is used for two-way communication between the main control module 1 and the man-machine interaction module. The method mainly comprises delivery command communication, delivery execution condition communication, delivery feedback communication and delivery instruction communication. The medical care end man-machine interaction unit 24 has the main functions of user login, user information display, distribution task arrangement for a driving main body, distribution object information and distribution object use information filling, driving main body starting, driving main body task completion condition checking, and unfinished task adding or modifying; the man-machine interaction unit 25 at the sickbed end has the main functions of user login, user information display, delivery arrival reminding, object taking confirmation and delivery information and use information receiving.

As shown in fig. 4, the man-machine interaction module includes a medical care side man-machine interaction unit 24 and a hospital bed side man-machine interaction unit 25, and preferably, the user inputs an account number and a password and selects the identity of the user, i.e., the medical care person or the patient. If the password information is wrong, the man-machine interaction module refuses the user to access. Meanwhile, the man-machine interaction module can display the information of the current login user. Preferably, the man-machine interaction screen of the man-machine interaction unit 24 at the medical care end can check the idle condition of the driving main body and the task execution condition of the current driving main body, and can make a certain modification to the unfinished task. The idle drive body may be assigned a dispensing task, filling in a dispensing location, the number of the dispensing storage bin 16, the remarks for the dispensing, etc., and activating the drive body. Preferably, the man-machine interaction screen of the sickbed end man-machine interaction unit 25 can check the driving main body driving condition of the corresponding delivery object. When the delivery objects are delivered, delivery reminding can be received, and feedback is carried out through the man-machine interaction module after the delivery objects are received. The patient-side man-machine interaction unit 25 is also capable of receiving instructions and notes of the dispensed object.

Preferably, the system further comprises a power module. The power supply system comprises a rechargeable lithium battery 14, a DC-DC assembly 13. The rechargeable lithium battery 14 is preferably a 5V rechargeable lithium battery 14, and is mainly used for supplying power to the driving control module 7, the tracking module 5, the obstacle avoidance module 23, the main control module 1, the image acquisition module 2, the communication module 12 and the distribution control module 10. After the DC-DC assembly 13 increases the voltage of 5V to 12V, power is supplied to the motor driving unit 9, the driving motor 8, the servo motor control assembly 11 and the servo motor 18.

Example 2

This embodiment is a further improvement of embodiment 1, and the repeated contents are not repeated.

The invention also relates to a distribution method, which comprises the following steps: and correcting the running state of the current driving main body based on the track running data, the obstacle data and the path planning data planned based on the distribution nodes of the driving main body and sending a running instruction. In response to the running instruction transmitted from the main control module 1, the running control module 7 generates a control signal for controlling the driving body to run.

The invention also relates to a delivery method, in particular to a high-efficiency and contactless delivery method, which comprises the following specific working procedures:

s1: the main control module 1 is started to perform distribution task arrangement;

s2: the main control module 1 controls the driving main body to run and senses environmental information through the running control module 7;

s3: when the driving main body reaches a delivery node or a delivery end point, the main control module 1 carries out delivery operation of delivery objects;

s4: the main control module 1 determines the next delivery node;

s5: the drive body is returned to the dispensing store.

Wherein step S1 includes at least the following steps S101 to S103:

s101: after the main control module 1 is turned on, the medical staff arranges the delivery task on the medical-side man-machine interaction unit 24, and loads the delivery object into the specified delivery object storage box 16.

S102: after the distribution task is arranged, the main control module 1 performs travel path planning according to the determined distribution nodes, determines the optimal distribution sequence, locks the distribution object storage box 16 filled with the distribution objects, starts the corresponding ultraviolet lamp 20 in the box for disinfection, and then the main body disinfection valve 15 drives the main body to spray disinfectant for disinfection.

S103: the main control module 1 defines a first delivery node based on path planning, and controls the driving main body to drive away from the delivery object storage warehouse.

Wherein step S2 includes at least the following steps S201 to S203:

s201: the main control module 1 sends out a running command, and the running control module 7 controls the driving main body to run along the track towards the preset distribution node after receiving the running command.

S202: in the driving process of the driving main body, the ultrasonic unit 4 and the infrared ranging unit 3 detect the distance between the obstacles, and once the distance is detected to be too short or suddenly changed, the driving main body is controlled to be decelerated or stopped by the driving control module 7; the tracking module 5 detects the driving body tracking condition, and once steering or driving deviation track is needed, the driving body steering or aligning is controlled by the driving control module 7.

S203: the image acquisition module 2 detects the external environment of the driving main body, judges whether the sign feature is recognized or not through transmitting the image information to the main control module 1 and a CNN neural network algorithm carried in the main control module, continuously acquires the image if the sign feature is not recognized, and parks to execute the step S3 if the sign feature is recognized and the sign feature is a correct bed number.

Wherein, step S3 includes at least the following steps S301 to S302:

s301: after the target mark characteristics are identified, the ultraviolet lamp 20 in the box corresponding to the delivery object is closed, the corresponding sterilizing valve 21 in the box is opened to spray and sterilize the sterilizing liquid, then the corresponding servo motor 18 rotates to unlock the delivery object storage box 16, and meanwhile, the communication module 12 sends delivery object sending information to the man-machine interaction unit 25 at the corresponding sickbed end and waits for the completion feedback of the delivery object.

S302: after the user finishes taking the object, clicking a button of 'taking the object completion' on a display screen of the patient bed end human-computer interaction unit 25 to feed back. The main control module 1 receives feedback and then sends the use information of the delivery object to the man-machine interaction unit 25 at the sickbed end. If the feedback is not received, the main control module 1 judges whether the time is overtime, if not, the waiting is continued, and if the time is overtime, the information that the delivery object is not sent to the sickbed end man-machine interaction unit 25 is sent, so that the user is prompted to take the delivery object by himself.

Wherein, it is further preferable that the specific steps of step S4 are:

after the dispensing of the dispensed objects is completed, the corresponding servo motor 18 rotates to close the dispensed object storage box 16, and the corresponding in-box sterilizing valve 21 and in-box ultraviolet lamp 20 are opened for sterilizing. And then the main control module 1 judges whether all tasks are completed, if not, the next target point is determined, and if so, the delivery object storage warehouse is determined to be the delivery end point. The main control module 1 sends the delivery end point to the driving control module 7 and the delivery control module 1O through the driving instruction.

Wherein, it is further preferable that the specific steps of step S5 are:

if the sign feature of the dispensing end point is recognized, the main body sterilizing valve 15 fully drives the main body to spray sterilizing liquid for sterilizing, the main body is driven to return to the parking space of the dispensing object storage warehouse, all ultraviolet lamps 20 in the boxes are closed, all dispensing object storage boxes 16 are unlocked, the dispensing task completion result is responded through the communication module 12, and the state of the main body is updated, and the main body is driven to be in standby after a command is cleared.

According to a preferred embodiment, the information parameters on the driving path are continuously changed during the process of the driving main body performing the delivery task, and the main control module 1 continuously receives the updated position of the driving main body and the obstacle data to perform real-time path adjustment. The main control module 1 performs an optimal driving path planning once after a certain time period every interval, and the driving instruction is generated to guide the driving control module 7 to control the driving main body to drive. Preferably, the main control module 1 performs optimal travel path planning every time the driving body reaches the path selection point based on the distribution map data stored in advance. The main control module 1 collects and analyzes the external environment road conditions of the driving main body based on the ultrasonic unit 4, the infrared ranging unit 3 and the image collecting module 2 in the driving process of the driving main body so as to guide and continuously modify the driving state of the driving main body and optimize the driving path. Preferably, when the ultrasonic unit 4, the infrared ranging unit 3 and/or the image acquisition module 2 detects that the continuous barrier exists at the position where the driving body is located, the main control module 1 corrects the driving path based on the extending direction and the extending distance of the continuous barrier. Preferably, the main control module 1 changes the driving path of the driving body at least in a manner of a continuity barrier and marks the locus where the track change occurs, thereby providing the following driving body with the driving path planning. In the invention, the main control module 1 receives the external environment change of the position of the driving main body detected by the ultrasonic unit 4, the infrared ranging unit 3 and/or the image acquisition module 2 in the continuous driving process of the driving main body, so that the optimal driving path is calculated and/or screened, thereby effectively avoiding the collision between the driving main body and a barrier or a wall and providing distribution efficiency.

Preferably, the master control module 1 is further configured to: when the driving module 22 performs corresponding distribution work on the corresponding distribution node, and the image acquisition unit sends external image information and the GPS unit built in the main control module 1 to the main control module 1, the next distribution node of the driving main body is selected through the optimized path planning algorithm, and the main control module 1 generates a driving path from the current position of the driving main body to the next distribution node based on the selection and in combination with the map database. Preferably, the main control module 1 acquires additional items on the travel path based on external image information acquired by the image acquisition unit or based on notification information transmitted by the communication module, and further selects the generated travel path by avoiding or arriving at the additional items in advance. The additional matters are that people flow is suddenly increased at the position, a large amount of articles are blocked or accumulated, so that the vehicle cannot run, accidents are sent to be blocked temporarily, or emergency tasks need to be extracted and distributed. When an unexpected additional event occurs as described above or similar to the above, the main control module 1 can determine the additional event and make additional selections of the travel path. Preferably, when the additional item is an emergency delivery, the main control module 1 selects a travel path that can preferably pass through the delivery node or re-plan the travel path at least by driving the type of the delivery object carried by the main body in a manner that meets the requirement of the additional item. The re-selection or reconstruction of the travel path enables the delivery of the item to be resolved for the additional item to the delivery node where the additional item occurred for emergency treatment. Preferably, under the condition that a plurality of driving subjects perform corresponding distribution work, the main control module 1 selects a part of driving paths from the plurality of driving paths in a traversing manner to perform re-planning based on the distance between at least one driving path corresponding to the current position of the driving subject and the position where the additional item is located and/or the distribution object information of the driving subject, so that the driving subject in the area of the additional item is scheduled. The distance refers to a distance between the current position of the driving body and the additional item and/or a distance between the dispensing node of the driving body on the preset driving path and the additional item. The dispenser information may be selected, for example, as the efficacy of the dispenser. In one embodiment, the efficacy may include conditions that the dispenser can alleviate, conditions that the dispenser can handle, in which case the dispenser that preferably meets the efficacy of the additional item is preferably dispatched to the location of the additional item by the driving body, which is beneficial for quick resolution of the additional item.

Preferably, the plurality of driving bodies have at least a first collecting capability, and the plurality of driving bodies have a second collecting capability different from the first collecting capability according to the type of the dispensed object. One drive body can have multiple acquisition capabilities, e.g., may be referred to as a second acquisition capability, a third acquisition capability, etc. The above-described acquisition capability can be provided by a differentiation device of the drive body, and the differentiation devices of different acquisition capabilities are different. For example, the infrared ranging unit 3 has different image acquisition capability from the image acquisition module 2, and the infrared ranging unit 3 has better information acquisition in the environment with darker light. As another example, the ultrasound unit can acquire an obstacle profile, as opposed to the image acquisition described above. As another example, the driving body can be provided with an audio collection unit to collect the external information in a sound collection manner. Preferably, the main control module 1 performs further detection of the additional event by changing at least one driving body with correspondingly different acquisition capability to adjust the driving path. Preferably, the main control module 1 performs information collection of the current environment based on a plurality of driving subjects to establish a real-time distribution model, thereby planning an optimized driving path of the plurality of driving subjects. The invention realizes the configuration of multiple driving main bodies and multiple driving paths, can rapidly switch or dispatch the driving main body under the driving path based on the driving path within the range of the additional matters under the condition that the additional matters occur, rapidly solve or avoid the additional matters under the condition that global resources are not influenced, strives for more time for disease rescue, and remarkably improves the distribution and medical efficiency.

Throughout this document, the word "preferably" is used in a generic sense to mean only one alternative, and not to be construed as necessarily required, so that the applicant reserves the right to forego or delete the relevant preferred feature at any time.

It should be noted that the above-described embodiments are exemplary, and that a person skilled in the art, in light of the present disclosure, may devise various solutions that fall within the scope of the present disclosure and fall within the scope of the present disclosure. It should be understood by those skilled in the art that the present description and drawings are illustrative and not limiting to the claims. The scope of the invention is defined by the claims and their equivalents. The description of the invention encompasses multiple inventive concepts, such as "preferably," "according to a preferred embodiment," or "optionally," all means that the corresponding paragraph discloses a separate concept, and that the applicant reserves the right to filed a divisional application according to each inventive concept.

Claims (10)

1. A dispensing system comprising a drive body for performing a dispensing task, characterized in that,

the system further comprises a main control module, wherein the main control module (1) is configured to:

calculating path planning data by taking the shortest total travel path among a plurality of total travel paths of each delivery node as an objective function, taking at least one travel path selected by the driving main body as a decision variable and taking the driving main body as a constraint condition that the delivery task can be completed;

And planning an optimized driving path based on the path planning data.

2. The delivery system of claim 1, wherein the constraints include:

the first constraint condition is used for constraining the decision variable matrix to be a logic variable matrix;

a second constraint for constraining correspondence of entry and exit of the driving body to the delivery node, while also constraining passage of the selected travel path at least once through the delivery node;

a third constraint for constraining the drive subject to start from a dispensing end point and to return to the dispensing end point;

the master control module (1) is further configured to:

establishing a decision variable matrix based on the first constraint condition, and generating a plurality of driving paths by simulating the values of the decision variable matrix; judging the entry and exit conditions of the driving main body to the distribution node based on the second constraint condition by at least one path in the simulated decision variable matrix;

and judging the entry and exit conditions of the driving main body to the delivery end point based on the third constraint condition by using the simulated delivery end point in the decision variable matrix.

3. The delivery system according to claim 1 or 2, wherein the main control module (1) judges that the driving body enters and exits from a delivery node at least once, in the case where the driving body entering and exiting quantization values of the second constraint condition are equal to and equal to or greater than one; wherein the second constraint is expressed as:

Wherein x is _ik Representing the driving of the body into the i bed, x _ki Representing the drive body exiting the i-bed;

when the quantized values of the entry and the exit of the driving main body of the third constraint condition are equal to one, the main control module (1) judges that the driving main body starts from a distribution terminal point and returns to the distribution terminal point; wherein the third constraint is expressed as:

wherein the method comprises the steps of，x _0k X represents the drive body starting from the dispensing end point _ki Representing the return of the drive body to the dispensing end point.

4. A delivery system according to any one of claims 1 to 3, wherein the master control module (1) calculates the path planning data and selects an optimised travel path in the following manner:

under the condition that the simulated decision variable matrix meets the first constraint condition, the second constraint condition and the third constraint condition, the main control module (1) calculates the total distance of a total travel path based on the objective function; the calculated total distance of a plurality of total travel paths is used as the path planning data;

the main control module (1) selects a total travel path of the shortest distance in a plurality of total travel paths as the optimal travel path in a mode of traversing the plurality of total travel paths meeting constraint conditions in the path planning data, and stores the total distance of the selected total travel path and a decision variable matrix.

5. The delivery system of any one of claims 1 to 4, wherein the objective function represents selecting a travel path having a smallest total distance among a plurality of travel paths satisfying a constraint,

wherein the objective function is expressed as:

wherein i represents the ith distribution node; j represents a j-th distribution node; a, a _ij Representing the shortest distance from the i distribution node to the j distribution node; x is x _ij Representing a decision variable matrix; minz represents the travel path with the smallest distance.

6. The distribution system according to any one of claims 1 to 5, further comprising a travel control module (7), wherein the main control module (1) corrects the travel state of the current driving body based on the trajectory travel data of the driving body, the obstacle data, and the path planning data based on the distribution node plan and issues a travel instruction,

in response to the running instruction sent by the main control module (1), the running control module (7) generates a control signal for controlling the driving main body to run.

7. The dispensing system according to any one of claims 1 to 6, wherein the system further comprises:

a tracking module (5) for detecting trajectory travel data of the driving body,

The obstacle avoidance module is used for acquiring ranging information and determining obstacle data, wherein,

the tracking module (5) and the obstacle avoidance module acquire track running data of the driving main body and obstacle data on the track, and send the track running data acquired by the tracking module (5) and the obstacle data acquired by the obstacle avoidance module to the main control module (1) so as to participate in correcting the running state of the driving main body.

8. The dispensing system according to any one of claims 1 to 7, further comprising an image acquisition module (2) for acquiring image information of the environment in which the driving subject is located, wherein,

in response to the planning of the optimized driving path by the main control module (1) based on the path planning data, the image acquisition module (2) acquires image information from at least two acquisition angles and transmits the image information to the main control module (1) in a staggered transmission mode in the driving process of the driving main body according to the planned path,

the main control module (1) performs interleaving processing on the image information acquired from at least two acquisition angles to confirm a delivery end point.

9. The delivery system according to any one of claims 1 to 8, wherein the master control module (1) is further configured to: extracting the sign features in the image information acquired by the image acquisition module (2) based on a neural network algorithm,

And judging the position of the driving main body based on the mark characteristics.

10. A method of dispensing, the method comprising:

calculating path planning data by taking the shortest total travel path among a plurality of total travel paths of each distribution node as an objective function, taking a driving main body to select at least one travel path as a decision variable and taking a constraint condition that the driving main body can complete a distribution task;

and planning an optimized driving path based on the path planning data.

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