CN117891262B - Linkage system with intelligent robot matched with transfer vehicle for use - Google Patents
Linkage system with intelligent robot matched with transfer vehicle for use Download PDFInfo
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Abstract
The invention provides a linkage system with an intelligent robot matched with a transfer vehicle, which comprises the following components: the monitoring host and the plurality of transfer vehicles; the transfer vehicle is provided with a bed body, and the bed body is provided with a gravity sensor for sensing the in-place information of personnel; a bottom bracket is arranged at the bottom of the bed body, and a travelling wheel and a servo motor are arranged at the bottom of the bottom bracket; a side support is arranged on the bed body, and one end of the side support is provided with an intelligent robot, an oxygen inhalation device, an electrocardiograph and vital sign monitoring device; the processor drives the travelling wheel to move by driving the servo motor; the processor sends the moving image information, the human body in-place information, the oxygen inhalation state information and the electrocardio and vital sign information to the monitoring host; the monitoring host computer is based on the information of the transfer vehicle, and combines the user to the preset destination position of the transfer vehicle, sends control information to the processor, controls the transfer vehicle to move and run to the preset destination position, realizes the automatic running of the transfer vehicle, and can ensure the control precision and the accuracy.
Description
Technical Field
The invention belongs to the technical field of transfer vehicles, and particularly relates to a linkage system with an intelligent robot matched with the transfer vehicle.
Background
Transfer carts have been widely used in the medical industry, and are commonly used to transport patients. The patient is typically transported by a transfer cart driven by a healthcare worker or family member.
The structure form of the common transfer vehicle is as disclosed in application number CN202020087049.6, and the transfer vehicle comprises a vehicle body with a lifting mechanism and universal casters, and a movable bed board mechanism for transversely moving and taking in patients; the movable bed board mechanism is arranged on a frame of the vehicle body; the movable bed board mechanism comprises a cloth rolling shaft frame, a cloth rolling shaft, a terminal head seat body, an upper movable board, upper movable cloth, a lower movable board, lower movable cloth, a first sprocket assembly and a ratchet assembly. The document replaces the transmission mode of the common cooperation of the original clutch gear, long rack, clutch and clutch driving mechanism by arranging the first sprocket assembly, the ratchet assembly and the first sprocket motor. The transfer trolley can be horizontally moved, so that the requirement of conveying patients is met.
However, the existing transfer car can only be manually pushed to operate and move, and cannot automatically operate or operate based on computer control. Some transfer carts are provided with motors which can run electrically through control keys, but cannot run automatically based on the destination position to which the patient needs to be, and the transfer carts can be pushed to the destination only by pushing by special persons and searching paths, so that inconvenience is brought to the patient and family members.
Disclosure of Invention
The invention provides a linkage system with an intelligent robot matched with a transfer vehicle, which can control the transfer vehicle, sense the environment of the transfer vehicle and ensure the control precision and accuracy.
The system comprises: the monitoring host and the plurality of transfer vehicles;
The transfer vehicle is provided with a bed body, and the bed body is provided with a gravity sensor for sensing the in-place information of personnel;
a bottom bracket is arranged at the bottom of the bed body, and a travelling wheel and a servo motor are arranged at the bottom of the bottom bracket; a side support is arranged on the bed body, and one end of the side support is provided with an intelligent robot, an oxygen inhalation device, an electrocardiograph and vital sign monitoring device;
The intelligent robot includes: the intelligent robot comprises a camera, a processor, a storage, a communication module, a motor driving module and a storage battery for supplying power to the intelligent robot;
the processor is connected with the servo motor through the motor driving module, and drives the travelling wheel to move through driving the servo motor;
The processor is connected with the camera to acquire moving image information of the transfer vehicle in the moving process of the transfer vehicle at each moving image acquisition time of the camera;
the processor is connected with the gravity sensor to acquire the in-situ information of the personnel on the bed body;
The processor is respectively connected with the oxygen inhalation device and the electrocardio and vital sign monitoring device to acquire oxygen inhalation state information and electrocardio and vital sign information of a human body;
The processor is in communication connection with the monitoring host through the communication module and sends the mobile image information, the human body in-place information, the oxygen inhalation state information and the electrocardio and vital sign information to the monitoring host;
The monitoring host computer is based on the transfer car information sent by the transfer car processor, and sends control information to the processor by combining with the destination position preset by the user for the transfer car, so as to control the transfer car to move and run to the preset destination position.
Preferably, a dot matrix is arranged on the ground of the pre-running path of the transfer vehicle, and the dot matrix is paved on a channel between two destination positions for the transfer vehicle to move, so that a dot matrix running channel is formed; setting a channel center line at the center of the dot matrix walking channel; the ground at the end part of the dot matrix walking channel is provided with a destination position signboard with color;
defining an image center line in the moving image information shot by the camera, and establishing a right angle coordinate system by taking the image center line as a y-axis, wherein the center of the right angle coordinate system is the center of the moving image information;
Identifying a channel center line in the moving image information, and establishing a walking identification ellipse polar coordinate by taking the channel center line as a polar axis, wherein the walking identification ellipse polar coordinate is represented by the following mode:
wherein,
Is polar angle,/>For moving the dot matrix length of the dot matrix walking channel in the image information,/>For moving the dot matrix width of the dot matrix walking channel in the image information,/>Is the distance between the points based on the width direction in the dot matrix,/>The distance between the points in the dot matrix based on the length direction is C 1, the number of points in the moving image information based on the width direction is C 2, and the number of points in the moving image information based on the length direction is C 1.
Preferably, the points of the channel center line and the periphery of the channel center line in the moving image information are identified based on binarization;
The polar axis of the walking identification ellipse polar coordinate is overlapped with the central line of the channel, and whether the number of points distributed on two sides of the y axis in the walking identification ellipse polar coordinate is the same is calculated;
If the number of points on the two sides of the central line of the channel is the same, the transfer vehicle continues to move forwards, the moving image information of the transfer vehicle in the moving process is shot at each moving image acquisition time, and whether the number of points on the two sides of the central line of the channel is the same is identified until the transfer vehicle moves to the destination position.
Preferably, the front end of the bottom bracket is provided with two universal wheels, the two universal wheels are connected through a transverse connecting shaft, the transverse connecting shaft is fixedly connected with a longitudinal connecting shaft, and the longitudinal connecting shaft is connected with a steering motor;
the processor is connected with the steering motor through the motor driving module;
If the numbers of the points distributed on two sides of the y axis are different, the processor identifies an included angle delta between the y axis and the central line of the channel, controls the steering motor to operate based on the included angle delta, and drives the universal wheel to steer through the steering motor so that polar axes of the y axis and the elliptic polar coordinates are overlapped with the central line of the channel;
Or controlling the transfer vehicle to turn based on the side with less points distributed on the y axis until the number of points distributed on the two sides of the y axis is the same.
Preferably, the monitoring host defines an IP number of each transfer vehicle, and when the transfer vehicles upload transfer vehicle information, the IP number is configured in the transfer vehicle information so that the monitoring host identifies the transfer vehicle corresponding to the transfer vehicle information;
After receiving the transfer vehicle information uploaded by the transfer vehicle, the monitoring host firstly extracts an IP number from the transfer vehicle information, matches the IP number with the address information of the transfer vehicle control queue, and configures the transfer vehicle information into the transfer vehicle control queue; and extracting moving image information from the transfer vehicle information, determining the position of the transfer vehicle, and controlling the transfer vehicle to move based on the preset destination position.
Preferably, the monitoring host configures the received transfer vehicle information into a transfer vehicle control queue, and then performs data screening processing on the transfer vehicle information to obtain the moving image information of the transfer vehicle;
and the monitoring host performs attribute matching on the moving image information and a preset image comparison model, and obtains corresponding moving position information of the transfer vehicle from the matched moving image information.
Preferably, the monitoring host further collects the transfer vehicle information in a preset time period to form a transfer vehicle information set.
Preferably, the processor acquires a first moving image acquisition time interval of the camera and a first moving image acquisition time when the camera is triggered, the first moving image acquisition time interval being a difference time between the first moving image acquisition time and a time when the camera performs exposure processing;
Determining a second moving image acquisition time according to the first moving image acquisition time interval and the first moving image acquisition time; the second moving image acquisition time is an image acquisition time of the camera determined based on the first moving image acquisition time interval and the first moving image acquisition time.
Preferably, the transfer vehicle sends a socket connection request to the monitoring host; the transfer vehicle firstly sends a first uploading transfer vehicle information number to the monitoring host; the monitoring host responds to the first uploading transfer vehicle information number and returns a second uploading transfer vehicle information number to the transfer vehicle; the monitoring host also generates first confirmation information according to the first uploading transfer vehicle information number, and the monitoring host sends the first confirmation information to the transfer vehicle; after the transfer vehicle receives the second uploading transfer vehicle information number and the first confirmation information, the transfer vehicle generates second confirmation information according to the second uploading transfer vehicle information number, and the transfer vehicle sends the second confirmation information to the monitoring host and receives a return value sent by the monitoring host, so that socket connection between the transfer vehicle and the monitoring host is established.
Preferably, after the transfer vehicle and the monitoring host establish socket connection, a socket connection channel is generated, and the transfer vehicle and the monitoring host can perform message interaction based on the socket connection channel;
And the monitoring host sends an IP number message to the transfer vehicle, and establishes a transfer vehicle control queue matched with the IP number of the transfer vehicle according to the connection confirmation message fed back by the transfer vehicle.
From the above technical scheme, the invention has the following advantages:
The linkage system with the intelligent robot matched with the transfer vehicle can be based on transfer vehicle information sent by the transfer vehicle processor, and control information is sent to the processor by combining with the preset destination position of the transfer vehicle by a user to control the transfer vehicle to move and run to the preset destination position. Realizing the automatic operation of the transfer vehicle. And moreover, the camera can be ensured to start collecting data, so that the control precision can be effectively improved, the analysis requirement of a monitoring host on the moving image information is met on the preset time dimension of the moving image information collected by the camera, the surrounding environment and the position information of the transfer vehicle are accurately determined, and the control precision and the environment sensing accuracy of the monitoring host on the transfer vehicle are improved.
According to the invention, socket connection is established, so that the accuracy and communication efficiency of information communication of the transfer vehicle are effectively improved, the transmission accuracy of the information of the transfer vehicle is ensured, and the signal interference is reduced.
The invention can also summarize the information of the transfer vehicle in the preset time period into the information set of the transfer vehicle so as to analyze the information set of the transfer vehicle, and store the analysis result into the database of the monitoring host computer so that a user can learn the state of the transfer vehicle and the state of a patient using the transfer vehicle in the preset time period from the database.
According to the invention, a storage area is preset for each transfer vehicle in the database, and after the uploading information of the transfer vehicle is received, the information is stored in the corresponding storage area so as to be convenient for subsequent extraction, analysis and display. And the subsequent inquiry of the information by the user is facilitated, and the inquiry efficiency is improved. The database adopts a distributed storage engine, supports the use of a large data volume and multiple concurrent scenes, improves the storage and query efficiency, and also improves the experience of users.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a linkage system for use with a transfer cart for an intelligent robot;
FIG. 2 is a schematic illustration of an embodiment of a transfer cart;
FIG. 3 is an exemplary diagram of a transfer vehicle travel path identification;
Fig. 4 is a diagram showing an example of the travel path recognition judgment of the transfer vehicle.
Detailed Description
The linkage system with the intelligent robot matched with the transfer vehicle is used for automatically controlling the transfer vehicle, controlling the transfer vehicle to move according to a preset path, meeting the use requirement, ensuring the moving precision and accuracy and effectively improving the use function of the transfer vehicle.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 and 2, a schematic diagram of a linkage system with an intelligent robot for use with a transfer cart in an embodiment is shown, the system comprising: the monitoring host and the plurality of transfer vehicles; the transfer cart can be used in hospitals, health institutions, or areas for assisting in transporting personnel. The transfer trolley is provided with a bed body, and the bed body is provided with a gravity sensor for sensing in-place information of personnel. An infrared sensor or a human body sensor can be arranged to acquire information of a human body lying on the bed body.
The bottom of the bed body is provided with a bottom bracket which can have a lifting function and is driven by a lifting servo motor. The bottom of the bottom bracket is provided with a travelling wheel and a servo motor; the servo motor drives the travelling wheels to move.
A side support is arranged on the bed body, and one end of the side support is provided with an intelligent robot, an oxygen inhalation device, an electrocardiograph and vital sign monitoring device; other devices can be arranged and installed according to the needs to meet the needs of patients.
The intelligent robot includes: the intelligent robot comprises a camera, a processor, a storage, a communication module, a motor driving module and a storage battery for supplying power to the intelligent robot; the storage is used for storing information acquired by the intelligent robot and information sent by the monitoring host. The intelligent robot can be further provided with electronic elements such as a display touch screen. The processor is connected with the servo motor through the motor driving module, and drives the travelling wheel to move through driving the servo motor; the processor is connected with the camera to acquire moving image information of the transfer vehicle in the moving process of the transfer vehicle at each moving image acquisition time of the camera; the processor is connected with the gravity sensor to acquire the in-situ information of the personnel on the bed body; the processor is respectively connected with the oxygen inhalation device and the electrocardio and vital sign monitoring device to acquire oxygen inhalation state information and electrocardio and vital sign information of a human body; the processor is in communication connection with the monitoring host through the communication module and sends the mobile image information, the human body in-place information, the oxygen inhalation state information and the electrocardio and vital sign information to the monitoring host; the monitoring host computer is based on the transfer car information sent by the transfer car processor, and sends control information to the processor by combining with the destination position preset by the user for the transfer car, so as to control the transfer car to move and run to the preset destination position.
It should be noted that, the transfer vehicle related to this embodiment may move within a certain area, the movement operation of the transfer vehicle may be controlled by the monitoring host, and the monitoring personnel may remotely control the transfer vehicle. The medical staff can also output the destination position on the display touch screen, so that the transfer vehicle can automatically run to the destination position. The traveling route can be set in the using area of the transfer vehicle, so that the transfer vehicle can run according to the preset traveling route. The position can be automatically acquired by the transfer vehicle, and the monitoring host judges the position to control the transfer vehicle, so that the automatic operation of the transfer vehicle is realized.
Alternatively, the monitoring host may be implemented in various forms. For example, the terminals described in the embodiments of the present invention may include mobile terminals such as smart phones, notebook computers, personal digital assistants (PDA, personalDigital Assistant), tablet computers (PADs), portable multimedia players (PMPs, portable MediaPlayer), navigation devices, and the like, as well as fixed terminals such as digital TVs, desktop computers, and the like. In the following, it is assumed that the terminal is a mobile terminal. However, it will be understood by those skilled in the art that the configuration according to the embodiment of the present invention can be applied to a fixed type terminal in addition to elements particularly used for a moving purpose.
The processor in the intelligent robot may be implemented using at least one of an Application Specific Integrated Circuit (ASIC), a digital signal processor (DSP, digitalSignal Processing), a digital signal Processing device (DSPD, digital Signal Processing Device), a programmable logic device (PLD, programmable Logic Device), a field programmable gate array (FPGA, fieldProgrammable GATE ARRAY), a microcontroller, a microprocessor, an electronic unit designed to perform the functions described herein, in some cases such an implementation may be implemented in a controller. For a software implementation, an embodiment such as a process or function may be implemented with a separate software module that allows for performing at least one function or operation.
The communication connection between the monitoring host and the plurality of transfer vehicles may be based on a wireless local area network (Wi-Fi, WLAN, wireless Local Area Networks), wireless broadband (Wibro), worldwide interoperability for microwave access (Wimax), high speed Downlink packet access (HSDPA, high Speed Downlink PACKET ACCESS), and so on.
As an implementation of the present invention, as shown in fig. 3 and 4, a dot matrix is provided on the ground of the transfer vehicle pre-travel path, the dot matrix being a matrix made up of a plurality of dots. The dot matrix is paved on a channel between two destination positions for the transfer vehicle to move, so that a dot matrix walking channel is formed.
The dot matrix is arranged on the ground, so that dots with different colors from the ground can be attached to the ground. For example, the ground is white, and black dots can be attached. The size of the dots may be set according to the implementation scenario. Setting a channel center line at the center of the dot matrix walking channel; the ground at the end part of the dot matrix walking channel is provided with a destination position signboard with color; after the destination position identification plate is shot in the moving image information, the destination position identification plate has identification color, so that the destination position identification plate can be conveniently and quickly identified, the processor can analyze that the destination position is moved, and the movement of the transfer vehicle can be stopped.
In this embodiment, the recognition of the dot matrix, the center line of the channel, and the destination position signboard in the moving image information may be performed by using an OpenCV image processing model, or a Halcon image processing model, or an ImageJ image processing model, or may be combined with binarization processing, so as to highlight the dot matrix, the center line of the channel, and the destination position signboard, which is convenient for the automatic operation of the system.
Defining an image center line in the moving image information shot by the camera, and establishing a right angle coordinate system by taking the image center line as a y-axis, wherein the center of the right angle coordinate system is the center of the moving image information; the y-axis of the rectangular coordinate system is always maintained at the center line position of the moving image information.
Identifying a channel center line in the moving image information, and establishing a walking identification ellipse polar coordinate by taking the channel center line as a polar axis, wherein the walking identification ellipse polar coordinate is represented by the following mode:
wherein,
Is polar angle,/>For moving the dot matrix length of the dot matrix walking channel in the image information,/>For moving the dot matrix width of the dot matrix walking channel in the image information,/>Is the distance between the points based on the width direction in the dot matrix,/>The distance between the points in the dot matrix based on the length direction is C 1, the number of points in the moving image information based on the width direction is C 2, and the number of points in the moving image information based on the length direction is C 1.
In the embodiment, the points of the center line of the channel and the periphery of the center line of the channel in the moving image information are identified based on binarization; and (3) overlapping the polar axis of the walking identification elliptical polar coordinate with the central line of the channel, and calculating whether the number of points distributed on two sides of the y axis in the walking identification elliptical polar coordinate is the same. The polar coordinates of the travel identification ellipse can be used as an identification area to identify the center line of the channel and the points around the center line of the channel in the area.
If the quantity of the points distributed on two sides of the y axis is the same, the transfer trolley keeps moving on the central line of the channel, and the moving requirement is met. The transfer vehicle moves at a constant speed, so that the transfer vehicle can acquire moving image information once at intervals of a preset time period, and then judge whether the quantity of the points distributed on two sides of the y axis is the same, so that the moving position of the transfer vehicle can be obtained.
Therefore, the transfer vehicle continues to move forwards, the moving image information of the transfer vehicle in the moving process is shot at each moving image acquisition time, and whether the number of points at two sides of the center line of the channel is the same is identified until the transfer vehicle moves to the destination position.
In the embodiment, two universal wheels are arranged at the front end of the bottom bracket, and the rear end is a travelling wheel. The two universal wheels are connected through a transverse connecting shaft, the transverse connecting shaft is fixedly connected with a longitudinal connecting shaft, and the longitudinal connecting shaft is connected with a steering motor; the processor is connected with the steering motor through the motor driving module.
If the numbers of the points distributed on two sides of the y axis are different, the fact that the transfer trolley deviates from the center line of the channel is indicated, movement deviation can occur, and wall collision can occur due to untimely adjustment.
The processor identifies an included angle delta between the y axis and the central line of the channel, controls the steering motor to operate based on the included angle delta, and drives the universal wheel to steer through the steering motor so that polar axes of the y axis and the elliptic polar coordinates are coincident with the central line of the channel.
In this embodiment, the angle δ between the y-axis and the center line of the channel may not be identified, but the transfer vehicle may be controlled to turn based on the side with a small number of points distributed on the y-axis until the number of points distributed on both sides of the y-axis is the same, so that polar axes of the y-axis and the elliptic polar coordinates coincide with the center line of the channel, and the transfer vehicle is ensured to move without deviating from the direction.
According to the embodiment of the application, when the transfer vehicle is idle, the transfer vehicle is not communicated with the monitoring host, so that the data processing capacity of the system is reduced, if the transfer vehicle is started, the transfer vehicle is provided with a power switch, the power is turned on, and after the transfer vehicle is started to run, the transfer vehicle sends a socket connection request to the monitoring host; the transfer vehicle firstly sends a first uploading transfer vehicle information number to the monitoring host. And the monitoring host responds to the first uploading transfer vehicle information number and returns a second uploading transfer vehicle information number to the transfer vehicle.
And the monitoring host also generates first confirmation information according to the first uploading transfer vehicle information number, and the monitoring host sends the first confirmation information to the transfer vehicle. After the transfer vehicle receives the second uploading transfer vehicle information number and the first confirmation information, the transfer vehicle generates second confirmation information according to the second uploading transfer vehicle information number, and the transfer vehicle sends the second confirmation information to the monitoring host and receives a return value sent by the monitoring host, so that socket connection between the transfer vehicle and the monitoring host is established. After the socket connection is established between the transfer vehicle and the monitoring host, a socket connection channel is generated, and the transfer vehicle and the monitoring host can perform message interaction based on the socket connection channel.
In the embodiment, a monitoring host sends an IP number message to a transfer vehicle, and establishes a transfer vehicle control queue matched with the IP number of the transfer vehicle according to a connection confirmation message fed back by the transfer vehicle; the monitoring host sends a communication request message to the transfer vehicle, and establishes a communication connection channel with the transfer vehicle according to the communication request confirmation message fed back by the transfer vehicle; and the monitoring host computer carries out information communication with the transfer vehicle based on the communication connection channel.
Therefore, connection is confirmed based on communication between the transfer vehicle and the monitoring host, socket connection is established, accuracy and communication efficiency of information communication of the transfer vehicle are effectively improved, accuracy of information transmission of the transfer vehicle is guaranteed, and signal interference is reduced.
In another exemplary embodiment, the monitoring host defines an IP number for each transfer cart, the transfer cart having a unique IP number. When the transfer vehicle uploads the transfer vehicle information, the IP number is configured in the transfer vehicle information so that the monitoring host identifies the transfer vehicle corresponding to the transfer vehicle information. The transfer vehicle information not only comprises moving image information, human body in-place information, oxygen inhalation state information and electrocardio and vital sign information, but also can be set with other information based on the use requirement of the system, and the specific information content is not limited.
The transfer vehicle defines address information of a transfer vehicle control queue based on the IP number of the transfer vehicle, so that the IP number and the address information are matched with each other. In this embodiment, after receiving the transfer vehicle information uploaded by the transfer vehicle, the monitoring host first extracts the IP number from the transfer vehicle information, matches the IP number with the address information of the transfer vehicle control queue, and configures the transfer vehicle information into the transfer vehicle control queue. And extracting moving image information from the transfer vehicle information, determining the position of the transfer vehicle, and controlling the transfer vehicle to move based on the preset destination position.
In this embodiment, the monitoring host configures the received transfer vehicle information into a transfer vehicle control queue, and then performs data screening processing on the transfer vehicle information to obtain moving image information of the transfer vehicle.
In the embodiment of the invention, when each transfer vehicle is used, corresponding transfer vehicle information can be generated, for example, when the transfer vehicle is used, the monitoring host can acquire human body in-place information, oxygen inhalation state information and electrocardio and vital sign information, so that monitoring personnel can remotely control the transfer vehicle to move and transport to the position of a destination according to the destination position information of a patient based on the information of each transfer vehicle acquired by the display screen of the monitoring host and the human body information of the transfer vehicle.
According to the invention, each transfer vehicle can be independently provided with one transfer vehicle control queue, and the monitoring host binds the transfer vehicle with the transfer vehicle control queue, so that information sent by the transfer vehicle to the monitoring host is stored in the transfer vehicle control queue. The monitoring host can acquire a display control instruction of a user, and transfer vehicle information is called from a transfer vehicle control queue and displayed.
In the embodiment of the invention, the monitoring host can receive the transfer vehicle information in the transfer vehicle control queue through the stream processing frame. The flow type processing framework can improve the response efficiency to the information of the transfer vehicle, can process the information of the transfer vehicle in a short time, improves the data processing efficiency, timely identifies the moving image information, obtains the position information of the transfer vehicle and the environmental information around the transfer vehicle, and makes corresponding control instructions to control the movement of the transfer vehicle.
In the process of controlling the transfer vehicle to move, the monitoring host screens the information in the transfer vehicle control queue, screens and extracts the moving image information to obtain the real-time moving data of the transfer vehicle, thereby improving the control of the transfer vehicle.
And the monitoring host performs attribute matching on the moving image information and a preset image comparison model, and obtains corresponding moving position information of the transfer vehicle from the matched moving image information.
In this embodiment, an image comparison model may be stored in advance in the monitoring host, and the image comparison model may be trained based on images of each transfer vehicle in a running process of a prescribed route, so as to obtain a preset image sample set.
The image comparison model can adopt an OpenCV image processing model, a Halcon image processing model or an ImageJ image processing model to realize the information of each moving image information.
The OpenCV image processing model is an open-source computer vision library, can realize the functions of image processing, feature extraction, target detection and the like, and supports a plurality of programming languages such as C++, python and the like. The Halcon image processing model can implement basic image processing and analysis functions. The imageJ image processing model is open-source image processing software, can realize functions of image processing, analysis, visualization and the like, and supports various image formats.
It should be noted that each transfer vehicle has a fixed moving route, and each moving route is scanned by an image to obtain an image set, so that the obtained moving image information can be identified through an image comparison model and compared with the image set to obtain the current moving position of the transfer vehicle. And further, remote control of the transfer vehicle can be realized.
The monitoring host of the embodiment also gathers the information of the transfer vehicles in the preset time period to form a transfer vehicle information set.
In this embodiment, the transfer vehicle information in the preset time period may be summarized into a transfer vehicle information set, so as to analyze the transfer vehicle information set, and after obtaining an analysis result, the transfer vehicle information set is stored in a database of the monitoring host, so that a user may learn the status of the transfer vehicle in the preset time period and the status of the patient using the transfer vehicle from the database. For example, the transfer car information within 1 minute is summarized as a transfer car information set, or the transfer car information within 1 hour is summarized as a transfer car information set and stored in a database. The method is used as an information package every day, and is convenient for users to call and check.
The monitoring host inputs the transfer vehicle information set into a preset analysis comparison model to obtain the comparison state of each information in the transfer vehicle information set of the transfer vehicle in a preset time period.
The transfer vehicle information set includes the human body in-place information, oxygen inhalation state information, electrocardio and vital sign information, and can also include motor operation information, storage battery electric quantity information and the like. The analysis comparison module is provided with comparison thresholds of the information, the monitoring host compares the information with the corresponding comparison thresholds to obtain the state of the human body in-place information, the oxygen inhalation state information, the electrocardio and vital sign information, the motor operation information and the electric quantity information of the storage battery, and then the information can be displayed. The user can make a countermeasure according to the comparison result, the human body in-place information, the oxygen inhalation state information, the electrocardio and vital sign information and the motor operation information and the state of the electric quantity information of the storage battery in time.
The monitoring host is used for storing the received mobile image information, the received position information, the received human body in-place information, the received oxygen inhalation state information and the received electrocardio and vital sign information in a database in a storage area preset for each transfer vehicle in a correlation manner.
In this embodiment, a storage area is preset for each transfer vehicle in the database, and after receiving the uploading information of the transfer vehicle, the information is stored in the corresponding storage area for subsequent extraction, analysis and display. And the subsequent inquiry of the information by the user is facilitated, and the inquiry efficiency is improved. The database adopts a distributed storage engine, supports the use of a large data volume and multiple concurrent scenes, improves the storage and query efficiency, and also improves the experience of users.
According to yet another embodiment of the present invention, the processor acquires a first moving image acquisition time interval of the camera and a first moving image acquisition time at which the camera is triggered, wherein the first moving image acquisition time interval is a difference time between the first moving image acquisition time and a time at which the camera is exposed.
The first moving image acquisition time is a time point when the camera receives the moving image information acquisition control instruction. The first moving image acquisition time interval refers to the time interval from the receiving of the moving image information acquisition control instruction to the acquisition of the moving image information by the camera.
In this embodiment, when the camera acquires an image, a certain time interval is provided between acquisition instruction and shooting to output moving image information to the processor, and the transfer vehicle moves a preset distance in the time interval. According to the embodiment, the first moving image acquisition time interval and the first moving image acquisition time started by the camera are considered, so that the monitoring host can learn the position of the transfer vehicle when the monitoring host receives the moving image information according to the moving speed of the transfer vehicle and the first moving image acquisition time of the moving image information, and further the movement of the transfer vehicle can be accurately controlled.
And determining a second moving image acquisition time according to the first moving image acquisition time interval and the first moving image acquisition time. The second moving image acquisition time is the image acquisition time of the camera determined based on the first moving image acquisition time interval and the first moving image acquisition time.
It should be noted that, when the second moving image acquisition time can be determined by combining the first moving image acquisition time interval and the first moving image acquisition time, the first moving image acquisition time interval may be added to the first moving image acquisition time to obtain the second moving image acquisition time.
In this embodiment, the second moving image acquisition time is determined according to the first moving image acquisition time interval and the first moving image acquisition time, which may be the subsequent moving image acquisition time interval and the moving image acquisition time as determining modes, so as to improve the data processing efficiency of the system.
It can be understood that the second moving image acquisition time is the time when the camera acquires moving image information, the camera is triggered to run at the second moving image acquisition time, so that the camera can be guaranteed to start to acquire data, the control precision can be effectively improved, the moving image information acquired by the camera is guaranteed to meet the analysis requirement of the monitoring host on the moving image information in a preset time dimension, the surrounding environment and the position information of the transfer vehicle are accurately determined, and the control precision and the environment sensing accuracy of the monitoring host on the transfer vehicle are improved.
The linkage system with intelligent robot for use with transfer vehicles provided by the present invention is the units and algorithm steps of each example described in connection with the embodiments disclosed herein, and can be implemented in electronic hardware, computer software, or a combination of both, and to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described in terms of functionality in the foregoing description. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A linkage system with intelligent robot cooperation transfer car uses, its characterized in that includes: the monitoring host and the plurality of transfer vehicles;
The transfer vehicle is provided with a bed body, and the bed body is provided with a gravity sensor for sensing the in-place information of personnel;
a bottom bracket is arranged at the bottom of the bed body, and a travelling wheel and a servo motor are arranged at the bottom of the bottom bracket; a side support is arranged on the bed body, and one end of the side support is provided with an intelligent robot, an oxygen inhalation device, an electrocardiograph and vital sign monitoring device;
The intelligent robot includes: the intelligent robot comprises a camera, a processor, a storage, a communication module, a motor driving module and a storage battery for supplying power to the intelligent robot;
the processor is connected with the servo motor through the motor driving module, and drives the travelling wheel to move through driving the servo motor;
The processor is connected with the camera to acquire moving image information of the transfer vehicle in the moving process of the transfer vehicle at each moving image acquisition time of the camera;
the processor is connected with the gravity sensor to acquire the in-situ information of the personnel on the bed body;
The processor is respectively connected with the oxygen inhalation device and the electrocardio and vital sign monitoring device to acquire oxygen inhalation state information and electrocardio and vital sign information of a human body;
The processor is in communication connection with the monitoring host through the communication module and sends the mobile image information, the human body in-place information, the oxygen inhalation state information and the electrocardio and vital sign information to the monitoring host;
The monitoring host machine is based on the transfer vehicle information sent by the transfer vehicle processor, and sends control information to the processor by combining with the destination position preset by the user for the transfer vehicle, so as to control the transfer vehicle to move and run to the preset destination position;
Setting a dot matrix on the ground of a pre-running path of the transfer vehicle, and paving the dot matrix on a channel between two destination positions for the transfer vehicle to move to form a dot matrix walking channel; setting a channel center line at the center of the dot matrix walking channel; the ground at the end part of the dot matrix walking channel is provided with a destination position signboard with color;
defining an image center line in the moving image information shot by the camera, and establishing a right angle coordinate system by taking the image center line as a y-axis, wherein the center of the right angle coordinate system is the center of the moving image information;
Identifying a channel center line in the moving image information, and establishing a walking identification ellipse polar coordinate by taking the channel center line as a polar axis, wherein the walking identification ellipse polar coordinate is represented by the following mode:
wherein,
Is polar angle,/>For moving the dot matrix length of the dot matrix walking channel in the image information,/>For moving the dot matrix width of the dot matrix walking channel in the image information,/>Is the distance between the points based on the width direction in the dot matrix,/>The distance between the points in the dot matrix based on the length direction is C 1, the number of points in the moving image information based on the width direction is C 2, and the number of points in the moving image information based on the length direction is C 1.
2. The linkage system with intelligent robots for use with transfer vehicles according to claim 1, wherein points of the center line of the channel and the periphery of the center line of the channel in the moving image information are identified based on binarization;
The polar axis of the walking identification ellipse polar coordinate is overlapped with the central line of the channel, and whether the number of points distributed on two sides of the y axis in the walking identification ellipse polar coordinate is the same is calculated;
If the number of points on the two sides of the central line of the channel is the same, the transfer vehicle continues to move forwards, the moving image information of the transfer vehicle in the moving process is shot at each moving image acquisition time, and whether the number of points on the two sides of the central line of the channel is the same is identified until the transfer vehicle moves to the destination position.
3. The linkage system with the intelligent robot matched with the transfer vehicle for use according to claim 2, wherein the front end of the bottom bracket is provided with two universal wheels, the two universal wheels are connected through a transverse connecting shaft, the transverse connecting shaft is fixedly connected with a longitudinal connecting shaft, and the longitudinal connecting shaft is connected with a steering motor;
the processor is connected with the steering motor through the motor driving module;
If the numbers of the points distributed on two sides of the y axis are different, the processor identifies an included angle delta between the y axis and the central line of the channel, controls the steering motor to operate based on the included angle delta, and drives the universal wheel to steer through the steering motor so that polar axes of the y axis and the elliptic polar coordinates are overlapped with the central line of the channel;
Or controlling the transfer vehicle to turn based on the side with less points distributed on the y axis until the number of points distributed on the two sides of the y axis is the same.
4. The linkage system with the intelligent robot matched with the transfer vehicles for use according to claim 1, wherein the monitoring host defines the IP number of each transfer vehicle, and when the transfer vehicles upload transfer vehicle information, the IP number is configured in the transfer vehicle information so that the monitoring host can identify the transfer vehicle corresponding to the transfer vehicle information;
After receiving the transfer vehicle information uploaded by the transfer vehicle, the monitoring host firstly extracts an IP number from the transfer vehicle information, matches the IP number with the address information of the transfer vehicle control queue, and configures the transfer vehicle information into the transfer vehicle control queue; and extracting moving image information from the transfer vehicle information, determining the position of the transfer vehicle, and controlling the transfer vehicle to move based on the preset destination position.
5. The linkage system with the intelligent robot matched with the transfer vehicle for use according to claim 4, wherein the monitoring host configures the received transfer vehicle information into a transfer vehicle control queue, and then performs data screening processing on the transfer vehicle information to obtain the moving image information of the transfer vehicle;
and the monitoring host performs attribute matching on the moving image information and a preset image comparison model, and obtains corresponding moving position information of the transfer vehicle from the matched moving image information.
6. The linkage system with the intelligent robot for the transfer cart according to claim 5, wherein the monitoring host further gathers the transfer cart information in a preset time period to form a transfer cart information set.
7. The linkage system with the intelligent robot for use with the transfer cart of claim 1, wherein the processor obtains a first moving image acquisition time interval of the camera and a first moving image acquisition time when the camera is triggered, the first moving image acquisition time interval being a difference time between the first moving image acquisition time and a time when the camera is exposed;
Determining a second moving image acquisition time according to the first moving image acquisition time interval and the first moving image acquisition time; the second moving image acquisition time is an image acquisition time of the camera determined based on the first moving image acquisition time interval and the first moving image acquisition time.
8. The linkage system with the intelligent robot for the transfer vehicle according to claim 1, wherein the transfer vehicle sends a socket connection request to the monitoring host; the transfer vehicle firstly sends a first uploading transfer vehicle information number to the monitoring host; the monitoring host responds to the first uploading transfer vehicle information number and returns a second uploading transfer vehicle information number to the transfer vehicle; the monitoring host also generates first confirmation information according to the first uploading transfer vehicle information number, and the monitoring host sends the first confirmation information to the transfer vehicle; after the transfer vehicle receives the second uploading transfer vehicle information number and the first confirmation information, the transfer vehicle generates second confirmation information according to the second uploading transfer vehicle information number, and the transfer vehicle sends the second confirmation information to the monitoring host and receives a return value sent by the monitoring host, so that socket connection between the transfer vehicle and the monitoring host is established.
9. The linkage system with the intelligent robot matched with the transfer vehicle for use according to claim 8, wherein after the transfer vehicle and the monitoring host establish socket connection, a socket connection channel is generated, and the transfer vehicle and the monitoring host can perform message interaction based on the socket connection channel;
And the monitoring host sends an IP number message to the transfer vehicle, and establishes a transfer vehicle control queue matched with the IP number of the transfer vehicle according to the connection confirmation message fed back by the transfer vehicle.
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