CN206833244U - A kind of hospital service robot based on cloud platform - Google Patents
A kind of hospital service robot based on cloud platform Download PDFInfo
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- CN206833244U CN206833244U CN201720437014.9U CN201720437014U CN206833244U CN 206833244 U CN206833244 U CN 206833244U CN 201720437014 U CN201720437014 U CN 201720437014U CN 206833244 U CN206833244 U CN 206833244U
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Abstract
The utility model discloses a kind of hospital service robot based on cloud platform, multiple cabinets for holding different medical materials are provided with robot；Robot is according to the track route specified, and combine the data of ultrasonic sensor, the track route of real-time update planning, medical material is sent into and specifies destination, receive the collection information of fingerprint identification device, and cloud platform be transferred to by wireless communication module after being identified, receive cloud platform transmission identification information determine the information of corresponding health care workers after, corresponding cabinet is opened, realizes that the automatic of medical material gets distribution.The utility model can substantially reduce the labor intensity of nurse.
Description
Technical field
It the utility model is related to a kind of hospital service robot based on cloud platform.
Background technology
Perplex medical institutions and sufferer for a long time in Chinese " the difficulty of getting medical service, the high cost of getting medical treatment ", wherein being no lack of substantial amounts of medical people
Power resource cost.During our actual investigations, because the peak period stream of people is big, nurse had 1/3 time to be wasted in get for hospital
Medical material process and wait elevator.
A daily puerpera takes around 8~12 bottles of liquid by taking gynemetrics as an example, with every layer of 20 ward, every 3 diseases
Suffering from and calculating, nurse needs to get 700 bottles of liquid or so, needs 5 kms back and forth, along with other special circumstances, its
Labor intensity is well imagined.Nurse almost really plays being worth for nurse's specialty itself, big portion without the too many time at the end of the day
Really spent between timesharing and get distribution above in medical material, labor intensity is big and medical and nursing quality can not be guaranteed, simultaneously
Cause the waste of human resources.
Therefore, it is badly in need of a kind of labor intensity that can reduce health care workers, improves the medical medical and nursing quality of patient.
Utility model content
The utility model is in order to solve the above problems, it is proposed that a kind of hospital service robot based on cloud platform, this reality
With the new relevant issues for getting distribution that can solve the problem that medical material, one kind is provided simply, conveniently for the medicament transport of hospital
The service robot of intelligence.
To achieve these goals, the utility model adopts the following technical scheme that：
A kind of hospital service robot based on cloud platform, including robot body and walking mechanism, robot body
Bottom sets walking mechanism, and the walking mechanism possesses laser navigation module, and carrying robot body is according to specified track route
Walking；
The robot body includes housing, controller, wireless communication module, ultrasonic sensor and fingerprint recognition dress
Put, wherein：
Multiple cabinets for holding different medical materials are provided with the housing；
The ultrasonic sensor is arranged at hull outside, detects and whether there is barrier around robot body, and
The distance of distance objective position, and its gathered data is transferred to controller；
The fingerprint identification device is arranged at hull outside, collection fingerprint and input controller；
The controller, receive and specify track route, and combine the data of ultrasonic sensor, the row of real-time update planning
Route is walked, medical material is sent into and specifies destination, receives the collection information of fingerprint identification device, and pass through nothing after being identified
Line communication module is transferred to cloud platform, after the information of the corresponding health care workers of identification information determination for receiving cloud platform transmission, beats
Corresponding cabinet is opened, realizes that the automatic of medical material gets distribution.
Such design so that health care workers run without oneself, as long as getting out medical care goods and materials, indicate robot band
Goods and materials and reach associated department, ensure the correctness and security of goods and materials according to fingerprint recognition.
Further, the controller is connected with power-supply system, and power-supply system has monitoring module to monitor the electricity of battery
Amount, when the electricity of battery is less than default electricity, host computer sends signal and controls the drive device driving robot to be moved to
The juice point automatic charging of setting.
Further, hull outside is provided with multiple along the circumferentially equally distributed ultrasonic sensor of housing, each ultrasonic wave
The output of sensor is connected with slave computer.Robot peripheral obstacle, measurement destination Azimuth ＆ Range can be detected, if preceding
There is barrier side, then path planning again.
Further, during movement, ultrasonic sensor constantly detects barrier and surveyed the robot body
Distance is obtained, when threshold value of the distance less than setting, slow down simultaneously conversion direction.It is finally reached preferable avoidance effect.
Further, the walking mechanism is wheel type traveling mechanism, including a chassis, passes through rotation provided with two in the middle part of chassis
The driving wheel of rotating shaft connection, four angles on chassis are respectively equipped with a driven pulley.
Further, the robot body is additionally provided with RGBD video cameras, for detecting the ring in robot walking process
Border image, and result is sent to laser radar sensor, laser radar sensor drives robot using map mode is created
Walking, laser radar can map making indoors, the positioning for machine itself and to periphery object, realize robot
The function of path planning and avoidance.
Further, the robot body is using laser radar sensor scanning ambient condition information, with initial position
Environmental map is created for the origin of coordinates, and the data for then laser radar and odometer being measured by Kalman filtering algorithm are carried out
Data fusion, obtain the coordinate position of robot.
Further, the robot body is additionally provided with UWB positioning labels, with setting each opening position within the hospital
UWB positioning anchor points are corresponding, and the UWB positioning label receives the signal of UWB positioning anchor point transmittings, and is transferred to controller, institute
Space coordinates of the controller according to anchor point is stated, the coordinate position of outgoing label is calculated using TDOA computations.By using laser
The positional information that self-positioning information and UWB the positioning tag computation that radar obtains obtain carries out data fusion again, so as to obtain
Accurate coordinates of the robot under map coordinates system.
Further, the controller is connected with power-supply system, and power-supply system has monitoring module to monitor the electricity of battery
Amount, when the electricity of battery is less than default electricity, host computer sends signal and controls the drive device driving robot to be moved to
The juice point automatic charging of setting.
Further, microphone array and voice system are additionally provided with the robot body, gathers sound, collection
Sound carries out human-computer dialogue or alert by speech recognition engine.Preferably carry out validation of information and early warning.
Further, each cabinet has unique corresponding ID, and controller identifies and distinguishes among corresponding cabinet by id number,
And then corresponding goods and materials in cabinet are identified and distinguished.
Based on the method for work of above-mentioned robot, medical material is placed into cabinet, and is marked, each cabinet is set
The destination of body, mission bit stream is sent to cloud platform, the hospital building that robot is stored according to main control unit by network
Map and laser radar sensor and UWB positioning label are walked in hospital building, and when running into barrier, robot slows down
And conversion direction, after robot arrives at, gather the finger print information of doctor or nurse, corresponding cabinet solution after information matches
Lock.
Further, at least stairs port both sides, lift port both sides and elevator interior four sides are each provided with UWB positioning anchors
Point, to facilitate in robot downstairs, robot is controlled by infrared remote control mode to elevator door switch, floor lifting.
Compared with prior art, the beneficial effects of the utility model are：
(1) the utility model uses the location technology that UWB location technologies are combined with laser radar sensor, UWB positioning
Still it can be carried out in the case where blocking, both combine the reliability for positioning the system and precision is higher；
(2) during movement, ultrasonic wave constantly detects barrier and measures distance for robot, when distance is less than setting
Threshold value, robot can according to algorithm realize slow down and conversion direction, be finally reached preferable avoidance effect；
(3) each cabinet has unique corresponding ID, and controller identifies and distinguishes among corresponding cabinet by id number, and then right
Corresponding goods and materials are identified and distinguished in cabinet, while are unlocked using the fingerprint of health care workers, help to ensure that goods and materials
The correctness and security of delivery；
(4) multiple functional, convenient intelligence, Cloud Server is sent to by network, is calculated using the identification for being stored in server
Method and information bank, the degree of accuracy and the hospital automation for improving service are horizontal.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrate be used for explain the application, do not form the improper restriction to the application.
Fig. 1 schemes for intelligent distribution robot architecture of the present utility model；
Fig. 2 is chassis structure figure of the present utility model.
Wherein：1- high-definition cameras；2- display screens；3- password keys；4- fingerprint identification devices；5- automatic drawings；6- surpasses
Sonic sensor；7- driven pulleys；8- driving wheels；9- drive devices；10- robot ambulation motors；11- wireless communication modules；12-
Voice system；13- power supplys and power-supply system；14- laser radar sensors.
Embodiment：
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings.
It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As background technology is introduced, there is that the labor intensity of health care workers is big in the prior art, patient's is medical
The low deficiency of medical and nursing quality, in order to solve technical problem as above, present applicant proposes the hospital services machine based on cloud platform
People.
In a kind of typical embodiment of the application, as shown in figure 1, mainly whole by service robot, cloud platform, user
The part such as end forms.The cloud platform is mainly made up of the part such as wireless communication unit, Cloud Server, management and running unit；Institute
Service robot is stated mainly by the part such as controller, motion control unit, independent navigation and positioning unit, wireless communication unit group
Into being communicated by the way of radio communication with cloud platform, its real-time position in space determined using laser radar and UWB
Put and carry out independent navigation and positioning；The user terminal is communicated by the way of radio communication with cloud platform, using ether
Net is communicated with service robot, for showing service robot running status and the instruction of real-time tranception user interactive.
The described hospital service robot based on cloud platform includes the walking mechanism of robot, described walking mechanism by
Four universal wheels and two driving wheels and motor composition, two driving wheels drive its rotation, motor and electricity by motor
Machine driver is connected；Described motor driver is connected with controller.
Further user terminal is located in display screen, for showing service robot running status and real-time tranception user
Interactive operation instructs.
Fingerprint identification device, for gathering finger print information.
Laser radar sensor, for scanning, detecting environmental information.
Ultrasonic sensor, for detecting barrier and realizing automatic obstacle avoiding.
UWB positioning labels receive the signal of UWB positioning anchor point transmittings.Laser radar sensor can realize environmental map
The real-time positioning with robot is created, then by the data fusion with UWB location informations, it is high-precision fixed to be finally reached robot
Position.
Cloud platform transportation robot is former by coordinate of initial position using laser radar sensor scanning ambient condition information
Point creates environmental map, and the data that laser radar and odometer measure then are carried out into data by Kalman filtering algorithm melts
Close, obtain the coordinate position of robot；
The ranging for passing through reception multiple anchor points of diverse location in space positioned at the UWB positioning labels of chassis industrial computer
Information, according to the space coordinates of anchor point, utilize the coordinate position of TDOA computations calculating outgoing label.So by by robot
The positional information that self-positioning information and UWB the positioning tag computation obtained using laser radar is obtained carries out data fusion again,
So as to obtain accurate coordinates of the robot under map coordinates system.
During movement, ultrasonic wave constantly detects barrier and measures distance for robot, when distance is less than setting
Threshold value, robot can realize the simultaneously conversion direction that slows down according to algorithm, be finally reached preferable avoidance effect.
The method of hospital's cloud platform service robot fingerprint recognition is as follows：
Fingerprint identification device on machine human organism is used to gather finger print information, passes to controller, secondly, controller pair
Fingerprint is identified, and establishes relevant people finger print information, and then, the wireless communication module being connected with controller receives controller hair
The identification signal come, and identification signal packing is uploaded into cloud server, cloud service receives to be sent by radio communication device
The identification signal come, by the fingerprint matching recognizer run in server by characteristic value signal with being prestored in server
The information of corresponding personage handled and compared, if identifying medical worker, the cupboard of robot can be opened, taken away
Medicine；If identification information can not be non-medical staff with the identity information successful match of information bank, explanation, then robot can voice
Play warning message.
Cloud platform service robot automatically into elevator method, it is as follows：
During robot stair activity, robot is accurately positioned by the uwb anchor points for being fixed on doorway both sides and goes to elevator door
Mouthful specified location, stop after robot in-position point, service robot is by infrared remote control mode to elevator door switch, floor
Lifting etc. is controlled, and the switching information of elevator operation, floor information etc. are sent into cloud platform.Opened the door when elevator reaches
When, whether ultrasonic sensor can measure has barrier, and as someone or when having barrier, robot can wait next time electric
Ladder, instruction can be sent to cloud platform, the instruction that cloud platform can again repeatedly just is through to enter electricity to lift appliance
Ladder, elevator interior four sides are fixed with 4 uwb anchor points successively, and robot can enter specified location in elevator, reach the building to be gone
After layer, this is on map and a location point, robot can drive to destination according to the map stored, performs appoint successively
Business, to the last returns to one's starting point.
User terminal is used for the interactive operation instruction of real-time tranception user and real-time display performs the robot of user command
Positional information；The controller of service robot, be connected with walking mechanism, laser radar, power supply, display screen, wireless module,
UWB etc., for receiving and dispatching the operational order from cloud platform, plan conveying task, monitoring moving control unit, independent navigation and fixed
Bit location, wireless communication unit etc.；The motion control unit of service robot, for the walking mechanism of control machine people, and it is
The information such as the motion control parameter of robot controller transferring robot；The independent navigation and positioning unit of service robot, by
Laser radar and UWB compositions, for determining the real time position of robot in space, to carry out independent navigation and positioning；Service
Robot wireless communication unit, transmitted for robot and cloud platform and the information exchange and signal of user terminal；User terminal
Information is transmitted by wireless WiFi communication between cloud platform.
Cloud platform service robot specifically includes：In master control set of the main control unit as robot of internal body；
1 piece of touch display screen is embedded in forward surface, display screen is used to run host computer service routine and as the main boundary of man-machine interaction
Face, it is connected by circuit with controller；Fuselage roof has 1 high-definition camera, is wired to controller；Fuselage two
Side position respectively has 1 audio amplifier, is wired to controller；Horizontal distribution 3 passes through to ultrasonic sensor immediately below shell
Wire is connected to controller.
The UWB positioning labels that one laser radar, 3 UWB positioning anchor points and 1 are integrated in industrial computer together constitute
Independent navigation and positioning unit, laser radar sensor can realize the establishment of environmental map and the real-time positioning of robot, then
By the data fusion with UWB location informations, the high-precision positioning of robot is finally reached.
Walking mechanism of the mobile chassis as robot, including 2 bi-directional drive wheels and 4 universal driven pulleys, and set
There are two motor drivers, ensure that robot quickly and accurately moves.
The location technology being combined using UWB location technologies with laser radar sensor, UWB is positioned at block in the case of
Still can carry out, both combine the reliability for positioning the system and precision is higher.Implementing step is：Robot
Ambient condition information is scanned using laser radar sensor, environmental map is created by the origin of coordinates of initial position, then passes through
The data that Kalman filtering algorithm measures laser radar and odometer carry out data fusion, can arrive the coordinate bit of robot
Put.On this basis, the UWB labels positioned at chassis SLAM main frames are by receiving 3 of the diverse location in space (or more
It is more) ranging information of anchor point, according to the space coordinates of anchor point, utilize TDOA computations to calculate the coordinate position of outgoing label.This
Sample positions positional information that tag computation obtains again by the self-positioning information and UWB that obtain robot using laser radar
Data fusion is carried out, so as to obtain accurate coordinates of the robot under map coordinates system.In addition, robot is in mobile process
In, ultrasonic wave constantly detects barrier and measures distance, and when threshold value of the distance less than setting, robot can realize according to algorithm to be subtracted
Speed and conversion direction, are finally reached preferable avoidance effect.
A kind of hospital service robot workflow based on cloud platform is that medicine can be installed and be put into cupboard by pharmacists
In, it is that each task chooses destination on robot LCDs, while robot sends mission bit stream by network
The sensors such as the hospital's building map and laser radar that are stored to Cloud Server platform, robot according to controller are each
Walked in layer, when running into barrier, robot can slow down and conversion direction, or even stops, and to open chest halfway needs to cure
Raw or nurse thumbprint, and robot arrives at rear chest and just can voluntarily unlocked, so robot can be very safe
Medicine is delivered into destination.When needing stair activity, robot is accurately positioned by the uwb anchor points for being fixed on doorway both sides
Elevator doorway specified location is gone to, service robot is controlled by infrared remote control mode to elevator door switch, floor lifting etc.
System, and the switching information of elevator operation, floor information etc. are sent to cloud platform.When elevator, which reaches, to open the door, supersonic sensing
Whether device can measure has barrier, and as someone or when having barrier, robot can wait elevator next time, service robot meeting
Instruction just is repeated again to lift appliance, through to enter elevator, elevator interior is fixed with 4 uwb anchor points successively on four sides,
Robot can enter elevator in specified location, reach the floor to be gone after, this on map be also a location point, robot
Destination can be driven to according to the map stored, perform task successively, to the last return to one's starting point.Wherein at fingerprint recognition
Science and engineering is made all to complete on Cloud Server, and recognition result returns to robot terminal by network again.Implementing step is：It is first
First, the fingerprint of the collection in fingerprint identification device passes to controller, and secondly, system of fingerprints carries out characteristic value processing to fingerprint,
Then characteristic value information is sent to cloud platform, cloud platform is by algorithm for recognizing fingerprint by identification signal with being deposited in advance in cloud platform
The information of the corresponding personage of storage is handled and compared, if identifying medical worker, robot screen meeting popup web page, and doctor
Business personnel input cupboard sequence number and the name click determination of oneself and can open cupboard and take medicine away.
The preferred embodiment of the application is the foregoing is only, is not limited to the application, for the skill of this area
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent substitution, improvement etc., should be included within the protection domain of the application.
It is not new to this practicality although above-mentioned specific embodiment of the present utility model is described with reference to accompanying drawing
The limitation of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Field technique personnel need not pay the various modifications that creative work can make or deformation still in protection model of the present utility model
Within enclosing.
Claims (10)
1. a kind of hospital service robot based on cloud platform, it is characterized in that：Including robot body and walking mechanism, robot
The bottom of body sets walking mechanism, and the walking mechanism possesses laser navigation module, and carrying robot body is according to nominated bank
Walk route walking；
The robot body includes housing, controller, wireless communication module, ultrasonic sensor and fingerprint identification device, its
In：
Multiple cabinets for holding different medical materials are provided with the housing；
The ultrasonic sensor is arranged at hull outside, detects and whether there is barrier, and distance around robot body
The distance of target location, and its gathered data is transferred to controller；
The fingerprint identification device is arranged at hull outside, collection fingerprint and input controller；
The controller, receive and specify track route, and combine the data of ultrasonic sensor, the walking road of real-time update planning
Line, medical material is sent into and specifies destination, receives the collection information of fingerprint identification device, and pass through channel radio after being identified
Module transfer is interrogated to cloud platform, after the information of the corresponding health care workers of identification information determination for receiving cloud platform transmission, opens phase
The cabinet answered, realize that the automatic of medical material gets distribution.
2. a kind of hospital service robot based on cloud platform as claimed in claim 1, it is characterized in that：The controller and electricity
Source system connection, power-supply system have monitoring module to monitor the electricity of battery, when the electricity of battery is less than default electricity, on
Position machine sends the juice point automatic charging that signal control drive device driving robot is moved to setting.
3. a kind of hospital service robot based on cloud platform as claimed in claim 1, it is characterized in that：Hull outside is provided with more
It is individual to be connected along the circumferentially equally distributed ultrasonic sensor of housing, the output of each ultrasonic sensor with slave computer；Or institute
Robot body is stated during movement, ultrasonic sensor constantly detects barrier and measures distance, is set when distance is less than
Fixed threshold value, slow down simultaneously conversion direction.
4. a kind of hospital service robot based on cloud platform as claimed in claim 1, it is characterized in that：The walking mechanism is
Wheel type traveling mechanism, including a chassis, chassis middle part are provided with two driving wheels by rotating axis connection, four angles point on chassis
She You not a driven pulley.
5. a kind of hospital service robot based on cloud platform as claimed in claim 1, it is characterized in that：The robot body
RGBD video cameras are additionally provided with, for detecting the ambient image in robot walking process, and result is sent to laser radar and passed
Sensor, laser radar sensor drive robot ambulation using map mode is created, laser radar can map making indoors,
Positioning for machine itself and to periphery object, realize the function of robot path planning and avoidance.
6. a kind of hospital service robot based on cloud platform as claimed in claim 1, it is characterized in that：The robot body
Ambient condition information is scanned using laser radar sensor, environmental map is created by the origin of coordinates of initial position, then passes through
The data that Kalman filtering algorithm measures laser radar and odometer carry out data fusion, obtain the coordinate position of robot.
7. a kind of hospital service robot based on cloud platform as claimed in claim 1, it is characterized in that：The robot body
UWB positioning labels are additionally provided with, corresponding with setting the UWB positioning anchor points of each opening position within the hospital, the UWB positions label
The signal of UWB positioning anchor point transmittings is received, and is transferred to controller, the controller utilizes according to the space coordinates of anchor point
TDOA computations calculate the coordinate position of outgoing label, the self-positioning information obtained by using laser radar and UWB positioning marks
Sign the positional information being calculated and carry out data fusion again, so as to obtain accurate coordinates of the robot under map coordinates system.
8. a kind of hospital service robot based on cloud platform as claimed in claim 1, it is characterized in that：
Each cabinet has unique corresponding ID, and controller identifies and distinguishes among corresponding cabinet by id number, and then in cabinet
Corresponding goods and materials are identified and distinguished.
9. a kind of hospital service robot based on cloud platform as claimed in claim 1, it is characterized in that：The robot body
On be additionally provided with microphone array and voice system, gather sound, for the sound of collection by speech recognition engine, it is man-machine right to carry out
Words or alert.
10. a kind of hospital service robot based on cloud platform as claimed in claim 1, it is characterized in that：At least stairs port two
Side, lift port both sides and elevator interior four sides are each provided with UWB positioning anchor points, and to facilitate in robot downstairs, robot leads to
Infrared remote control mode is crossed to be controlled elevator door switch, floor lifting.
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| CN201720437014.9U CN206833244U (en) | 2017-04-21 | 2017-04-21 | A kind of hospital service robot based on cloud platform |
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| CN112040446A (en) * | 2020-09-16 | 2020-12-04 | 上海振华重工(集团)股份有限公司 | Positioning method and positioning system |
| CN112040446B (en) * | 2020-09-16 | 2023-08-22 | 上海振华重工(集团)股份有限公司 | Positioning method and positioning system |
| CN112999460A (en) * | 2021-02-20 | 2021-06-22 | 四川大学华西医院 | Intelligent infusion management system |
| CN114434453A (en) * | 2021-12-31 | 2022-05-06 | 上海擎朗智能科技有限公司 | Ladder taking method and system for robot, robot and storage medium |
| CN114434453B (en) * | 2021-12-31 | 2024-06-07 | 上海擎朗智能科技有限公司 | Robot ladder taking method, system, robot and storage medium |
| CN114973489A (en) * | 2022-05-19 | 2022-08-30 | 日立楼宇技术（广州）有限公司 | Method, device and equipment for providing access control verification information and access control |
| CN114973489B (en) * | 2022-05-19 | 2023-09-01 | 日立楼宇技术（广州）有限公司 | Method, device and equipment for providing access control verification information and access control |
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