KR102490119B1 - Self Driving Wheelchair System With Navigation And Payment Function For Medical Examination Of Patient, Medical Examination System, Medical Examination Service Providing System, and Self Driving Wheelchair - Google Patents

Abstract

The present invention relates to an autonomous wheelchair system for hospital treatment of patients with mobility difficulties having navigation and payment functions, a method for providing hospital treatment services, and an autonomous wheelchair. It relates to a self-driving wheelchair system that can reduce waiting time and receive medical treatment from a doctor in advance, and can autonomously drive to a designated treatment room according to navigation, a method of providing hospital treatment services, and an autonomous wheelchair.

Description

Self Driving Wheelchair System With Navigation And Payment Function For Medical Examination Of Patient, Medical Examination System, Medical Examination Service Providing System, and Self Driving Wheelchair}

The present invention relates to an autonomous wheelchair system, a hospital treatment system, a method for providing hospital treatment services, and an autonomous wheelchair for hospital treatment of patients with mobility difficulties having navigation and payment functions, and more particularly, to an autonomous wheelchair in a hospital. Self-driving wheelchair system that enables online payment so that patients or guardians can reduce waiting time for blood collection or examination and receive medical treatment directly from a doctor, and can autonomously drive to a designated treatment room according to navigation, hospital treatment system, hospital It relates to a method of providing medical services and an autonomous wheelchair.

As a mobility aid, a wheelchair is used to help the handicapped, the sick, or the elderly with reduced mobility to move comfortably. In general, these wheelchairs are composed of a seat, a backrest, and wheels mounted on both sides of the seat, and a manual wheelchair in which a passenger directly rotates the wheels by hand or an assistant grabs and pushes a handle from behind is widely used.

On the other hand, many electric wheelchairs that do not require manually moving wheels are being developed, and various products are being released and sold. Electric wheelchairs that are currently on the market can move easily without the occupant directly exerting force by driving the wheels with an installed motor.

In hospital treatment procedures for patients in wheelchairs, the use time of hospital medical services increases and complaints of inconvenience are often raised according to the number of times of moving, reception, and waiting that repeatedly exist between each stage of treatment. In particular, in large hospitals such as general hospitals and university hospitals, due to the large number of users, it takes a lot of time to move, receive, and wait for patients in wheelchairs, so much time is wasted compared to actual treatment time. Due to this, the treatment time is short, but the case where the whole day is wasted in the hospital frequently occurs.

In this way, it is impossible to expect high-quality medical services only with the existing medical system in the environment of fixed treatment hours, medical staff, and many patients. Therefore, in order to provide high-quality medical services, it is required to provide fast and high-quality medical services by reducing the time required for movement, reception, waiting, etc. between each of the above stages of medical treatment, and by reducing the number of repetitive stages of medical treatment. It is becoming.

Citation Document 1: Korean Patent Laid-open Publication No. 10-2020-0128883 Citation Document 2: Korean Patent Laid-open Publication No. 10-2013-0099372 Citation Document 3: Korean Patent Laid-open Publication No. 10-2003-0009755

The present invention is to solve the above conventional problems, and an autonomous wheelchair system having navigation and payment functions for hospital treatment of patients with mobility difficulties including a financial institution server, a hospital server, and an autonomous driving server, and hospital treatment service An object of the present invention is to provide a provision method and an autonomous wheelchair.

In addition, the present invention provides an indoor transportation means capable of moving to a destination through autonomous driving so that the elderly can safely and conveniently move indoors in preparation for social problems and the growth of the silver industry due to the increase in the elderly, and the elderly are convenient and safe. Ergonomics and safety can be secured for boarding, and medical treatment can be easily received at the hospital, and waiting time for medical treatment can be reduced through online payment.

An autonomous wheelchair system for hospital treatment of patients with mobility difficulties having navigation and payment functions according to an embodiment of the present invention includes a financial institution server that can transmit and receive data to and from a patient's terminal so as to enable electronic cost remittance in order to pay hospital medical expenses; a hospital server that can transmit/receive data to and from the patient's terminal and stores patient information, payment information, treatment reservation information, treatment information, and hospital map information; and an autonomous driving server that controls autonomous driving of the autonomous wheelchair through navigation with information obtained through a lidar when the patient moves within the hospital on the autonomous wheelchair.

The hospital server includes a patient information processing unit for registering and correcting the patient's personal information, a hospital fee generation module for generating hospital fee amount information for paying hospital bills, and a hospital fee indicating when to pay the hospital fee before or after the patient's treatment. A payment processing unit including a payment timing determination module, a wheelchair location storage unit equipped with an autonomous driving server to store the location of the self-driving wheelchair, and a medical treatment location guide that guides the self-driving wheelchair to a medical treatment location through autonomous driving and a treatment processing unit that checks whether or not treatment is progressing.

The patient's terminal includes a log-in processing unit for the patient to log in to the hospital server, a medical treatment reservation confirmation unit for confirming a pre-booked medical treatment schedule, and a wheelchair showing a moving line according to the current location of the self-driving wheelchair and the medical treatment schedule. A location display unit, a medical payment unit indicating whether or not to pay hospital bills and when to pay hospital bills, and an emergency call unit for requesting an emergency situation to a hospital server when an emergency occurs while the self-driving wheelchair is autonomously driving.

An autonomous wheelchair system for hospital treatment of patients with mobility difficulties having navigation and payment functions according to an embodiment of the present invention may include an autonomous wheelchair equipped with the autonomous driving server. Here, the self-driving wheelchair includes a body part, a cover part located on the upper part of the body part, a lidar for front measurement located in the upper center of the cover part, a driving part located on the lower part of the body part, and a lower part of the body part. A main wheel connected to the motor of the drive unit to move the autonomous wheelchair, an auxiliary wheel positioned at the lower front of the body and controlling the direction of the autonomous wheelchair, and a bumper part formed to surround the axis of the auxiliary wheel and absorb impact. , a plurality of sensor units for rear measurement located at both ends of the rear side of the body unit, a monitor for guardians located on the rear side of the body unit, and a joystick.

The driving unit includes a motor for rotating the main wheel and a rechargeable battery for supplying power to the motor, and the auxiliary wheel does not have a motor for rotating, and only controls the direction of movement of the autonomous wheelchair. A pressure sensor is provided in the bumper unit to prepare for a collision situation, and when the autonomous driving of the autonomous wheelchair is disabled and manual control is performed by a guardian, the autonomous driving is released using the joystick. The guardian releases it by means of encryption.

The autonomous driving server includes a vector map generator, a road map generator, a map space division generator, and a robot parameter generator.

The vector map generation unit includes a map information manual input unit in which a patient or guardian manually inputs map information in the hospital, and map information updated by a position sensor of an autonomous robot provided in the hospital is received from the hospital server and inputted. An input unit, the updated map information is received when the self-driving wheelchair enters the hospital, and the roadmap generation unit includes a manual input unit for a patient or guardian to manually input a movement line for the self-driving wheelchair to move; and an automatic input unit based on a vector map that determines whether an obstacle is avoided from the map information received from the vector map generator and generates a movement line for the self-driving wheelchair to move, and the map space division generator includes the self-driving wheelchair A map space classification input unit for classifying a space to which the self-driving wheelchair can move, and a space classification name input unit for classifying a treatment room to be visited by the self-driving wheelchair, and the robot parameter generation unit inputs the maximum speed and maximum acceleration of the self-driving wheelchair. and a wheel information input unit for setting the direction of the main wheel and the auxiliary wheel.

The autonomous driving server includes a z-map generator, a virtual obstacle generator, and an extended cell grid generator.

The z-map generating unit includes a dynamic obstacle information specifying unit that specifies an obstacle in the movement line of the self-driving wheelchair based on information about dynamic obstacles obtained through the LIDAR, and moves by avoiding the dynamic obstacle specified in the movement line. The virtual obstacle creation unit includes a sensor recognition confirmation unit that distinguishes between a region where a sensor is recognized and an area where a sensor is not recognized in the movement line of the self-driving wheelchair, and the unrecognized region and the static obstacle. and a virtual obstacle information generation unit that manually inputs an area set to , and the enlarged cell grid generation unit checks and sets the size of the space of the area where the autonomous wheelchair is to move and the area where it does not want to move, respectively. and an enlarged cell grid map information generation unit that enlarges and calculates the size of a space in an area where the self-driving wheelchair is to move than the size of a space in an area where the self-driving wheelchair is not to move.

According to an embodiment of the present invention, a hospital treatment service providing method for a hospital treatment of a patient with mobility difficulties having navigation and payment functions provides patient information, payment information, treatment reservation information, treatment information, and hospital information from a hospital server through a terminal. checking map information; the patient using a terminal to connect to a server of a financial institution and remit money online to pay hospital medical expenses; and moving in the hospital through an autonomous driving server with information obtained using a lidar when the patient moves in the hospital in a self-driving wheelchair.

The self-driving wheelchair of one embodiment of the present invention includes a body portion; a cover portion located above the body portion; a lidar for front measurement located in the upper center of the cover part; a driving unit located below the body; an autonomous driving server located on the side of the driving unit; a main wheel positioned below the body and coupled to a motor of the driving unit to move the autonomous wheelchair; Auxiliary wheels located at the lower front of the body and controlling the direction of the self-driving wheelchair; a bumper portion formed to surround the axis of the auxiliary wheel and to buffer an external impact; a plurality of sensors for rear measurement located at both ends of the rear side of the body; It includes; a monitor for the guardian and a joystick located on the rear side of the body part.

It further includes an autonomous driving controller that controls a driving state by the autonomous driving server, wherein the autonomous driving controller includes an emergency detector, a robot controller, a motor controller, and a robot motion controller, and the pressure sensor provided in the bumper unit In a safe state, the self-driving wheelchair moves according to a predetermined movement line, and if the pressure sensor provided in the bumper unit is in a controllable state, the movement path is set and moved from the movement line changed by the autonomous driving server to the predetermined movement line, If the pressure sensor provided in the bumper is out of control, the autonomous wheelchair stops, the safe state is when no impact is applied to the pressure sensor provided in the bumper, and the controllable state is provided in the bumper. The pressure sensor is in contact with an obstacle but deviates from the movement line within the predetermined movement line error range.

In the controllable state, the emergency sensor transmits a controllable signal to the robot controller and the robot motion estimator, and the robot controller transmits motor control pressure information to the motor controller to control the speed of the main wheel by the motor, and the robot The motion estimator calculates the distance and direction angle of the self-driving wheelchair deviating from the predetermined movement line and transmits them to the self-driving server. The robot controller transmits motor control stop information to the motor controller so that the self-driving wheelchair stops, so that the main wheel stops according to the stop of the motor.

A hospital treatment system for hospital treatment of a patient with mobility impairment having a navigation and payment function according to an embodiment of the present invention includes a financial institution server capable of transmitting and receiving data to and from a patient's terminal so as to enable online remittance in order to pay hospital treatment costs; a hospital server that verifies payment from the financial institution server, transmits/receives data to and from the patient's terminal, and stores patient information, payment information, treatment reservation information, treatment information, and hospital map information; and an autonomous driving server that controls autonomous driving of the autonomous wheelchair through navigation with information obtained through a lidar when the patient moves within the hospital on the autonomous wheelchair.

According to the present invention, for the safe and convenient movement of the elderly or patients with reduced mobility, it is possible to obtain destination settings in the hospital, maximum speed control, etc., and the transportation manager can set the basic settings of the robot according to the indoor environment, Patients or guardians who are users of driving means of transportation can set the destination, speed, way-finding method, etc., check the route through the monitor, select either autonomous driving or manual driving mode, and can also select a driving mode in the hospital. It is possible to reduce waiting time through wireless payment within the hospital and move according to the path set to the treatment room through autonomous driving.

1 is a conceptual diagram of an autonomous driving wheelchair system according to an embodiment of the present invention.
2 is a conceptual diagram of an autonomous wheelchair system according to another embodiment of the present invention.
3 is a block diagram of a hospital server according to an embodiment of the present invention.
4 is a block diagram of a terminal according to an embodiment of the present invention.
5 is a front view of an autonomous driving wheelchair according to an embodiment of the present invention.
6 is a side view and a rear view of an autonomous wheelchair according to an embodiment of the present invention.
7 is a schematic diagram showing path designation of an autonomous wheelchair according to an embodiment of the present invention.
8 is a schematic diagram illustrating a hardware configuration of an electronic part for autonomous driving in a hospital according to an embodiment of the present invention.
9 is a schematic diagram showing a software configuration of an autonomous driving auxiliary control board in a hospital according to an embodiment of the present invention.
10 is a schematic diagram showing a software configuration of an autonomous driving computing board in a hospital according to an embodiment of the present invention.
11 to 15 are block diagrams showing the configuration of an autonomous driving server according to an embodiment of the present invention.
16 to 19 are block diagrams showing the configuration of an autonomous driving server according to another embodiment of the present invention.

Hereinafter, the present invention according to an exemplary embodiment refers to the accompanying drawings for a self-driving wheelchair system for hospital treatment of patients with mobility difficulties having navigation and payment functions, a hospital treatment service providing method, a hospital treatment system, and an autonomous wheelchair. to explain in detail.

In the following drawings, the same reference numerals denote the same components, and the size of each component in the drawings may be exaggerated for clarity and convenience of description. Meanwhile, the embodiments described below are merely illustrative, Many variations are possible from these embodiments. Hereinafter, what is described as "above" or "above" may include not only what is directly on top of contact but also what is on top of non-contact. Terms such as first and second may be used to describe various elements, but elements should not be limited by the terms. Terms are only used to distinguish one component from another. Singular expressions include plural expressions unless the context clearly dictates otherwise. In addition, when a certain component is said to "include", this means that it may further include other components without excluding other components unless otherwise stated. In addition, terms such as “.unit” and “module” described in the specification mean a unit that processes at least one function or operation.

1 and 2 are conceptual diagrams of an autonomous wheelchair system according to an embodiment of the present invention. As shown in FIGS. 1 and 2, the autonomous wheelchair system of the present invention includes a financial institution server capable of sending and receiving to and from a patient's terminal 300 so as to enable online remittance in order to pay hospital medical expenses; The hospital server 100 receives whether or not the online expense remittance has been made from the financial institution server, can transmit/receive data to and from the patient's terminal 300, and stores patient information, payment information, reservation information, treatment information, and hospital map information. ); An autonomous driving server 200 that controls autonomous driving through navigation with information obtained using a lidar when the patient moves through the hospital in an autonomous wheelchair.

Here, the self-driving wheelchair may include a monitor capable of grasping driving conditions, a communication unit 21 capable of transmitting and receiving data to and from the hospital server 100 and the terminal 300, and the self-driving server 200.

Meanwhile, the self-driving wheelchair 20 may be interlocked with the terminal 300 . The self-driving wheelchair receives various types of driving information and patient information from the terminal 300, creates a path based on this information, and controls the speed of the self-driving wheelchair based on the information on the generated path. can The self-driving wheelchair can drive autonomously based on surrounding environment information, and the terminal 300 receives information on an autonomous driving route from the autonomous wheelchair, and based on the information input by the patient about the autonomous driving route, the terminal 300 provides autonomous driving. Controlling the self-driving of the driving wheelchair, and when the path to visit the clinic to receive treatment is modified, route information about the modified autonomous driving may be generated and transmitted to the autonomous wheelchair.

The self-driving wheelchair and the terminal 300 may be connected through a wireless network. In addition, the terminal 300 and the hospital server 100 may also be connected through a wireless network. The network refers to a connection structure capable of exchanging information between nodes such as a plurality of terminals 300 and servers, and an example of such a network is a 3rd Generation Partnership Project (3GPP) network, Long Term Evolution (LTE) ) network, 5G network, WIMAX (World Interoperability for Microwave Access) network, Internet, LAN (Local Area Network), Wireless LAN (Wireless Local Area Network), WAN (Wide Area Network), PAN (Personal Area Network) , a wifi network, a Bluetooth network, a satellite broadcasting network, an analog broadcasting network, a Digital Multimedia Broadcasting (DMB) network, and the like may be included.

3 is a block diagram of a hospital server 100 according to an embodiment of the present invention. As shown in FIG. 3 , the hospital server 100 may include a patient information processing unit, a payment processing unit, a wheelchair location storage unit, a medical treatment location information unit, and a medical treatment processing unit.

Here, the patient information processing unit may register and modify personal personal information of the patient. The patient's personal information includes, for example, the patient's name, home address, preferred speed, the patient's main range of movement within the hospital, the patient's driving history, the patient's degree of disability, and body information with disabilities. It may be information necessary for driving.

The payment processing unit may include a hospital fee generation module for generating hospital fee amount information for hospital fee payment and a hospital fee payment timing determination module for determining whether to pay the hospital fee before or after a patient's medical treatment.

The wheelchair position storage unit stores the position of the self-driving wheelchair equipped with the self-driving server 200, and the stored information is transmitted to the hospital server 100 in real time.

The medical treatment location guidance unit generates information for guiding a medical treatment location where the self-driving wheelchair is to receive medical treatment through autonomous driving. If the patient can easily access the reserved clinic and visits several clinics or examination rooms before receiving medical treatment, for example, if a pre-examination such as blood sampling or X-ray examination is required, treatment at the place to be visited Positions can be created sequentially. For example, the stages before and after the treatment are displayed in different colors on the terminal 300, and when the self-driving wheelchair comes out of the hospital after the treatment is finished but is not stored, the patient's location is identified Information about non-payment of medical expenses may be transmitted to the terminal 300 .

The medical treatment processing unit checks whether medical treatment is in progress and displays it on the terminal 300 . If you have to visit multiple places, such as the examination room and doctor's office, you can be notified of missed medical care.

4 is a block diagram of a terminal 300 according to an embodiment of the present invention. As shown in FIG. 4, the terminal 300 of the present invention includes a login processing unit for a patient to log in to the hospital server 100, a medical treatment reservation confirmation unit for confirming a pre-booked medical treatment schedule, and the current state of the self-driving wheelchair. A wheelchair location display unit showing moving lines according to the location and treatment schedule, a treatment payment unit indicating whether or not to pay hospital fees and when to pay hospital fees, a hospital server 100 when an emergency occurs while the self-driving wheelchair is autonomously driving, and An emergency call unit for requesting an emergency situation to the doctor's terminal 300 may be included.

The terminal 300 of the present invention performs functions for inputting and selecting various information related to medical treatment, such as patient information input, medical examination selection information input, reservation information selection, navigation function operation, and the like. Through the display of the terminal 300, related information can be displayed on the screen, or can be displayed in the form of an image, such as a navigation function.

The medical treatment reservation confirmation unit may notify that the medical treatment time is approaching through a melody, vibration, notification window, etc. of the terminal 300 when the medical treatment reservation time is imminent but the current location is far from the location to be treated.

5 and 6 are schematic diagrams of an autonomous driving wheelchair according to an embodiment of the present invention. As shown in FIGS. 5 and 6, the self-driving wheelchair equipped with the self-driving server 200 includes a body portion 42, a cover portion 41 located above the body portion 42, and the cover portion ( A lidar (45A) for front measurement located in the upper center of 41), a driving unit 43 located below the body 42, and a driving unit 43 located below the body 42 The main wheel (47A) for moving the self-driving wheelchair by being fastened to the motor of the main wheel (47A), the auxiliary wheel (47B) located in the lower front of the body portion 42 and controlling the direction of the self-driving wheelchair, the axis of the auxiliary wheel A bumper portion 44 formed to surround and absorb shock, a plurality of sensors for rear measurement 45B located at both rear corners of the body portion 42, and a monitor for guardians located at the rear side of the body portion 42 ( 46B) and a joystick 49. The cover part 41 is rotatably fastened with respect to the body part 42 to adjust the vertical angle of the lidar 45A for front measurement, and the cover part 41 is provided with a vertical height adjusting unit. Thus, the height of the lidar 45A for front measurement can be adjusted. Here, the height adjusting unit may adjust the height of the cover unit 41 by interlocking with the lidar 45A for measurement. This means that the self-driving server 200 determines that a part of the self-driving monitoring range is covered compared to the sitting height of several patients using the self-driving wheelchair, and adjusts the height of the cover part 41 . In addition, the self-driving wheelchair has a patient monitor 46A fastened to an armrest on one side of the body 42, and the patient can check the autonomous driving state through the patient monitor 46A. In addition, blood pressure measurement data and body temperature measurement data may be transmitted to the hospital server by providing a blood pressure measuring device and a body temperature measuring device on the armrest.

Here, the lidar 45A for front measurement includes a 2D lidar and a 3D lidar, and a more accurate measurement can be performed with a combination of the 2D lidar and the 3D lidar. 3D lidar is a sensor that recognizes the surrounding 3D space, and can obtain information for obstacle avoidance, self-position recognition, and vector map creation. can be used as an aid to recognize

The self-driving wheelchair of the present invention may further include an ultrasonic sensor in the cover part 41. Ultrasonic sensors can be used to recognize nearby obstacles or terrain.

In addition, a pressure sensor is used to quickly recognize a collision situation and respond safely, and the bumper absorbs shock when the autonomous wheelchair collides with an obstacle. An airbag may be provided inside the bumper to mitigate shock absorption.

The driving unit 43 includes a motor for rotating the main wheel 47A and a rechargeable battery for driving the motor, and the auxiliary wheel 47B does not have a motor for rotating, and only the direction of movement is controlled. , When the self-driving wheelchair is released from autonomous driving and manually controlled by the guardian, the joystick 49 is used to release the autonomous driving, and the self-driving release can be obtained by an encrypted means. For example, a fingerprint recognition sensor may be provided on one side of the joystick 49 so that only designated guardians may release autonomous driving. In addition, the joystick 49 can be used for manual movement when the guardian wants to move in detail, and through the monitor 46B for the guardian, the driving environment or situation can be recognized and management commands can be input.

7 is a schematic diagram showing path designation of an autonomous wheelchair according to an embodiment of the present invention. 11 to 15 are block diagrams showing the configuration of an autonomous driving server 200A according to an embodiment of the present invention. The self-driving wheelchair needs to classify space on a map in order to drive autonomously. As shown in FIG. 7 (a), vector map generation can generate a map by directly inputting a map based on a drawing or by using information from a sensor by the autonomous driving server 200, as shown in FIG. 7 (b). As described above, roadmap generation may be automatically generated by the self-driving server 200 based on a given vector map or generated by input by a manager, as shown in FIG. 7(c). Likewise, map space classification and name setting can set each space to a name that a patient can understand, for example, 'Nursing Room', 'Room 203', 'Canteen', and the like.

The autonomous driving server 200 of the present invention may include an autonomous driving server 200A and an autonomous driving server 200B.

The self-driving server 200A of the present invention may include a vector map generator, a road map generator, a map space division generator, and a robot parameter generator.

The vector map generation unit is a map information manual input unit in which a patient or helper manually inputs map information in the hospital, and map information updated by a position sensor of an autonomous robot provided in the hospital is received from the hospital server 100 An information input unit may be provided by an input robot position sensor.

The roadmap generation unit determines whether an obstacle is avoided from the map information received from the manager's manual input unit where a patient or helper manually inputs the movement line for the self-driving wheelchair to move, and the vector map generator, so that the self-driving wheelchair moves It may be provided with an automatic input unit by a robot based on a vector map that generates a desired movement line.

The map space classification generation unit may include a map space classification input unit for classifying spaces to which the self-driving wheelchair can move, and a space classification name input unit for classifying a treatment room to be visited by the autonomous wheelchair.

The robot parameter generation unit may include a speed information input unit for inputting the maximum speed and maximum acceleration of the autonomous wheelchair, and a wheel information input unit for setting directions of the main wheel 47A and the auxiliary wheel 47B.

The autonomous driving server of the present invention includes an autonomous driving computing board and an auxiliary control board. 8 is a schematic diagram illustrating a hardware configuration of an electronic part for indoor self-driving, which is an embodiment of the present invention. As shown in FIG. 8, the electronic hardware for indoor autonomous driving of an autonomous wheelchair includes a user's smart pad and joystick 49 for operating means of transportation, an autonomous driving computing board in which an autonomous driving software package operates, and autonomous driving. An auxiliary control board responsible for driving the means of transportation, a 3D lidar for recognizing the environment and estimating one's own position, a 2D LRF, an AHRS module, an ultrasonic sensor module, a bumper button, and an encoder and a motor for driving the means of transportation may be provided.

9 is a schematic diagram showing a software configuration of an indoor autonomous driving auxiliary control board according to an embodiment of the present invention, and FIG. 10 is a schematic diagram showing a software configuration of an indoor autonomous driving computing board according to an embodiment of the present invention.

That is, the software for autonomous driving may be composed of computing board software that recognizes the environment and determines the operation of the means of transportation and auxiliary control software that is in charge of driving the means of transportation. Here, the computing board software is a set of software modules that recognizes the environment and determines the operation of the means of transportation. The part that recognizes the environment by processing the data recognized by the sensor, and the part that creates and manages a map based on the recognized environment information , It can be composed of a part that creates a moving path and a part that drives it.

The auxiliary control board software is a set of software responsible for driving means of transportation, and may be composed of a part for measuring speed, a part for driving means of transportation, and a part for detecting and responding to an emergency collision.

16 to 19 are block diagrams showing the configuration of an autonomous driving server 200B according to another embodiment of the present invention.

The autonomous driving server 200B of the present invention may include a z-map generator, a virtual obstacle generator, and an extended cell grid generator.

The z-map generating unit includes a dynamic obstacle information specifying unit that specifies an obstacle in the movement line of the self-driving wheelchair based on information about dynamic obstacles obtained through the LIDAR, and moves by avoiding the dynamic obstacle specified in the movement line. It may be provided with a self-position estimation unit for doing so.

The virtual obstacle generation unit, a sensor recognition confirmation unit that distinguishes between a region where a sensor is recognized and an unrecognized region in the movement line of the self-driving wheelchair, manually inputs the unrecognized region and the region set as a static obstacle A virtual obstacle information generating unit may be provided.

The enlarged cell lattice generation unit checks and sets the size of the space of the area where the self-driving wheelchair is to move and the area where the self-driving wheelchair is not to move, respectively. An enlarged cell grid map information generation unit may be provided that calculates an enlarged cell grid map information larger than the size of a space in an area where the autonomous wheelchair does not want to move.

According to the present invention, a hospital treatment service providing method for hospital treatment of a patient with mobility difficulties having navigation and payment functions is provided by a patient receiving patient information, payment information, reservation information, medical treatment information, Checking hospital map information; the patient using the terminal 300 to connect to a server of a financial institution and transfer electronic expenses to pay hospital medical expenses; It may include a step of moving the patient in the hospital through the self-driving server 200 with information obtained using a lidar when the patient moves in the hospital by riding the self-driving wheelchair.

A hospital treatment service providing method according to the present invention stores treatment-related patient information in a hospital server 100 installed in a hospital, selects a department from medical examination information input through a terminal 300 in the hospital server 100, , it is possible to provide the terminal 300 with recommendation information on a time available for reservation of the corresponding medical department and a medical staff available for reservation. By accessing the hospital server 100 through the application installed in the terminal 300 and selecting a specific time and a specific medical staff from among information available for reservation and recommendation information on reservable medical staff provided by the hospital server 100, a medical appointment is made. can apply

Meanwhile, information used in the hospital treatment service providing method using the terminal 300 may be stored in a recording medium readable by a server computer. These recording media include all types of recording media in which programs and data are stored so that they can be read by a computer system. For example, a read only memory (ROM), a random access memory (RAM), a compact disk (CD), a digital video disk (DVD)-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like may be used.

The self-driving wheelchair for hospital treatment of patients with mobility difficulties of the present invention includes a body portion 42; a cover part 41 located above the body part 42; A lidar (45A) for front measurement located in the upper center of the cover part 41 (lidar); a driving unit 43 located under the body unit 42; An autonomous driving server 200 located on the side of the driving unit 43; a main wheel (47A) located below the body part (42) and fastened to the motor of the driving part (43) to move the autonomous wheelchair; an auxiliary wheel (47B) located at the lower front of the body part (42) and controlling the direction of the self-driving wheelchair; a bumper portion 44 that surrounds the axis of the auxiliary wheel and absorbs shock; a plurality of rear measurement sensor units 45B located at both ends of the rear side of the body unit 42; A helper monitor and joystick 49 located on the rear side of the body part 42; may be included.

It further includes an autonomous driving controller that controls a driving state by the autonomous driving server 200, and the autonomous driving controller may include an emergency detector, a robot controller, a motor controller, and a robot motion controller. In addition, if the pressure sensor provided in the bumper unit 44 is in a safe state, the self-driving wheelchair moves according to the determined movement line, and if it is in a controllable state, the movement line changed by the autonomous driving server 200 is corrected and continues to move, If out of control, the self-driving wheelchair will stop. Here, the safe state is a case where no impact is applied to the pressure sensor provided in the bumper part 44, and the controllable state is a case where the pressure sensor provided in the bumper part 44 contacts an obstacle, but the error in the determined movement It is within the range, and the uncontrollable state means a case where the pressure sensor provided in the bumper part 44 is in contact with an obstacle and exceeds the error range of the movement line determined.

In addition, in the controllable state, an emergency signal is transmitted from an emergency detector to a robot controller and a robot motion estimator, and the robot controller transmits motor control pressure information to a motor controller to control the speed of a wheel by a motor, and the robot The motion estimator may calculate the distance and direction angle of the self-driving wheelchair out of the determined movement line and transmit the calculated distance and direction angle to the self-driving server 200 .

The hospital treatment system for hospital treatment of patients with mobility difficulties having navigation and payment functions of the present invention includes a financial institution server capable of sending and receiving to and from a terminal 300 of a patient to enable online remittance to pay hospital treatment fees; a hospital server 100 that checks whether payment has been made from the financial institution server, transmits and receives data to and from the patient's terminal 300, and stores patient information, payment information, treatment reservation information, treatment information, and hospital map information; An autonomous driving server 200 that controls autonomous driving of the autonomous wheelchair through navigation with information obtained through lidar when the patient moves within the hospital in the autonomous wheelchair.

Here, the financial institution server, the terminal, and the self-driving server are the same as the self-driving wheelchair system described above, so detailed descriptions are omitted.

The present invention is not limited to the above embodiments, but can be manufactured in a variety of different forms, and those skilled in the art to which the present invention pertains may take other specific forms without changing the technical spirit or essential features of the present invention. It will be understood that it can be implemented as. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting.

100: hospital server
200: autonomous driving server
300: terminal
20, 40: self-driving wheelchair
21: Ministry of Communications
23 : monitor
41: cover part
42: body part
43: driving unit
44: bumper part
45A: Lidar for forward measurement
45B: sensor unit for rear measurement
46A: monitor for patients
46B: monitor for guardian
47A: main wheel
47B: auxiliary wheel
48: autonomous driving server
49: joystick

Claims (12)

A financial institution server capable of sending and receiving data to and from a patient's terminal so as to enable electronic remittance to pay hospital medical expenses;
a hospital server that can transmit/receive data to and from the patient's terminal and stores patient information, payment information, treatment reservation information, treatment information, and hospital map information;
An autonomous driving server that controls autonomous driving of the autonomous wheelchair through navigation with information obtained through lidar when the patient moves in the hospital on the autonomous wheelchair;
The self-driving wheelchair equipped with the self-driving server includes a body, a cover located above the body, a lidar for front measurement located in the upper center of the cover, a driving unit located below the body, and the body. A main wheel located at the lower part of the unit and connected to the motor of the driving unit to move the self-driving wheelchair, an auxiliary wheel located at the lower front of the body and controlling the direction of the autonomous wheelchair, and formed to surround the axis of the auxiliary wheel and impact It includes a bumper part for buffering, a monitor for the guardian and a joystick located on the rear side of the body part,
The driving unit includes a motor for rotating the main wheel and a rechargeable battery for supplying power to the motor, and the auxiliary wheel does not have a motor for rotating, and only controls the direction of movement of the autonomous wheelchair. An autonomous wheelchair system for hospital treatment of patients with mobility difficulties having navigation and payment functions, characterized in that the bumper unit is provided with a pressure sensor to prepare for a collision situation. delete delete delete delete A financial institution server capable of sending and receiving data to and from a patient's terminal so as to enable electronic remittance to pay hospital medical expenses;
a hospital server that can transmit/receive data to and from the patient's terminal and stores patient information, payment information, treatment reservation information, treatment information, and hospital map information;
An autonomous driving server that controls autonomous driving of the autonomous wheelchair through navigation with information obtained through lidar when the patient moves in the hospital on the autonomous wheelchair;
The self-driving server includes a vector map generator, a roadmap generator, a map space division generator, and a robot parameter generator, and a navigation and payment function for hospital treatment of patients with mobility difficulties. An autonomous wheelchair system. The method of claim 6,
The vector map generation unit includes a map information manual input unit in which a patient or guardian manually inputs map information in the hospital, and map information updated by a position sensor of an autonomous robot provided in the hospital is received from the hospital server and inputted. It has an input unit,
The roadmap generation unit determines whether an obstacle is avoided from the map information received from the manager's manual input unit where the patient or guardian manually inputs the movement line for the self-driving wheelchair to move, and the vector map generation unit, so that the self-driving wheelchair moves. It has an automatic input unit based on a vector map that creates a desired movement line,
The map space classification generator includes a map space classification input unit for classifying spaces to which the self-driving wheelchair can move, and a space classification name input unit for classifying a treatment room to be visited by the self-driving wheelchair. Navigation and payment functions An autonomous wheelchair system for hospital treatment of patients with mobility difficulties. delete body part;
a cover portion located above the body portion;
a lidar for front measurement located in the upper center of the cover part;
a driving unit located below the body;
an autonomous driving server located on the side of the driving unit;
a main wheel positioned below the body and coupled to a motor of the driving unit to move the autonomous wheelchair;
Auxiliary wheels located at the lower front of the body and controlling the direction of the self-driving wheelchair;
A bumper portion formed to surround the axis of the auxiliary wheel and to buffer an external shock; includes,
Further comprising an autonomous driving controller controlling a driving state by the autonomous driving server, wherein the autonomous driving controller includes an emergency detector, a robot controller, a motor controller, and a robot motion controller;
When the pressure sensor provided in the bumper unit is in a safe state, the self-driving wheelchair moves according to a predetermined movement line, and when the pressure sensor provided in the bumper unit is in a controllable state, from the movement line changed by the autonomous driving server to the predetermined movement line. It moves by setting a movement path, and when the pressure sensor provided in the bumper unit is out of control, the autonomous wheelchair stops.
The safe state is a state in which no impact is applied to the pressure sensor provided in the bumper part, and the controllable state is a state in which the pressure sensor provided in the bumper part is in contact with an obstacle but is out of the movement line within a predetermined error range of the movement line. , The uncontrollable state means a state in which the pressure sensor provided in the bumper part is in contact with an obstacle and thus exceeds a predetermined error range of the movement line. delete The method of claim 9,
In the controllable state and the uncontrollable state, the emergency sensor transmits a controllable signal to a robot controller and a robot motion estimator. delete

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