Medical intelligent medicine conveying trolley
阅读说明：本技术 一种医用智能送药小车 (Medical intelligent medicine conveying trolley ) 是由 洪东升 刘晓健 张建华 卢晓阳 于 2020-07-02 设计创作，主要内容包括：本发明提供了一种自动送药小车,包括防护罩和储药箱,所述储药箱可拆卸安装在防护罩上,所述防护罩顶部表面固定有圆柱销,所述储药箱底部安装有垫板,所述圆柱销顶部安装在垫板内,所述防护罩底部设置有四个伺服电机和被伺服电机驱动的麦克纳姆轮,所述防护罩内设置有电池模块、控制模块、定位模块、语音模块和通信模块,所述防护罩四周表面安装有防撞雷达,所述防护罩前端表面安装有人脸识别模块；该送药小车结构灵活,维护方便,能够自动将药物送给患者。(The invention provides an automatic medicine conveying trolley which comprises a protective cover and a medicine storage box, wherein the medicine storage box is detachably arranged on the protective cover, a cylindrical pin is fixed on the surface of the top of the protective cover, a base plate is arranged at the bottom of the medicine storage box, the top of the cylindrical pin is arranged in the base plate, four servo motors and Mecanum wheels driven by the servo motors are arranged at the bottom of the protective cover, a battery module, a control module, a positioning module, a voice module and a communication module are arranged in the protective cover, anti-collision radars are arranged on the peripheral surface of the protective cover, and a face recognition module is arranged on the surface of the front end of; the medicine conveying trolley is flexible in structure and convenient to maintain, and can automatically convey medicines to patients.)
1. An automatic medicine feeding trolley comprises a protective cover (1) and a medicine storage box (2), it is characterized in that the medicine storage box (2) is detachably arranged on the protective cover (1), a cylindrical pin (3) is fixed on the surface of the top of the protective cover (1), a backing plate (4) is installed at the bottom of the medicine storage box (2), the top of the cylindrical pin (3) is arranged in the backing plate (4), the bottom of the protective cover (1) is provided with four servo motors (5) and Mecanum wheels (6) driven by the servo motors (5), a battery module (7), a control module (8), a positioning module (9), a voice module (10) and a communication module (11) are arranged in the protective cover (1), the anti-collision radar (12) is arranged on the peripheral surface of the protective cover (1), and the face recognition module (13) is arranged on the front end surface of the protective cover (1);
the Mecanum wheel (6) comprises a wheel hub (14) and a U-shaped support (15), wherein mounting holes (16) are formed in the middle of the wheel hub (14) in an annular array, the support (15) is fixed on the outer edge of the wheel hub (14) in an annular array, a first roller (17) is arranged in the support (15), a second roller (18) and a third roller (19) are respectively arranged on two sides of the support (15), a mandrel (20) is fixed in the middle of the support (15) in a transverse mode, the axis of the mandrel (20) and the axis of the wheel hub (14) form an included angle of 45 degrees, the first roller (17), the second roller (18) and the third roller (19) are all sleeved on the outer side of the mandrel (20), and limiting nuts (21) are mounted at two ends of the mandrel (20) and used for limiting the positions of the second roller (18) and the third roller (19);
The T-shaped flange plate (22) is installed at one end of the servo motor (5), the flange plate (22) is installed in the middle of the hub (14) through a fixing bolt (23), a sleeve (24) is installed at the other end of the servo motor (5), a horizontally arranged screw hole seat (25) is fixed on the surface of the sleeve (24), the screw hole seat (25) is fixedly connected with the protective cover (1) through a screw (26), and the sleeves (24) of the left servo motor (5) and the right servo motor (5) are connected through a cross beam (27);
control module (8), orientation module (9), voice module (10) and communication module (11) integration set up on a circuit board (28), orientation module (9), voice module (10) and communication module (11) respectively with control module (8) data connection, control module (8) respectively with servo motor (5), crashproof radar (12) and face identification module (13) data connection, battery module (7) provide electric power for circuit board (28), servo motor (5), crashproof radar (12) and face identification module (13).
2. The automatic medicine feeding trolley is characterized in that a partition plate (29) is arranged in the middle of the sleeve (24), a positioning pin (30) is fixed to the outer side of the partition plate (29), an opening (31) is formed in the inner wall of the sleeve (24) below the positioning pin (30), positioning grooves (32) are formed in the middle of two ends of the cross beam (27) respectively, the positioning pin (30) in the sleeve (24) is installed in the positioning groove (32) of the cross beam (27), stop blocks (33) are arranged at the bottoms of the two ends of the cross beam (27), and the stop blocks (33) are clamped in the opening (31).
3. The automatic medicine feeding trolley is characterized in that the first roller (17), the second roller (18) and the third roller (19) are installed to be olive-shaped integrally, roller bearings (34) are installed inside the first roller (17), the second roller (18) and the third roller (19), and the roller bearings (34) are sleeved on the outer side of the mandrel (20).
4. The automatic medicine conveying trolley is characterized in that a reinforcing rib (35) is fixed on the outer side of the medicine storage box (2), the bottom of the reinforcing rib (35) is fixedly connected with the backing plate (4), and a box door (36) is arranged on one side of the medicine storage box (2).
5. The automatic medicine conveying trolley is characterized in that the positioning module (9) adopts a GPS module, and the positioning module (9) is used for collecting positioning data in real time and transmitting the positioning data to the control module (8) for processing.
6. The automatic medicine conveying trolley is characterized in that a loudspeaker is adopted as the voice module (10), and the voice module (10) is used for converting voice data processed by the control module (8) into sound to be played.
7. The automatic medicine conveying trolley is characterized in that the communication module (11) is a wireless communication module, and the communication module (11) is used for receiving communication data, transmitting the communication data to the control module (8) for processing and remotely transmitting data transmitted by the control module (8).
8. The automatic medicine conveying trolley is characterized in that the anti-collision radar (12) adopts an ultrasonic anti-collision radar, and the anti-collision radar (12) is used for transmitting collected distance data between the medicine conveying trolley and surrounding obstacles during movement to the control module (8) for processing; the face recognition module (13) adopts a digital camera, and the face recognition module (13) is used for transmitting the collected face data to the control module (8) for processing.
9. The use method of the automatic medicine conveying trolley is characterized by comprising the following steps:
s1, the doctor diagnoses the disease of the patient, then an electronic drug bill is issued on the server, the patient waits in a rest area, the doctor transmits electronic drug bill data containing image information and name information of the patient to the pharmacy server through the server, the pharmacy server receives the electronic drug bill data and informs pharmacy staff of packaging drugs in a pharmacy, and the pharmacy server outputs a drug receiving instruction to the communication module of the drug delivery trolley;
s2, the communication module transmits the received medicine receiving instruction to the control module for processing, the control module calculates line information between the medicine conveying trolley and a pharmacy through the positioning module, the control module sends a control signal to drive the four servo motors to rotate and drive the Mecanum wheels to rotate so that the medicine conveying trolley moves to the position of the pharmacy, and pharmacy workers put packaged medicines into the medicine storage boxes and then output the medicine conveying instruction to the communication module of the medicine conveying trolley through a pharmacy server;
S3, the communication module transmits a medicine delivery instruction received by medicine delivery to the control module for processing, the control module calculates line information between the medicine delivery trolley and a patient through the positioning module, the control module sends a control signal to drive four servo motors to rotate and drive the Mecanum wheel to rotate so that the medicine delivery trolley moves to a rest area where the patient is located, at the moment, the control module transmits a signal to enable the voice module to send out medicine taking voice of the patient, the patient reaches the front of the medicine delivery trolley, the face recognition module extracts face information of the patient and transmits the face information to the control module for processing, the control module matches the face information with data of an electronic medicine bill, when the two data are matched, the voice module sends a 'please take medicine' voice, and when the two data are not matched, the voice module sends a 'can not take medicine' voice until the matched patient appears, and then the medicine delivery process can be completed.
10. The use method of the automatic medicine conveying trolley according to claim 9, wherein in the steps S2 and S3, the distance data between the medicine conveying trolley and the surrounding obstacles during the movement of the medicine conveying trolley, which is collected by the anti-collision radar in real time during the movement of the medicine conveying trolley, is transmitted to the control module for processing, when the distance between the medicine conveying trolley and the surrounding obstacles is less than 0.1m, the control module sends a command to stop the servo motor, and after 5S, the control module sends a command to start the servo motor again.
Technical Field
The invention relates to an automatic medicine feeding trolley.
Background
The medicine conveying trolley is equipment for medicine transportation in a hospital pharmacy, and is suitable for medicine conveying between the pharmacy and a patient. However, most of the existing medical drug delivery vehicles adopt trolleys, prescriptions are provided for doctors in hospitals, then the drug delivery vehicles are manually pushed to deliver drugs after the drugs are grabbed by pharmacy staff, the requirements of drug dispensing refinement and intelligent management of patients in future hospitals cannot be met, the drugs of different patients are often mixed together by manual drug delivery, medical disputes of drug misdistribution and missed distribution are easily caused, and various inconveniences are brought to the dispensing work of the patients in the future hospitals in the big data era.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic medicine feeding trolley which is flexible in structure, convenient to maintain and capable of automatically feeding medicines to patients.
The invention is realized in such a way that an automatic medicine feeding trolley comprises a protective cover and a medicine storage box, wherein the medicine storage box is detachably arranged on the protective cover, a cylindrical pin is fixed on the surface of the top of the protective cover, a base plate is arranged at the bottom of the medicine storage box, the top of the cylindrical pin is arranged in the base plate, four servo motors and Mecanum wheels driven by the servo motors are arranged at the bottom of the protective cover, a battery module, a control module, a positioning module, a voice module and a communication module are arranged in the protective cover, anti-collision radars are arranged on the peripheral surface of the protective cover, and a face recognition module is arranged on the surface of;
preferably, the Mecanum wheel comprises a wheel hub and a U-shaped support, wherein mounting holes are formed in the middle of the wheel hub in an annular array mode, the support is fixed to the outer edge of the wheel hub in an annular array mode, a first roller is arranged in the support, a second roller and a third roller are arranged on two sides of the support respectively, a mandrel is fixed in the middle of the support in a transverse mode, the axis of the mandrel and the axis of the wheel hub form an included angle of 45 degrees, the first roller, the second roller and the third roller are all sleeved on the outer side of the mandrel, and limiting nuts are arranged at two ends of the mandrel and used for limiting the positions of the second roller and the third roller;
Preferably, a T-shaped flange plate is installed at one end of the servo motor, the flange plate is installed in the middle of the wheel hub through a fixing bolt, a sleeve is installed at the other end of the servo motor, a horizontally arranged screw hole seat is fixed on the surface of the sleeve, the screw hole seat is fixedly connected with the protective cover through a screw, and the sleeves of the left servo motor and the right servo motor are connected through a cross beam;
as preferred, control module, orientation module, voice module and communication module are integrated to be set up on a circuit board, orientation module, voice module and communication module are connected with control module data respectively, control module respectively with servo motor, anticollision radar and face identification module data connection, battery module provides electric power for circuit board, servo motor, anticollision radar and face identification module.
Preferably, a partition plate is arranged in the middle of the sleeve, a positioning pin is fixed on the outer side of the partition plate, an opening is formed in the inner wall of the sleeve below the positioning pin, positioning grooves are formed in the middle of two ends of the cross beam respectively, the positioning pin in the sleeve is installed in the positioning grooves of the cross beam, stop blocks are arranged at the bottoms of the two ends of the cross beam, and the stop blocks are clamped in the openings.
Preferably, the first roller, the second roller and the third roller are installed to be olive-shaped integrally, roller bearings are installed inside the first roller, the second roller and the third roller, and the roller bearings are sleeved outside the mandrel.
Preferably, a reinforcing rib is fixed on the outer side of the medicine storage box, the bottom of the reinforcing rib is fixedly connected with the base plate, and a box door is arranged on one side of the medicine storage box.
Preferably, the positioning module adopts a GPS module, and the positioning module is used for collecting positioning data in real time and transmitting the positioning data to the control module for processing.
Preferably, the voice module adopts a loudspeaker, and the voice module is used for converting the voice data processed by the control module into sound to be played.
Preferably, the communication module is a wireless communication module, and the communication module is used for receiving communication data and transmitting the communication data to the control module for processing, and is also used for remotely transmitting data transmitted by the control module.
Preferably, the anti-collision radar is an ultrasonic anti-collision radar, and is used for transmitting collected distance data between the medicine conveying trolley and surrounding obstacles during movement to the control module for processing; the face recognition module adopts a digital camera and is used for transmitting the collected face data to the control module for processing.
Another problem solved by the present application is to provide a method for using an automatic medicine feeding trolley, which is characterized by comprising the following steps:
s1, the doctor diagnoses the disease of the patient, then an electronic drug bill is issued on the server, the patient waits in a rest area, the doctor transmits electronic drug bill data containing image information and name information of the patient to the pharmacy server through the server, the pharmacy server receives the electronic drug bill data and informs pharmacy staff of packaging drugs in a pharmacy, and the pharmacy server outputs a drug receiving instruction to the communication module of the drug delivery trolley;
s2, the communication module transmits the received medicine receiving instruction to the control module for processing, the control module calculates line information between the medicine conveying trolley and a pharmacy through the positioning module, the control module sends a control signal to drive the four servo motors to rotate and drive the Mecanum wheels to rotate so that the medicine conveying trolley moves to the position of the pharmacy, and pharmacy workers put packaged medicines into the medicine storage boxes and then output the medicine conveying instruction to the communication module of the medicine conveying trolley through a pharmacy server;
s3, the communication module transmits a medicine delivery instruction received by medicine delivery to the control module for processing, the control module calculates line information between the medicine delivery trolley and a patient through the positioning module, the control module sends a control signal to drive four servo motors to rotate and drive the Mecanum wheel to rotate so that the medicine delivery trolley moves to a rest area where the patient is located, at the moment, the control module transmits a signal to enable the voice module to send out medicine taking voice of the patient, the patient reaches the front of the medicine delivery trolley, the face recognition module extracts face information of the patient and transmits the face information to the control module for processing, the control module matches the face information with data of an electronic medicine bill, when the two data are matched, the voice module sends a 'please take medicine' voice, and when the two data are not matched, the voice module sends a 'can not take medicine' voice until the matched patient appears, and then the medicine delivery process can be completed.
Preferably, in the steps S2 and S3, the data of the distance between the medicine conveying trolley and the surrounding obstacle during the movement of the medicine conveying trolley, which is collected by the anti-collision radar in real time during the movement of the medicine conveying trolley, is transmitted to the control module for processing, when the distance between the medicine conveying trolley and the surrounding obstacle is less than 0.1m, the control module sends a command to stop the servo motor, and after 5S, the control module sends a command to start the servo motor again.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that: the arranged servo motor drives the Mecanum wheel, so that the whole structure is flexible and reliable in operation, and can realize transverse movement, front-back movement or rotary movement; the Mecanum wheel comprises a wheel hub and a U-shaped support, the support is fixed on the outer edge of the wheel hub in an annular array mode, a first roller is arranged in the support, a second roller and a third roller are arranged on two sides of the support respectively, and compared with the existing Mecanum wheel, the roller is directly installed in the wheel hub, the outer space of the roller is narrow and easy to block by sundries; be provided with battery module, control module, orientation module, voice module and communication module in the protection casing that sets up, surface mounting has anticollision radar all around the protection casing, and protection casing front end surface mounting has face identification module, can realize sending the medicine function automatically through above structure, reduces medical personnel's the time of sending medicine by a wide margin to make the patient need not queue up and wait.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a three-dimensional structure diagram of an automatic medicine feeding trolley provided by the invention.
Fig. 2 is a schematic block diagram of an automatic medicine delivery trolley provided by the invention.
Fig. 3 is a three-dimensional structure diagram of a servo motor of the automatic medicine feeding trolley provided by the invention.
FIG. 4 is a cross-sectional structural diagram of a sleeve of an automatic medicine feeding trolley provided by the invention.
Fig. 5 is a perspective view of a mecanum wheel of the automatic medicine feeding cart according to the present invention.
FIG. 6 is a side view of the first roller of the automatic medicine feeding cart according to the present invention.
FIG. 7 is a front view of a cross beam of the automatic medicine feeding cart provided by the invention.
FIG. 8 is a side view of the cross beam of the automatic medicine feeding cart provided by the invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1 to 8, the present embodiment provides an automatic medicine feeding trolley, which includes a protective cover 1 and a medicine storage box 2, wherein the medicine storage box 2 is a stainless steel shell, and the inside of the stainless steel shell is covered with a heat insulating material. The explosive box 2 is detachably mounted on the protective cover 1, a cylindrical pin 3 is fixed on the surface of the top of the protective cover 1, and a backing plate 4 is mounted at the bottom of the explosive box 2 and fixed in a welding mode. The top of the cylindrical pin 3 is arranged in the backing plate 4, and the backing plate 4 is provided with a corresponding hole for arranging the cylindrical pin, so that the whole medicine storage box 2 is convenient to disassemble, and the medicine storage boxes 2 with different volumes are replaced to meet the requirements of different patients. Four servo motors 5 and Mecanum wheels 6 driven by the servo motors 5 are arranged at the bottom of the protective cover 1, the servo motors 5 can control speed and position accuracy accurately, and voltage signals can be converted into torque and rotating speed to drive a control object. The four Mecanum wheels 6 are combined for use, so that the movement modes of advancing, transverse moving, oblique moving, rotating and combination of the advancing, transverse moving, oblique moving and rotating can be realized, and the flexible operation is ensured. Be provided with battery module 7, control module 8, orientation module 9, voice module 10 and communication module 11 in the protection casing 1, battery module 7, control module 8, orientation module 9, voice module 10 and communication module 11 are all installed in the casing to fix the casing inside protection casing 1. The anti-collision radar 12 is arranged on the peripheral surface of the protective cover 1, and the face recognition module 13 is arranged on the front end surface of the protective cover 1;
The mecanum wheel 6 comprises a
one end of the servo motor 5 is provided with a T-shaped flange plate 22, and a rotating shaft of the servo motor 5 is arranged in a sleeve of the flange plate 22 and fixed in a wedge block mode. The flange plate 22 is installed in the middle of the
Control module 8, orientation module 9, voice module 10 and communication module 11 are integrated to be set up on a circuit board 28, orientation module 9, voice module 10 and communication module 11 respectively with control module 8 data connection, control module 8 respectively with servo motor 5, anticollision radar 12 and face identification module 13 data connection, battery module 7 provides electric power for circuit board 28, servo motor 5, anticollision radar 12 and face identification module 13.
The middle part of the sleeve 24 is provided with a partition 29, the outer side of the partition 29 is fixed with a positioning pin 30, the inner wall of the sleeve 24 below the positioning pin 30 is provided with an opening 31, the middle parts of the two ends of the
The whole body of the
The outside of the medicine storage box 2 is fixed with a reinforcing rib 35, the bottom of the reinforcing rib 35 is fixedly connected with the backing plate 4, and the overall structure strength of the medicine storage box 2 is improved. A box door 36 is arranged on one side of the medicine storage box 2, so that medicines can be taken out of the medicine storage box 2 conveniently.
The positioning module 9 adopts a GPS module, and the positioning module 9 is used for collecting positioning data in real time and transmitting the positioning data to the control module 8 for processing.
The voice module 10 adopts a loudspeaker, and the voice module 10 is used for converting the voice data processed by the control module 8 into sound to be played.
The communication module 11 is a wireless communication module, and the communication module 11 is configured to receive communication data and transmit the communication data to the control module 8 for processing, and is further configured to remotely transmit data transmitted by the control module 8.
The anti-collision radar 12 is an ultrasonic anti-collision radar, and the anti-collision radar 12 is used for transmitting collected distance data between the medicine conveying trolley and surrounding obstacles during movement to the control module 8 for processing; the face recognition module 13 adopts a digital camera, and the face recognition module 13 is used for transmitting the collected face data to the control module 8 for processing.
A use method of an automatic medicine delivery trolley comprises the following steps:
S1, the doctor diagnoses the disease of the patient, then an electronic drug bill is issued on the server, the patient waits in a rest area, the doctor transmits electronic drug bill data containing image information and name information of the patient to the pharmacy server through the server, the pharmacy server receives the electronic drug bill data and informs pharmacy staff of packaging drugs in a pharmacy, and the pharmacy server outputs a drug receiving instruction to the communication module of the drug delivery trolley;
s2, the communication module transmits the received medicine receiving instruction to the control module for processing, the control module calculates line information between the medicine conveying trolley and a pharmacy through the positioning module, the control module sends a control signal to drive the four servo motors to rotate and drive the Mecanum wheels to rotate so that the medicine conveying trolley moves to the position of the pharmacy, and pharmacy workers put packaged medicines into the medicine storage boxes and then output the medicine conveying instruction to the communication module of the medicine conveying trolley through a pharmacy server;
s3, the communication module transmits a medicine delivery instruction received by medicine delivery to the control module for processing, the control module calculates line information between the medicine delivery trolley and a patient through the positioning module, the control module sends a control signal to drive four servo motors to rotate and drive the Mecanum wheel to rotate so that the medicine delivery trolley moves to a rest area where the patient is located, at the moment, the control module transmits a signal to enable the voice module to send out medicine taking voice of the patient, the patient reaches the front of the medicine delivery trolley, the face recognition module extracts face information of the patient and transmits the face information to the control module for processing, the control module matches the face information with data of an electronic medicine bill, when the two data are matched, the voice module sends a 'please take medicine' voice, and when the two data are not matched, the voice module sends a 'can not take medicine' voice until the matched patient appears, and then the medicine delivery process can be completed.
In the steps S2 and S3, the distance data between the medicine conveying trolley and the surrounding obstacles during movement, which is collected by the anti-collision radar in real time during the moving process of the medicine conveying trolley, is transmitted to the control module for processing, when the distance between the medicine conveying trolley and the surrounding obstacles is less than 0.1m, the control module sends an instruction to stop the servo motor, and after 5S, the control module sends an instruction to start the servo motor again.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that: the arranged servo motor drives the Mecanum wheel, so that the whole structure is flexible and reliable in operation, and can realize transverse movement, front-back movement or rotary movement; the Mecanum wheel comprises a wheel hub and a U-shaped support, the support is fixed on the outer edge of the wheel hub in an annular array mode, a first roller is arranged in the support, a second roller and a third roller are arranged on two sides of the support respectively, and compared with the existing Mecanum wheel, the roller is directly installed in the wheel hub, the outer space of the roller is narrow and easy to block by sundries; be provided with battery module, control module, orientation module, voice module and communication module in the protection casing that sets up, surface mounting has anticollision radar all around the protection casing, and protection casing front end surface mounting has face identification module, can realize sending the medicine function automatically through above structure, reduces medical personnel's the time of sending medicine by a wide margin to make the patient need not queue up and wait.
The foregoing is a preferred embodiment of the present invention, and it should be noted that it would be apparent to those skilled in the art that various modifications and enhancements can be made without departing from the principles of the invention, and such modifications and enhancements are also considered to be within the scope of the invention.
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