A drone transportation system and transportation method for hospital blood sample transportation

Abstract

The present invention discloses a drone transportation system and transportation method for hospital blood sample transportation, wherein the drone transportation system includes: blood sample collection terminals arranged in each ward; blood sample receiving terminals distributed in each inspection area; sample boxes for placing blood samples; a drone for transporting the sample boxes between the blood sample collection terminal and the blood sample receiving terminal, wherein the bottom of the drone is provided with a sample box grabbing device and a sample box protection device; the sample box protection device includes at least three support arms, when the drone is in a flying state, the ends of each support arm are bent toward each other to form a folded state surrounding the sample box carrying area; when the drone is in a parked state, each support arm is straightened to form an extended state supporting the drone. The present invention does not need to change the existing hospital infrastructure layout, saves costs, and can realize fully automatic blood sample transportation, reduce manpower input, and ensure the safety of the transportation process.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle transportation system and a transportation method for transporting blood samples in a hospital. Background Art

[0002] At present, the transportation of blood samples in hospitals is mostly carried out by nurses or caregivers within a predetermined time period. Each blood sample has information such as specimen collection barcode, name, age, bed number, department, and hospitalization number. The nurse or caregiver checks the blood sample according to the specimen delivery list, and then sends it to the laboratory. After verifying that the blood sample is correct with the laboratory staff, the laboratory staff will test the blood sample.

[0003] The existing blood sample transportation process is very cumbersome and consumes a lot of manpower. In addition, many hospitals now use socialized logistics personnel for transportation, which makes it difficult to ensure the safety of transportation.

[0004] Unmanned aerial vehicle, abbreviated as "UAV", is an unmanned aircraft controlled by radio remote control equipment and self-contained program control device. UAVs are increasingly widely used in the field of cargo transportation due to their small size and maneuverability.

[0005] For example, Zipline has developed a special service system for the delivery of medical drugs and blood in poor areas. The process starts with a "text message for help" sent by a doctor or nurse. When the drone operator receives the text message for help, he finds the required drugs in the central drug warehouse, puts the drugs into a cardboard box, and then places the cardboard box in the "belly" of the drone. At the same time, a battery is placed at the front of the drone, and the flight plan is uploaded to the iPad. After receiving the command, the drone takes off and delivers the drugs.

[0006] Google, JD.com and other companies have begun using drone logistics to deliver goods. Existing drone logistics (including the medical drug and blood delivery by drone mentioned above) is usually suitable for long-distance delivery. The collection and delivery of goods are all placed or collected by people, and the delivery environment is an open environment. The transportation of blood samples in hospitals requires at least multiple locations such as wards, laboratories, and central laboratories, and the transportation distance is short, which requires a higher degree of automation. Summary of the invention

[0007] The present invention provides a drone transportation system and transportation method for hospital blood sample transportation, which does not require changes to the existing hospital infrastructure layout, saves costs, and can achieve fully automatic blood sample transportation, reduce manpower input, and ensure the safety of the transportation process.

[0008] A drone transportation system for transporting blood samples in hospitals, comprising:

[0009] Blood sample collection terminals are arranged in each ward;

[0010] Blood sample receiving terminals distributed in each testing area;

[0011] a specimen box for placing blood specimens;

[0012] A drone for transporting a sample box between a blood sample collection terminal and a blood sample receiving terminal, wherein a sample box grabbing device and a sample box protection device are provided at the bottom of the drone;

[0013] The sample box protection device includes at least three support arms. When the UAV is in a flying state, the ends of each support arm are bent toward each other to form a retracted state surrounding the sample box carrying area; when the UAV is in a parked state, each support arm is straightened to form an extended state supporting the UAV.

[0014] The present invention sets up corresponding blood sample collection terminals in various wards of the hospital, and sets up respective blood sample receiving terminals in divided areas of testing locations such as the laboratory or central laboratory. The blood samples are placed in sample boxes, which are transported by drones using the sample boxes as carriers.

[0015] After the drone stops at the blood sample collection terminal, it automatically grabs the sample box, transports the sample box to the blood sample receiving terminal, and then automatically unloads the sample box.

[0016] When blood samples are shaken, blood coagulation is likely to occur. The present invention reduces the shaking of the sample box during transportation by providing a sample box protection device. When the drone is in flight, the support arms are bent toward each other to form a folded state surrounding the sample box carrying area. The sample box in the sample box carrying area will not fall or shake violently under the limiting effect of the support arms. When the drone is in a parked state, the support arms are in an extended state to support the drone.

[0017] Preferably, the end of each support arm is provided with a shockproof pad, and when the support arm is in the folded state, the shockproof pad abuts against the sample box, so as to further prevent the shaking of the sample box and protect the blood sample.

[0018] Preferably, it also includes a central control system, a transport relay and a weather monitoring terminal. The blood sample collection terminal, the blood sample receiving terminal, the transport relay and the weather monitoring terminal all communicate with the central control system via wired signals. The blood sample collection terminal, the blood sample receiving terminal, the transport relay and the weather monitoring terminal, and the central control system all communicate with the drone via wireless signals.

[0019] The drone transportation system provided by the present invention coordinates the signals between the drone and each terminal through a central control system. Wired communication is achieved by arranging a local area network in the hospital, and wireless communication is achieved by arranging wireless node routing at fixed locations in each building and networking using Zigbee technology.

[0020] The number of drones is set according to needs. A dedicated drone is set up for each blood sample collection terminal to transport blood samples to reduce the error rate. Each drone is marked with an ID number for identification. When the drone is idle, it stays at the transport relay and weather monitoring terminal for temporary docking and charging.

[0021] Preferably, the blood sample collection terminal, the blood sample receiving terminal, the transport relay and the weather monitoring terminal are all provided with an identification area indicating an ID and a wireless charging device, and the drone is provided with an ID recognition unit and a wireless charging battery.

[0022] The drone distinguishes different terminals through the ID recognition unit, and when the drone docks at any terminal, the terminal can charge the drone.

[0023] Preferably, the blood sample collection terminal, the blood sample receiving terminal, the transport relay and the weather monitoring terminal are all provided with a parking bracket, on which a parking area corresponding to each support arm is provided, and each parking area is provided with a parking mark, and the drone is provided with a parking mark identification unit for docking the support arm on the corresponding parking area.

[0024] When the drone is parked, the support arm at the bottom of the drone will dock at the corresponding parking area based on the parking mark recognition result.

[0025] Preferably, both the blood sample collection terminal and the blood sample receiving terminal are provided with a conveyor belt for conveying the sample boxes, and the parking areas of the parking brackets are arranged on both sides of the conveyor belt.

[0026] Preferably, the blood sample collection terminal is provided with a sending processing unit for sending blood sample transportation information, the blood sample receiving terminal is provided with a receiving processing unit for receiving completed blood samples, and both the blood sample collection terminal and the blood sample receiving terminal are provided with a drone attitude recognition unit, and a slide for controlling the horizontal offset of the sample box according to the drone attitude recognition result.

[0027] The drone attitude recognition unit identifies whether the drone is docked in place, and moves the sample box to the appropriate position by means of a slide in accordance with the docking position of the drone.

[0028] The docking position of the drone is not easy to control accurately, and may be offset in the horizontal plane and perpendicular to the moving direction of the conveyor belt. Therefore, a slide is needed to adjust the position of the sample box to match the docking position of the drone.

[0029] Preferably, each support arm includes an electric push rod, and a first support rod, a second support rod and a third support rod hinged in sequence. The electric push rod drives the second support rod to rotate relative to the first support rod through a connecting rod mechanism, and the electric push rod also pulls the third support rod to rotate relative to the second support rod through a traction rope.

[0030] Preferably, the sample box grabbing device comprises two L-shaped clamping arms hinged to each other, and the two clamping arms are of different lengths.

[0031] The present invention also provides a method for transporting blood samples using the drone transport system, comprising:

[0032] Step 1, entering the transportation urgency of the blood sample in the central control system, the transportation urgency includes ordinary and urgent;

[0033] Step 2: The central control system determines whether drone transportation can be enabled based on the weather signals from the transport relay and weather monitoring terminal. If it can be enabled, proceed to step 3.

[0034] Step 3: Perform the following actions at the blood sample collection terminal:

[0035] The sample box is placed on the conveyor belt, the sending processing unit sends the blood sample waiting information, and the drone attitude recognition unit detects whether the drone has arrived:

[0036] If the drone has not arrived, the sending processing unit continues to send the waiting information until the drone arrives;

[0037] If the drone arrives, the position of the sample box is adjusted to match the position of the sample box grabbing device through the conveyor belt and the slide according to the information of the drone attitude recognition unit, and the sample box grabbing device grabs the sample box and proceeds to step 4;

[0038] Step 4: The drone flies according to the planned path of the central control system. The planned path includes the following situations:

[0039] a. If the transportation urgency is urgent, the drone will fly directly to the blood sample receiving terminal and proceed to step 5;

[0040] b. If the transport urgency is normal, the drone flies to the transport relay and weather monitoring terminal for docking and charging, and then proceeds to step 5;

[0041] Step 5: Perform the following actions at the blood sample receiving terminal:

[0042] The receiving processing unit sends idle information to the central control system based on the result of the drone posture recognition unit, and the central control system broadcasts the idle information of the blood sample receiving terminal;

[0043] After the drone flies to the blood sample receiving terminal, it hovers until the corresponding blood sample receiving terminal is idle, and then the drone docks on the parking bracket, and the sample box grabbing device releases the sample box;

[0044] After the sample box is released, the receiving and processing unit sends an unloading completion message to the central control system and prompts the inspector to take the blood sample.

[0045] Compared with the prior art, the present invention has the following advantages:

[0046] (1) Based on the original infrastructure of the hospital, various terminals are built, and drones are used to realize the fully automatic transportation of blood samples within the hospital, saving manpower, operation and supervision costs;

[0047] (2) The sample box is provided with multi-layer protection through a sample box protection device and a shockproof pad to prevent the blood sample from becoming ineffective;

[0048] (3) Distinguish between emergency and ordinary situations to ensure that blood samples for emergency testing can be transported to the testing department or central laboratory for testing as quickly as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a structural block diagram of the drone transportation system for hospital blood sample transportation of the present invention;

[0050] Figure 2 This is a layout diagram of the drone transportation system for hospital blood sample transportation of the present invention in a hospital;

[0051] Figure 3 It is a structural block diagram of the UAV in the present invention;

[0052] Figure 4 is a structural diagram of the drone of the present invention;

[0053] Figure 5a is a schematic diagram of the sample protection device of the present invention in a folded state;

[0054] Figure 5b is a schematic diagram of the sample protection device of the present invention in an extended state;

[0055] Figure 6 It is a structural block diagram of the blood sample collection terminal in the present invention;

[0056] Figure 7 It is a structural block diagram of the blood sample receiving terminal in the present invention;

[0057] Figure 8 A schematic diagram of an identification area marked with ID in the present invention;

[0058] Fig. 9It is a structural block diagram of the transport relay and weather monitoring terminal in the present invention;

[0059] Fig.10 It is a structural block diagram of the parking module in the present invention;

[0060] Fig.11 It is a top view of the parking module and the sample transmission module in the present invention;

[0061] Fig.12 It is a side view of the parking module and the sample transfer module in the present invention;

[0062] Fig.13a is a schematic diagram of a sample box grabbing device in the present invention;

[0063] Fig.13b for Fig.13a A-direction schematic diagram in FIG.

[0064] Fig.14 is a schematic diagram of a sample box in the present invention;

[0065] Fig.15 is a circuit block diagram of the wireless charging device in the present invention;

[0066] Fig.16 It is a circuit block diagram of the wireless charging battery in the present invention. DETAILED DESCRIPTION

[0067] The following is a detailed description of the drone transportation system and transportation method for hospital blood sample transportation according to the present invention in conjunction with the accompanying drawings.

[0068] Example 1

[0069] like Figure 1 As shown, a drone transportation system for hospital blood sample transportation includes: blood sample collection terminals arranged in each ward, blood sample receiving terminals distributed in each inspection area, drones, sample boxes for placing blood samples, transportation relays and weather monitoring terminals, and a central control system; the blood sample collection terminals, blood sample receiving terminals, transportation relays and weather monitoring terminals all communicate with the central control system using wired signals, and the blood sample collection terminals, blood sample receiving terminals, transportation relays and weather monitoring terminals, and the central control system all communicate with the drones through wireless signals.

[0070] Each ward is equipped with multiple blood sample collection terminals as needed, and each inspection area is equipped with multiple blood sample receiving terminals as needed. The drone carries the specimen box and transports the specimen box between the blood sample collection terminal and the blood sample receiving terminal.

[0071] like Figure 2As shown, the blood sample collection terminal 201 is set in each ward, and each ward is correspondingly provided with a dedicated drone 204, which is dedicated to transporting blood samples of the corresponding ward.

[0072] The transport relay and weather monitoring terminal 202 is usually arranged on the roof of the tallest building of the hospital to facilitate monitoring of weather conditions.

[0073] The blood sample receiving terminal 203 is generally set up in the laboratory or central laboratory.

[0074] The blood sample collection terminal 201, the blood sample receiving terminal 203, the transport relay and weather monitoring terminal all communicate with the central control system using wired signals. The wired signals are transmitted through the local area network arranged in the hospital. At the same time, a wireless node router 205 is set at a fixed location in the hospital building. The drone 204, the blood sample collection terminal 201, the blood sample receiving terminal 203, the transport relay and weather monitoring terminal, and the central control system are all equipped with wireless nodes, and a wireless sensor network is constructed through Zigbee.

[0075] The hardware core of the wireless node of the drone 204 adopts TI's CC2430. The communication distance is the key to whether communication is possible. The output of the general ZigBee front-end RF part is mostly only 0dBm, and the actual communication distance is only tens of meters, which cannot meet the use requirements. This embodiment adopts an external expansion amplifier method, using TI's CC2591 amplifier chip to achieve a combination with ZigBee single chips such as CC2430, so as to achieve the expansion of ZigBee communication distance at a very low cost.

[0076] After adopting CC2591, the point-to-point communication distance of ZigBee network in open areas can easily reach more than 1000 meters. Through the automatic relay routing of ZigBee network, it is easy to achieve network communication of tens of kilometers with micro power consumption.

[0077] like Figure 3 As shown, the drone includes a microcontroller, a sensor, a sample box grabbing device, a flying frame, a sample box protection device, a wireless charging battery, and a wireless node, wherein the wireless charging battery supplies power to the microcontroller, the sensor, the sample box grabbing device, the flying frame, and the sample box protection device, and the microcontroller coordinates and controls the signals and actions of the flying frame, the sensor, the sample box grabbing device, the wireless charging battery, and the sample box protection device.

[0078] The structure of the drone in this embodiment is as follows Figure 4 As shown, the drone includes:

[0079] The flight frame 401 includes a supporting body and flight blades;

[0080] The sample box protection device 402 is fixedly mounted at the bottom of the flight frame. The sample box protection device includes four support arms. When the UAV is in a flying state, the ends of the support arms are bent toward each other to form a retracted state surrounding the sample box carrying area; when the UAV is in a parked state, the support arms are straightened to form an extended state supporting the UAV.

[0081] A square platform is provided between each support arm, and each side of the square platform is welded and fixed to the adjacent support arm;

[0082] The microcontroller 403 adopts an ARMCortex-M3 series single-chip microcomputer. The microcontroller realizes the overall motion control of the UAV, including but not limited to path navigation in the environment, obstacle avoidance, posture adjustment of the UAV itself, control of the sample box grabbing device, control of the sample box protection device, etc.

[0083] The wireless charging battery 404 adopts the receiving end solution of TI's highly integrated and easy-to-implement wireless charging solution, and can be charged wirelessly;

[0084] The flight sensor 405 mainly includes two functions: one is used for attitude detection, including gyroscopes, accelerometers, magnetometers, barometers, etc., and the other is used for obstacle avoidance, including multiple ultrasonic sensors for detecting obstacles, which are respectively arranged on the top, bottom, front, back, left and right sides of the platform.

[0085] A sample box grabbing device 406 for grabbing and unloading the sample box;

[0086] A distance sensor 407 detects whether the sample box is in place, and an ultrasonic sensor may be used;

[0087] The parking sensor 408 is used to detect the parking mark, and an infrared sensor can be used to detect color difference. The parking mark is a black and white pattern, which is easy for the parking sensor to identify.

[0088] The sample box protection device includes four support arms, each of which has a structure as follows: Figure 5a , Figure 5b As shown, when the drone is flying, each support arm is in the following Figure 5a When the drone is parked, the support arms are in the following positions: Figure 5a Shown in extended state.

[0089] Each support arm includes an electric push rod 501, and a first support rod 507a, a second support rod 507b and a third support rod 507c which are hinged in sequence. The electric push rod 501 drives the second support rod 507b to rotate relative to the first support rod 507a through a connecting rod mechanism. The electric push rod 501 also pulls the third support rod 507c to rotate relative to the second support rod 507b through a traction rope.

[0090] The first support rod 507a is fixedly connected to the square platform, and the electric push rod 501 is installed on the square platform. The push rod extension direction of the electric push rod 501 is parallel to the first support rod 507a.

[0091] The first support rod 507a and the second support rod 507b are hingedly connected via a first hinge axis, and the second support rod 507b and the third support rod 507c are hingedly connected via a second hinge axis.

[0092] The connecting rod mechanism includes a first connecting rod 508, a second connecting rod 509 and a third connecting rod 513 whose ends are connected in sequence. The free end of the first connecting rod 508 is hinged to the push rod end of the electric push rod 501, and the free end of the third connecting rod 513 is fixedly connected to the second support rod 507b (the connection point is located at the hinge between the second support rod 507b and the first support rod 507a). The first connecting rod 508 and the second connecting rod 509 are hinged, and the second connecting rod 509 and the third connecting rod 513 are fixedly connected, and the angle between the second connecting rod 509 and the third connecting rod 513 is 90 degrees.

[0093] There are two traction ropes, namely traction rope 510 and traction rope 511. One end of each traction rope is fixedly connected to the end of the push rod of the electric push rod 501, and the other end is connected to the third support rod 507c. The two connection points on the third support rod 507c are arranged on both sides of the second hinge shaft.

[0094] The first support rod 507a is provided with four insertion points for passing the traction rope, wherein the insertion points 512c and 512d are located on both sides of the first hinge axis, and the insertion points 512a and 512b are arranged in sequence along the length direction of the first support rod 507a.

[0095] The travel paths of the traction rope 510 and the traction rope 511 do not intersect each other.

[0096] The third support rod 507c is provided with a shockproof pad 505, and when the support arm is in the folded state, the shockproof pad 505 abuts against the sample box. A parking sensor 506 is also provided on the third support rod 507c.

[0097] The process of changing from the extended state to the contracted state is:

[0098] The electric push rod 501 extends, pushing the first connecting rod 508 to move, and the first connecting rod 508 pushes the second supporting rod 507b to rotate around the first hinge axis, so that the second supporting rod 507b changes from an extended state to a retracted state;

[0099] The electric push rod 501 extends, driving the two traction ropes to move, wherein the traction rope 511 is tightened and the traction rope 510 is relaxed, thereby driving the third support rod 507c to rotate around the second hinge axis, so that the third support rod 507c changes from an extended state to a retracted state.

[0100] The block diagram of the blood sample collection terminal is as follows: Figure 6 As shown, including:

[0101] An identification area marked with an ID, which is set on the window of the hospital building. Each blood sample collection terminal corresponds to an ID; the drone is equipped with a corresponding ID recognition unit, which can identify the identity of each blood sample collection terminal;

[0102] The specimen transport module is used to transport the specimen box to a location where the drone can grab it;

[0103] Parking module, used for the drone to dock and charge;

[0104] A drone attitude recognition unit, used to identify the location of the drone;

[0105] Wireless nodes;

[0106] The sending processing unit communicates with the drone through the Zigbee network and communicates with the central control system through a wired method. The sending processing unit controls the actions and signals of the specimen transmission module, the parking module, and the wireless nodes.

[0107] The block diagram of the blood sample receiving terminal is as follows: Figure 7 As shown, including:

[0108] An identification area marked with an ID, which is set on the window of the hospital building. Each blood sample receiving terminal corresponds to an ID; the drone is equipped with a corresponding ID recognition unit, which can identify the identity of each blood sample receiving terminal;

[0109] A specimen transport module, used to transport the specimen box to a manual retrieval position;

[0110] Parking module, used for the drone to dock and charge;

[0111] A drone attitude recognition unit, used to identify the location of the drone;

[0112] Wireless nodes;

[0113] The receiving and processing unit communicates with the drone through the Zigbee network and communicates with the central control system through wired means. The receiving and processing unit controls the actions and signals of the specimen transmission module, the parking module, and the wireless nodes.

[0114] like Figure 8As shown, the entrance of the blood sample collection terminal or the blood sample receiving terminal is the window of the hospital building, and two QR codes or other labels that can identify and distinguish the current area are marked on the two opposite windows. If the drone detects two labels at the same time, both windows are in a closed state, and the drone sends a window opening request to the sending processing unit or the receiving processing unit. If only one label is detected, it flies from the window opening position and stops.

[0115] The block diagram of the transport relay and weather monitoring terminal is as follows: Fig. 9 As shown, including:

[0116] ID identification unit: The drone is equipped with a corresponding ID identification unit, which can identify the identity of each blood sample receiving terminal;

[0117] Parking module, used for the drone to dock and charge;

[0118] Wireless nodes;

[0119] The weather monitoring unit is used to monitor the weather and send weather conditions to the central control system. The weather monitoring unit includes wind speed detection and rainfall detection. The wind speed detection can use the neutral brand HSTL-FS01 wind speed sensor, and the rainfall detection can use Luger's L99-YLW rain recorder. When the wind speed exceeds a certain value or raindrops are detected, the transportation will be stopped.

[0120] The relay processing unit communicates with the drone through the Zigbee network and communicates with the central control system through wired means. The relay processing unit controls the actions and signals of the parking module, weather monitoring unit and wireless nodes.

[0121] The block diagram of the blood sample collection terminal, the blood sample receiving terminal, and the parking module in the transport relay and weather monitoring terminal is as follows: Fig.10 As shown, the parking module includes a parking bracket and a wireless charging device. The parking bracket is provided with a parking area corresponding to each support arm, and each parking area is provided with a parking mark.

[0122] The wireless charging device charges the wireless charging battery of the drone wirelessly. The wireless charging battery adopts the 5V input transmitter solution of TI's highly integrated and easy-to-implement wireless charging solution.

[0123] The top view of the blood sample collection terminal, the parking module and the sample transmission module in the blood sample receiving terminal is as shown in FIG. Fig.11 As shown, including:

[0124] Conveyor belt 1103;

[0125] A stepper motor 1106 for controlling the movement of the conveyor belt;

[0126] The linear slide 1104 is provided with a moving block with a clamping device. The clamping device clamps the specimen box to adjust the horizontal offset. The horizontal offset is precisely controlled according to the parking position of the UAV unit. The linear slide can adopt Lowent's DG42Z300.

[0127] The parking bracket 1107 is provided with a parking area corresponding to each supporting arm, each parking area is provided with a parking mark 1101, and a pressure sensor is placed under the parking mark 1101 to calculate the precise parking position of the drone.

[0128] The wireless charging device 1102 is disposed below the conveyor belt 1103 to provide wireless charging for the parked drone.

[0129] The sending processing unit 1108 (or receiving processing unit) controls the wireless charging device 1102, the linear slide 1104, and the stepper motor 1106 according to the instructions of the drone attitude recognition unit and the central control system, and feeds back the transportation information of the sample box 1105 to the central control system.

[0130] The side view of the blood sample collection terminal, the parking module and the sample transmission module in the blood sample receiving terminal is shown in FIG. Fig.12 As shown, the sample box protection device of the drone 1201 is in a folded state. After passing through the building window 1202, the support arm in the sample box protection device of the drone 1203 is in an extended state (that is, the drone is in a parked state, and the support arm supports the drone). The sample box 1204 is located on the conveyor belt 1205, and a wireless charging device 1206 is arranged under the conveyor belt 1205. Fig.12 In the figure, the same drone is shown in different states.

[0131] The structure of the sample grabbing device is as follows Fig.13a , Fig.13b As shown, it includes two L-shaped clamp arms 1301 hinged to each other, and the two clamp arms have slightly different lengths. Each clamp arm is a grid-shaped structure (that is, each clamp arm includes a plurality of support rods 1302 arranged parallel to each other, and the support rods 1302 are fixedly connected by connecting rods). Even if the sample grasping device fails to be fully aligned with the sample box, it can still clamp the specimen box.

[0132] The structure of the sample box is as follows Fig.14 As shown, the specimen box is a rectangular structure with a lifting rod on the top of the specimen box. The top of the lifting rod expands into a sphere to facilitate the clamping of the specimen box. When the lifting rod is clamped by the sample grabbing device, the specimen box is not likely to fall due to the blocking effect of the sphere.

[0133] The circuit block diagram of the wireless charging device is as follows Fig.15As shown, the 5V input transmitter solution is adopted from TI's highly integrated and easy-to-implement wireless charging solution.

[0134] The circuit diagram of the wireless charging battery is as follows Fig.16 As shown, the receiving end solution of TI's highly integrated and easy-to-implement wireless charging solution is adopted.

[0135] Example 2

[0136] A method for transporting a blood sample using the drone transport system described in Example 1 comprises the following steps:

[0137] (1) After the nurse collects the blood sample, she will attach a barcode to each blood sample, collect a certain number of samples, place them in a sample box, scan the barcode on the sample box, and register it on the blood sample central control system to form an independent data set for the sample box and the blood sample. She will also set the transportation urgency of the sample box, including emergency and normal.

[0138] (2) Based on the weather monitoring information, the nurse is prompted whether automatic transportation can be used. If automatic transportation is allowed, the nurse places the sample box on the conveyor belt of the blood sample collection terminal, and the blood sample collection terminal sends a request to the central control system to transport the blood sample.

[0139] The drone attitude recognition unit detects whether the drone has arrived. If the drone has not arrived, the blood sample collection terminal continues to request transportation information to the central control system. If the drone has arrived, based on the recognition result of the drone attitude recognition unit, a linear slide is used to adjust the horizontal offset of the sample box so that the sample box is aligned with the sample box grabbing device. After alignment, the sample box grabbing device grabs the sample box. During the grabbing process, each support arm remains extended.

[0140] (3) After the drone is loaded with sample boxes, the flight route is planned according to the ward number and urgency.

[0141] If the transportation urgency is urgent, the route is planned directly to the inspection area. If the transportation urgency is ordinary, the route is planned to the transportation relay and weather monitoring terminal.

[0142] If the drone's battery is low, it will fly away after wireless charging in the ward; if the drone's battery is sufficient, it will fly away directly; after the drone flies away from the ward, the support arms are in a folded state.

[0143] When the urgency level is normal, after the drone arrives at the transport relay and weather monitoring terminal, the blood sample center control system assigns the drone an arrival number through the wireless sensor network constructed by wireless nodes.

[0144] (4) The blood sample receiving terminal informs the central control system based on whether there is a drone parked there; the central control system broadcasts the idle information of the blood sample receiving terminal through the wireless sensor network constructed by wireless nodes.

[0145] When the transportation urgency is urgent, after the drone arrives at the blood sample receiving terminal, it will hover and wait until it is free. According to the free sequence number, the drone will fly to the blood sample receiving terminal, and each support arm will extend and dock in the corresponding parking area to automatically unload the sample box.

[0146] When the transport urgency is normal, after all drones with emergency levels have docked and unloaded, the drones will wait for idle information and take off in sequence according to the arrival sequence to the corresponding idle blood sample receiving terminals in the inspection area.

[0147] (5) After the drone arrives at the blood sample receiving terminal, each support arm extends and stops at the corresponding parking area, automatically unloading the sample box. At the same time, the unloading completion information is sent through the wireless sensor network, and the drone flies back to the corresponding ward.

[0148] After the blood sample receiving terminal receives the sample box, it moves the blood sample to the removal area via a conveyor belt and prompts the central control system. The central control system prompts the inspector, who then manually takes the blood sample from the removal area.

[0149] (6) The transport relay and weather monitoring terminal detects weather information and informs the central control system of the weather conditions. The central control system controls whether the conveyor belt passes the sample box according to the weather conditions. If the drone fails to detect the sample box, it will not take off for transportation.

Claims

1. A drone transportation system for transporting blood samples in hospitals, It is characterized in that include: Blood sample collection terminals are arranged in each ward; Blood sample receiving terminals distributed in each testing area; a specimen box for placing blood specimens; A drone for transporting a sample box between a blood sample collection terminal and a blood sample receiving terminal, wherein a sample box grabbing device and a sample box protection device are provided at the bottom of the drone; The sample box grabbing device comprises two L-shaped clamping arms hinged to each other, and the two clamping arms are of different lengths, each clamping arm comprises a plurality of supporting rods arranged in parallel to each other, and the supporting rods are fixedly connected by connecting rods; a lifting rod is provided on the top of the sample box, and the top end of the lifting rod expands into a sphere; The sample box protection device includes at least three support arms. When the drone is in a flying state, the ends of the support arms are bent toward each other to form a retracted state surrounding the sample box carrying area; when the drone is in a parked state, the support arms are straightened to form an extended state supporting the drone. The blood sample collection terminal and the blood sample receiving terminal are both provided with a conveyor belt for conveying the sample box, and the parking areas of the parking brackets are arranged on both sides of the conveyor belt; Each support arm includes an electric push rod, and a first support rod, a second support rod and a third support rod which are hinged in sequence. The electric push rod drives the second support rod to rotate relative to the first support rod through a connecting rod mechanism, and the electric push rod also pulls the third support rod to rotate relative to the second support rod through a traction rope. Each support arm has two traction ropes, namely a first traction rope (510) and a second traction rope (511), one end of each traction rope is fixedly connected to the end of the push rod of the electric push rod, and the other end is connected to the third support rod, and two connection points on the third support rod are arranged on both sides of the second hinge shaft; The first support rod is provided with four insertion points for passing the traction rope, wherein two insertion points (512c, 512d) are respectively located on both sides of the first hinge axis, and the other two insertion points (512a, 512b) are arranged in sequence along the length direction of the first support rod; The travel paths of the first traction rope and the second traction rope do not intersect each other; The blood sample collection terminal is provided with a sending processing unit for sending blood sample waiting-for-transport information, and the blood sample receiving terminal is provided with a receiving processing unit for receiving completed blood samples. Both the blood sample collection terminal and the blood sample receiving terminal are provided with a drone attitude recognition unit, and a slide table for controlling the horizontal displacement of the sample box according to the drone attitude recognition result; The method of transporting a blood sample using the drone transport system comprises: Step 1, entering the transportation urgency of the blood sample in the central control system, the transportation urgency includes ordinary and urgent; Step 2: The central control system determines whether drone transportation can be enabled based on the weather signals from the transport relay and weather monitoring terminal. If it can be enabled, proceed to step 3. Step 3: Perform the following actions at the blood sample collection terminal: The sample box is placed on the conveyor belt, the sending processing unit sends the blood sample waiting information, and the drone attitude recognition unit detects whether the drone has arrived: If the drone has not arrived, the sending processing unit continues to send the waiting information until the drone arrives; If the drone arrives, the position of the sample box is adjusted to match the position of the sample box grabbing device through the conveyor belt and the slide according to the information of the drone attitude recognition unit, and the sample box grabbing device grabs the sample box and proceeds to step 4; Step 4: The drone flies according to the planned path of the central control system. The planned path includes the following situations: a. If the transportation urgency is urgent, the drone will fly directly to the blood sample receiving terminal and proceed to step 5; b. If the transport urgency is normal, the drone flies to the transport relay and weather monitoring terminal for docking and charging, and then proceeds to step 5; Step 5: Perform the following actions at the blood sample receiving terminal: The receiving processing unit sends idle information to the central control system based on the result of the drone posture recognition unit, and the central control system broadcasts the idle information of the blood sample receiving terminal; After the drone flies to the blood sample receiving terminal, it hovers until the corresponding blood sample receiving terminal is idle, and then the drone docks on the parking bracket, and the sample box grabbing device releases the sample box; After the sample box is released, the receiving and processing unit sends an unloading completion message to the central control system and prompts the inspector to take the blood sample.

2. The drone transportation system for hospital blood sample transportation as claimed in claim 1, It is characterized in that The end of each support arm is provided with a shockproof pad, and when the support arm is in a folded state, the shockproof pad abuts against the sample box.

3. The drone transportation system for hospital blood sample transportation as claimed in claim 2, It is characterized in that It also includes a central control system, a transport relay and a weather monitoring terminal. The blood sample collection terminal, the blood sample receiving terminal, the transport relay and the weather monitoring terminal all communicate with the central control system via wired signals. The blood sample collection terminal, the blood sample receiving terminal, the transport relay and the weather monitoring terminal, and the central control system all communicate with the drone via wireless signals.

4. The drone transportation system for hospital blood sample transportation as claimed in claim 3, It is characterized in that The blood sample collection terminal, the blood sample receiving terminal, the transport relay and the weather monitoring terminal are all provided with an identification area indicating an ID and a wireless charging device, and the drone is provided with an ID recognition unit and a wireless charging battery.

5. The drone transportation system for hospital blood sample transportation as claimed in claim 4, It is characterized in that The blood sample collection terminal, the blood sample receiving terminal, the transport relay and the weather monitoring terminal are all provided with a parking bracket, on which a parking area corresponding to each support arm is provided, and each parking area is provided with a parking mark, and the drone is provided with a parking mark identification unit for docking the support arm on the corresponding parking area.

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