A smart medicine delivery vehicle

Abstract

This invention relates to an intelligent medicine delivery cart, comprising a cart body, a traveling mechanism, a medicine box, a medicine box lifting mechanism, a medicine box translating mechanism, and a water filling mechanism. The medicine boxes are stored in a sealed medicine box, with medications taken at different times stored separately and timed accordingly. When medication is needed, the cart automatically travels to the designated location to remind the user to take the medication. Simultaneously, the medicine box rises and indicates the location of the medication, and automatically fills a water cup with warm water to ensure the user takes the medication on time and in the correct dosage.

Description

Technical Field

[0001] The present invention relates to the technical field of household robots, and in particular to an intelligent medicine delivery vehicle. Background Art

[0002] The elderly account for a large proportion of the current social group, and the living needs of the elderly are increasingly attracting people's attention. Most young people are busy with work and it is difficult for them to have free time to take care of their parents. At this time, the advantages of service robots are clearly reflected. Most elderly people need to take medicine in their daily lives. The medicine is usually taken 1-3 times a day, and some medicines cannot be taken at the same time. Therefore, taking medicine on time every day has become a headache; especially for the elderly with memory loss, they often forget to take medicine on time or forget whether they have taken medicine; for the elderly who are inconvenient to move and whose children cannot take care of them for a long time, taking medicine has become a troublesome thing.

[0003] At present, the research and development of household robots is still in the initial and development stage. So far, there has been no intelligent medicine-taking robot integrating multiple functions on the market. This type of robot mostly appears in public documents, such as the Chinese patent with publication number CN106994693A, which discloses an "automatic medicine delivery vehicle and its medicine delivery method". The automatic medicine delivery vehicle includes a traveling mechanism, a lifting mechanism and a medicine grabbing mechanism. It has a tracking function and a lifting mechanism. The "multifunctional medical medicine delivery vehicle" disclosed in the Chinese patent application with publication number CN108030627A includes a basic rectangular box body and a damping wheel device at its lower end, and the inner cavity is divided into low temperature, low temperature sterilization, heating, heating sterilization and medical equipment storage area, and an auxiliary medicine storage device is provided in the medicine storage area. The Chinese patent application with publication number CN106264944A discloses an "improved medicine delivery vehicle", which includes a vehicle body, four universal wheels at the bottom of the vehicle body, a recovery chamber at the top of the vehicle body, a medicine dispensing panel hinged on the left side of the recovery chamber, a tool placement cylinder and a special disinfection cylinder at the top of the vehicle body on the right side of the recovery chamber, an intelligent display panel hinged at the rear of the top of the vehicle body, and a plurality of medicine box drawers are arranged on the vehicle body below the recovery chamber; both of them have functions such as heating sterilization or disinfection while storing medicines, but do not have automatic movement function and are only suitable for use in hospitals. Summary of the invention

[0004] The present invention provides an intelligent medicine delivery trolley, in which medicine boxes are stored in a closed medicine box, and medicines to be taken at different times are stored in separate compartments and are timed separately. When taking medicine, the trolley can automatically move to a designated position to remind users to take the medicine. At the same time, the medicine box rises and prompts the location of the medicine, and automatically injects warm water into a water cup to ensure that the user takes the medicine on time and in the right amount.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A smart medicine delivery trolley comprises a vehicle body, a running mechanism, a medicine box, a medicine box lifting mechanism, a medicine box translation mechanism and a water injection mechanism; a running mechanism is arranged at the bottom of the vehicle body, the running mechanism has the functions of tracking and avoiding obstacles and color recognition, and can drive the vehicle body to run along a set route; the medicine box is placed in the vehicle body, and the medicine box has built-in smart medicine box and water cup; the top plate of the vehicle body is divided into a flap part and a fixed part, wherein the flap part can be opened outward and make one side of the top of the vehicle body in an open state; a heat preservation barrel is arranged on the top of the fixed part, and a water outlet pipe is arranged at the bottom of the heat preservation barrel and extends downward into the vehicle body; the medicine box moves back and forth between the fixed part and the flap part under the drive of the medicine box translation mechanism; when the medicine box moves to one side of the fixed part, water can be injected into the water cup through the water outlet pipe; when the medicine box moves to one side of the flap part, it can be lifted from the open part of the vehicle body to the top of the vehicle body through the medicine box lifting mechanism.

[0007] The running mechanism is composed of a running servo, a running wheel, a universal wheel, a photoelectric ranging sensor, and a tracking and color recognition module; there are two running wheels, which are arranged on both sides of the same end of the bottom of the vehicle body, and there are two universal wheels, which are arranged on both sides of the other end of the bottom of the vehicle body; the two running wheels are driven by corresponding running servos respectively, and the running servos are fixedly connected to the bottom plate of the vehicle body through the same wheel frame; the universal wheel is connected to the bottom plate of the vehicle body through a universal wheel bracket; a photoelectric ranging sensor and a tracking and color recognition module are arranged at the bottom edge of the vehicle body corresponding to one end of the universal wheel.

[0008] The smart medicine box consists of a box body, a single-chip microcomputer, a digital display screen and a setting button; a closed part is arranged in the middle of the box body, and the box body outside the closed part is divided into a plurality of medicine storage cavities, and the inner wall of each medicine storage cavity is marked with a corresponding number; the single-chip microcomputer is placed in the closed part; a digital display screen and a setting button are arranged on the top of the closed part; the setting buttons include a storage cavity number selection button, a time setting button and a reminder ring tone setting button.

[0009] The medicine box is provided with a medicine box positioning groove and a water cup positioning groove. The smart medicine box and the water cup are respectively placed in the corresponding positioning grooves and can be taken out from the medicine box.

[0010] The top of the fixing part is provided with an audible and visual alarm, which is composed of a flash lamp and a buzzer; the audible and visual alarm is connected with the single chip microcomputer through a wireless network.

[0011] The flap part is connected to the fixed part by a hinge, and the flap part is driven by the flap mechanism to realize the opening and closing action of the flap; the flap mechanism is composed of a flap servo, a rocker and a slider, the flap servo is arranged on the top of the fixed part, its servo shaft is fixedly connected to one end of the rocker and can drive the rocker to swing, and a slideway is arranged on the rocker; the flap part is provided with a slider to cooperate with the slideway.

[0012] A water outlet valve is arranged on the water outlet pipe, a water outlet steering gear is arranged at the bottom of the fixing part, and a steering gear shaft of the water outlet steering gear is connected with the water outlet valve and drives the water outlet valve to rotate.

[0013] The medicine box lifting mechanism consists of a lifting base plate, a stepper motor, a telescopic rod and a cross-type lifting frame. The lifting base plate is arranged below the medicine box. The lifting base plate and the medicine box are connected through the telescopic rod and the cross-type lifting frame. The telescopic rod is driven by a stepper motor fixed on the lifting base plate.

[0014] The medicine box translation mechanism is composed of a translation servo, a crank, a slide rail and a sliding sleeve; slide rails are respectively arranged on both sides of the top of the bottom plate of the vehicle body, and the two slide rails are arranged in parallel, and the two ends of the slide rails correspond to the fixed part and the flap part respectively; a translation servo is arranged in the middle of the bottom plate, and the servo shaft of the translation servo is connected to one end of the crank, and the other end of the crank is connected to the connecting shaft at the bottom of the lifting bottom plate; sliding sleeves are respectively arranged on both sides of the bottom of the lifting bottom plate to cooperate with the slide rails; under the drive of the translation servo, the crank drives the lifting bottom plate and the medicine box lifting mechanism and the medicine box thereon to slide along the slide rails.

[0015] An intelligent medicine delivery vehicle also includes a control system; the control system at least includes an ARM main control board, a power supply and a Bluetooth module, and the power supply supplies power to all electrical devices in the vehicle body; the signal input end of the ARM main control board is respectively connected to the signal output end of the photoelectric ranging sensor, the tracking and color recognition module, and the signal output end of the ARM main control board is respectively connected to the walking servo, the flip servo, the water discharge servo, the translation servo and the stepping motor; the ARM main control board is connected to an external control terminal through a Bluetooth module.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1) The medicine box is stored in a closed medicine box to prevent drug contamination;

[0018] 2) Store medications taken at different times in separate compartments and at different times to prevent taking too much, too little or the wrong medication;

[0019] 3) When taking medicine, the car has the function of tracking and avoiding obstacles, and can automatically follow the planned path according to the marking lines of different colors;

[0020] 4) It has the function of reminding patients to take medicine;

[0021] 5) When taking medicine, the medicine box rises and indicates the location of the medicine through the digital display screen, and automatically injects warm water into the water cup, making it convenient for users to take medicine;

[0022] 6) It is particularly suitable for home-based elderly people, especially disabled elderly people, and can also be used in nursing homes and other places to reduce the burden on caregivers. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The three-dimensional structure diagram of the intelligent medicine delivery vehicle described in the present invention is shown in FIG. Figure 1 (One of the side panels of the vehicle body was removed to show the internal structure).

[0024] Figure 2 It is a three-dimensional structural schematic diagram of the running mechanism of the present invention.

[0025] Figure 3 The three-dimensional structure diagram of the intelligent medicine delivery vehicle described in the present invention is shown in FIG. Figure 2 (The medicine box is raised, and only the bottom plate of the vehicle is shown)

[0026] Figure 4 It is a three-dimensional structural schematic diagram of the water injection mechanism and the flip cover mechanism of the present invention.

[0027] Figure 5 It is a three-dimensional structural schematic diagram of the smart medicine box of the present invention.

[0028] Figure 6 It is a schematic diagram of the control system of the present invention.

[0029] In the figure: 1. Car body 1-1. Fixed part 1-2. Flip cover 1-3. Bottom plate 1-4. Right angle fixing piece 2. Traveling mechanism 2-1. Photoelectric distance sensor 2-2. Tracking and color recognition module 2-3. Universal wheel 2-4. Traveling steering gear 2-5. Wheel frame 2-6. Universal wheel bracket 2-7. Traveling wheel 3. Medicine box 4. Medicine box lifting mechanism 4-1. Lifting bottom plate 4-2. Telescopic rod 4-3. Cross lifting frame 4-4. Stepping motor 5. Medicine box translation mechanism 5-1. Translation steering gear 5- 2. Crank 5-3. Slide rail 6. Water injection mechanism 6-1. Water cup 6-2. Thermos bucket 6-3. Water outlet pipe 6-4. Water outlet servo 6-5. Water outlet valve 7. Sound and light alarm 7-1. Flash light 7-2. Buzzer 8. Flip mechanism 8-1 Hinge 8-2. Flip servo 8-3. Rocker 8-4. Slider 9. Smart medicine box 9-1. Setting button 9-2. Digital display 9-3. Medicine storage chamber 10. Control system 10-1. ARM main control board 10-2. Power supply 10-3. Bluetooth module DETAILED DESCRIPTION

[0030] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings:

[0031] like Figure 1As shown, the intelligent medicine delivery vehicle of the present invention comprises a vehicle body 1, a running mechanism 2, a medicine box 3, a medicine box lifting mechanism 4, a medicine box translation mechanism 5 and a water injection mechanism 6; the running mechanism 2 is arranged at the bottom of the vehicle body 1, and the running mechanism 2 has the functions of tracking and avoiding obstacles and color recognition, and can drive the vehicle body 1 to run along a set route; the medicine box 3 is placed in the vehicle body 1, and the medicine box 3 has a built-in intelligent medicine box 9 and a water cup 6-1; the top plate of the vehicle body 1 is divided into a flip cover part 1-2 and a fixed part 1-1, wherein the flip cover part 1-2 can be opened outwards and the vehicle body 1 is in an open state on one side of the top of the fixed part 1-1; a heat preservation barrel 6-2 is arranged on the top of the heat preservation barrel 6-2, and a water outlet pipe 6-3 is arranged on the bottom of the heat preservation barrel 6-2 and extends downward into the vehicle body 1; the medicine box 3 moves back and forth between the fixed part 1-1 and the flip cover part 1-2 driven by the medicine box translation mechanism 5; when the medicine box 3 moves to the side of the fixed part 1-1, water can be poured into the water cup 6-1 through the water outlet pipe 6-3; when the medicine box 3 moves to the side of the flip cover part 1-2, it can be lifted from the open part of the vehicle body 1 to the top of the vehicle body 1 through the medicine box lifting mechanism 4.

[0032] like Figure 2 As shown, the running mechanism 2 is composed of a running servo 2-4, a running wheel 2-7, a universal wheel 2-3, a photoelectric ranging sensor 2-1 and a tracking and color recognition module 2-2; there are two running wheels 2-7, which are arranged on both sides of the same end of the bottom of the vehicle body 1, and there are two universal wheels 2-3, which are arranged on both sides of the other end of the bottom of the vehicle body 1; the two running wheels 2-7 are respectively driven by the corresponding running servos 2-4, and the running servos 2-4 are fixedly connected to the bottom plate 1-3 of the vehicle body 1 through the same wheel frame 2-5; the universal wheel 2-3 is connected to the bottom plate 1-3 of the vehicle body 1 through the universal wheel bracket 2-6; a photoelectric ranging sensor 2-1 and a tracking and color recognition module 2-2 are arranged at the bottom edge of the vehicle body 1 corresponding to one end of the universal wheel 2-3.

[0033] like Figure 5 As shown, the smart medicine box 9 consists of a box body, a single-chip microcomputer, a digital display screen 9-2 and a setting button 9-1; a closed part is provided in the middle of the box body, and the box body outside the closed part is divided into a plurality of medicine storage chambers 9-3, and the inner wall of each medicine storage chamber 9-3 is marked with a corresponding number; the single-chip microcomputer is placed in the closed part; a digital display screen 9-2 and a setting button 9-1 are provided on the top of the closed part; the setting button 9-1 includes a storage chamber number selection button, a time setting button and a reminder ring tone setting button.

[0034] The medicine box 3 is provided with a medicine box positioning groove and a water cup positioning groove. The smart medicine box 9 and the water cup 6 - 1 are placed in the corresponding positioning grooves respectively and can be taken out from the medicine box 3 .

[0035] like Figure 4As shown, a sound and light alarm 7 is arranged on the top of the fixing part 1-1, which is composed of a flash light 7-1 and a buzzer 7-2; the sound and light alarm 7 is connected to the single chip microcomputer through a wireless network.

[0036] The flap part 1-2 is connected to the fixed part 1-1 by a hinge 8-1, and the flap part 1-2 is driven by the flap mechanism 8 to realize the opening and closing action; the flap mechanism 8 is composed of a flap servo 8-2, a rocker 8-3 and a slider 8-4, the flap servo 8-2 is arranged on the top of the fixed part 1-1, and its servo shaft is fixedly connected to one end of the rocker 8-3 and can drive the rocker 8-3 to swing, and a slideway is arranged on the rocker 8-3; the flap part 1-2 is provided with a slider 8-4 to cooperate with the slideway.

[0037] The water outlet pipe 6-3 is provided with a water outlet valve 6-5, and the bottom of the fixed part 1-1 is provided with a water outlet steering gear 6-4, and the steering gear shaft of the water outlet steering gear 6-4 is connected to the water outlet valve 6-5 and drives it to rotate.

[0038] like Figure 3 As shown, the medicine box lifting mechanism 4 is composed of a lifting base plate 4-1, a stepper motor 4-4, a telescopic rod 4-2 and a cross-type lifting frame 4-3. The lifting base plate 4-1 is arranged below the medicine box 3. The lifting base plate 4-1 is connected to the medicine box 3 through the telescopic rod 4-2 and the cross-type lifting frame 4-1. The telescopic rod 4-2 is driven by a stepper motor 4-4 fixed on the lifting base plate 4-1.

[0039] The medicine box translation mechanism 5 is composed of a translation servo 5-1, a crank 5-2, a slide rail 5-3 and a sliding sleeve; slide rails 5-3 are respectively arranged on both sides of the top of the bottom plate 1-3 of the vehicle body 1, and the two slide rails 5-3 are arranged in parallel, and the two ends of the slide rails 5-3 correspond to the fixed part 1-1 and the flip cover part 1-2 respectively; a translation servo 5-1 is arranged in the middle of the bottom plate 1-3, and the servo shaft of the translation servo 5-1 is connected to one end of the crank 5-2, and the other end of the crank 5-2 is connected to the connecting shaft at the bottom of the lifting bottom plate 4-1; sliding sleeves are respectively arranged on both sides of the bottom of the lifting bottom plate 4-1 to cooperate with the slide rails 5-3; under the drive of the translation servo 5-1, the crank 5-2 drives the lifting bottom plate 4-1 and the medicine box lifting mechanism 4 and the medicine box 3 thereon to slide along the slide rails 5-3.

[0040] like Figure 1 , Figure 6As shown, an intelligent medicine delivery vehicle also includes a control system 10; the control system 10 at least includes an ARM main control board 10-1, a power supply 10-2 and a Bluetooth module 10-3, and the power supply 10-2 supplies power to all electrical devices in the vehicle body 1; the signal input end of the ARM main control board 10-1 is respectively connected to the signal output end of the photoelectric ranging sensor 2-1 and the tracking and color recognition module 2-2, and the signal output end of the ARM main control board 10-1 is respectively connected to the walking servo 2-4, the flip servo 8-2, the water discharge servo 6-4, the translation servo 5-1 and the stepper motor 4-4; the ARM main control board 10-1 is connected to an external control terminal (such as a remote control or a mobile phone) through the Bluetooth module 10-3.

[0041] The following examples are implemented on the premise of the technical solution of the present invention, and provide detailed implementation methods and specific operation processes, but the protection scope of the present invention is not limited to the following examples. The methods used in the following examples are conventional methods unless otherwise specified.

[0042] [Example]

[0043] like Figure 1-Figure 4 As shown, in the present embodiment, an intelligent medicine delivery trolley includes a vehicle body 1, a walking mechanism 2, a medicine box 3, a medicine box lifting mechanism 4, a medicine box translation mechanism 5, a water injection mechanism 6, an audible and visual alarm 7, a flip mechanism 8, an intelligent medicine box 9 and a control system 10; the four side panels of the vehicle body 1 are respectively fixed to the bottom plate 1-3 by right-angle fixings 1-4, the four side panels are interconnected by right-angle fixings 1-4, and the fixing part 1-1 of the top plate is connected to the top of the corresponding three side panels by hot melt adhesive; the bottom plate 1-3, the side panels and the top plate are all made of 5mm thick acrylic plate; the control system 10 is fixed to one side of the vehicle body 1.

[0044] like Figure 2 As shown, the running mechanism 2 is driven by a running servo 2-4, and the two running wheels 2-7 are connected by a wheel frame 2-5; the two universal wheels 2-3 are connected to the base plate 1-3 through a universal wheel bracket 2-6; the two running wheels 2-7 are driven by the two running servos 2-4 to rotate differentially to achieve steering, and the photoelectric ranging sensor 2-1 and the tracking and color recognition module 2-2 are fixed on the base plate 1-3 and are located at the front end of the running direction.

[0045] like Figure 3As shown, in the medicine box translation mechanism 5, the two ends of the two slide rails 5-3 are respectively fixed on the base plate 1-3 through supports, the servo shaft of the translation servo 5-1 is hinged to one end of the crank 5-2, and the other end of the crank 5-2 is hinged to the connecting shaft at the bottom of the lifting base plate 4-1; when the translation servo 5-1 drives the crank 5-2 to rotate, it drives the lifting base plate 4-1 and the medicine box lifting mechanism 4 thereon to move horizontally along the slide rails 5-3 together with the medicine box 3; the function of the medicine box translation mechanism 5 is that when water needs to be filled, the water cup 6-1 is sent to the bottom of the water outlet pipe 6-3 by translating the medicine box 3, and then returns to the original position (below the flip cover 1-2) after water filling, ready to be raised.

[0046] In the medicine box lifting mechanism 4, the cross-type lifting frame 4-3 and the telescopic rod 4-2 are connected between the bottom of the medicine box 3 and the lifting bottom plate 4-1, and the telescopic rod 4-2 is driven by the stepping motor 4-4 to realize the lifting action. The cross-type lifting frame 4-3 can make the lifting action of the medicine box 3 more stable and support the medicine box 3. The smart medicine box 9 and the water cup 6-1 are arranged in the medicine box 3, and the smart medicine box 9 and the water cup 6-1 are placed in the corresponding positioning grooves and can be taken out at any time.

[0047] like Figure 4 As shown, the sound and light alarm 7 is composed of a flashlight 7-1 and a buzzer 7-2, which is fixed on the top of the fixed part 1-1 and is used to remind at a preset time; the water outlet pipe 6-3 runs through the fixed part 2-2, and its water inlet is sealed and connected to the insulation bucket 6-2, and the insulation bucket 6-2 is fixed on the top of the fixed part 1-1. The flip cover part 1-2 is connected to the fixed part 1-1 through a hinge 8-1, and the water outlet steering gear 6-4 is fixed at the bottom of the fixed part 1-1. When the water outlet steering gear 6-4 rotates, it drives the water outlet valve 6-5 on the water outlet pipe 6-3 to open or close, thereby realizing the function of filling water into the water cup 6-1. In the flip cover mechanism 8, the flip cover steering gear 8-2 and the flip cover part 1-2 are connected through a rocker 8-3. When the flip cover steering gear 8-2 drives the rocker 8-3 to rotate, the flip cover part 1-2 is driven to open or close through the slider 8-4.

[0048] like Figure 5 As shown, the smart medicine box 9 is provided with a setting button 9-1, a digital display screen 9-2 and a medicine storage cavity 9-3, and is built with a small 32 development board (single chip microcomputer) to realize the function of timing reminder. In addition, the type or quantity of medicine taken by the patient each time may be different, and each medicine storage cavity 9-3 is respectively placed with different medicines to be taken each time. When taking medicine, the digital display screen 9-2 indicates the corresponding medicine storage cavity 9-3 code to prevent accidental taking.

[0049] In this embodiment, the running servo 2-4 adopts the DG-995MG360 continuous rotation servo; the other servos 5-1, 6-4, and 8-2 all adopt the TBS-K20 high torque servo. The ARM main control board 10-1 adopts the Wildfire STM32F429IGT6 main control board. The power supply 10-2 adopts a 3S 2200mAh aircraft model battery. The Bluetooth module 10-3 adopts the HC-05 Bluetooth module. The stepper motor 4-4 adopts the 57BYG250B 42 stepper motor. The photoelectric distance sensor 2-1 adopts the E18-D80NK distance measurement module. The tracking and color recognition module 2-2 adopts the TCRT5000 photoelectric detection module.

[0050] The use process of an intelligent medicine delivery vehicle is as follows: when the medication time is set, the vehicle automatically moves along the route pre-set by the control system 10 or according to the ground markings, and the photoelectric distance sensor 2-1 monitors obstacles by emitting infrared rays and automatically avoids obstacles. After the vehicle arrives at the designated location, the sound and light alarm 7 reminds the patient to prepare to take the medicine; the medicine box 3 moves horizontally, and warm water is injected into the water cup 6-1 through the water injection mechanism 6, and then moves horizontally back to the original position; the flip cover 1-2 opens, the medicine box 3 rises from the opening, and the patient takes out the medicine in the corresponding medicine storage cavity 9-3 according to the prompt, and puts the water cup 6-1 back to its original position after taking the medicine; the medicine box 3 descends into the vehicle body 1, the flip cover 1-2 closes, and the vehicle returns along the original route.

[0051] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent medicine delivery vehicle, characterized in that: The vehicle comprises a vehicle body, a running mechanism, a medicine box, a medicine box lifting mechanism, a medicine box translation mechanism and a water injection mechanism; a running mechanism is arranged at the bottom of the vehicle body, and the running mechanism has the functions of tracking and avoiding obstacles and color recognition, and can drive the vehicle body to run along a set route; the medicine box is placed in the vehicle body, and a smart medicine box and a water cup are built in the medicine box; the top plate of the vehicle body is divided into a flap part and a fixed part, wherein the flap part can be opened outwards and one side of the top of the vehicle body is in an open state; a heat preservation barrel is arranged on the top of the fixed part, and a water outlet pipe is arranged at the bottom of the heat preservation barrel and extends downward into the vehicle body; the medicine box is in the medicine box The medicine box moves back and forth between the fixed part and the flip part driven by the translation mechanism; when the medicine box moves to one side of the fixed part, water can be poured into the water cup through the water outlet pipe; when the medicine box moves to one side of the flip part, it can be lifted from the open part of the vehicle body to the top of the vehicle body through the medicine box lifting mechanism; a medicine box positioning groove and a water cup positioning groove are arranged in the medicine box, and the smart medicine box and the water cup are respectively placed in the corresponding positioning grooves and can be taken out of the medicine box; a water outlet valve is arranged on the water outlet pipe, and a water outlet servo is arranged at the bottom of the fixed part, and the servo shaft of the water outlet servo is connected to the water outlet valve and drives it to rotate.

2. The intelligent medicine delivery vehicle according to claim 1, characterized in that: The running mechanism is composed of a running servo, a running wheel, a universal wheel, a photoelectric ranging sensor, and a tracking and color recognition module; there are two running wheels, which are arranged on both sides of the same end of the bottom of the vehicle body, and there are two universal wheels, which are arranged on both sides of the other end of the bottom of the vehicle body; the two running wheels are driven by corresponding running servos respectively, and the running servos are fixedly connected to the bottom plate of the vehicle body through the same wheel frame; the universal wheel is connected to the bottom plate of the vehicle body through a universal wheel bracket; a photoelectric ranging sensor and a tracking and color recognition module are arranged at the bottom edge of the vehicle body corresponding to one end of the universal wheel.

3. The intelligent medicine delivery vehicle according to claim 1, characterized in that: The smart medicine box consists of a box body, a single-chip microcomputer, a digital display screen and a setting button; a closed part is arranged in the middle of the box body, and the box body outside the closed part is divided into a plurality of medicine storage cavities, and the inner wall of each medicine storage cavity is marked with a corresponding number; the single-chip microcomputer is placed in the closed part; a digital display screen and a setting button are arranged on the top of the closed part; the setting buttons include a storage cavity number selection button, a time setting button and a reminder ring tone setting button.

4. The intelligent medicine delivery vehicle according to claim 1, characterized in that: The top of the fixing part is provided with an audible and visual alarm, which is composed of a flash lamp and a buzzer; the audible and visual alarm is connected with the single chip microcomputer through a wireless network.

5. The intelligent medicine delivery vehicle according to claim 1, characterized in that: The flap part is connected to the fixed part by a hinge, and the flap part is driven by the flap mechanism to realize the opening and closing action of the flap; the flap mechanism is composed of a flap servo, a rocker and a slider, the flap servo is arranged on the top of the fixed part, its servo shaft is fixedly connected to one end of the rocker and can drive the rocker to swing, and a slideway is arranged on the rocker; the flap part is provided with a slider to cooperate with the slideway.

6. The intelligent medicine delivery vehicle according to claim 1, characterized in that: The medicine box lifting mechanism consists of a lifting base plate, a stepper motor, a telescopic rod and a cross-type lifting frame. The lifting base plate is arranged below the medicine box. The lifting base plate and the medicine box are connected through the telescopic rod and the cross-type lifting frame. The telescopic rod is driven by a stepper motor fixed on the lifting base plate.

7. The intelligent medicine delivery vehicle according to claim 1, characterized in that: The medicine box translation mechanism is composed of a translation servo, a crank, a slide rail and a sliding sleeve; slide rails are respectively arranged on both sides of the top of the bottom plate of the vehicle body, and the two slide rails are arranged in parallel, and the two ends of the slide rails correspond to the fixed part and the flap part respectively; a translation servo is arranged in the middle of the bottom plate, and the servo shaft of the translation servo is connected to one end of the crank, and the other end of the crank is connected to the connecting shaft at the bottom of the lifting bottom plate; sliding sleeves are respectively arranged on both sides of the bottom of the lifting bottom plate to cooperate with the slide rails; under the drive of the translation servo, the crank drives the lifting bottom plate and the medicine box lifting mechanism and the medicine box thereon to slide along the slide rails.

8. The intelligent medicine delivery vehicle according to claim 1, characterized in that: It also includes a control system; the control system at least includes an ARM main control board, a power supply and a Bluetooth module, and the power supply supplies power to all electrical devices in the vehicle body; the signal input end of the ARM main control board is respectively connected to the signal output end of the photoelectric ranging sensor, the tracking and color recognition module, and the signal output end of the ARM main control board is respectively connected to the walking servo, the flip servo, the water outlet servo, the translation servo and the stepper motor; the ARM main control board is connected to the external control terminal through the Bluetooth module.

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