A system and method for realizing the joint processing of a robot and a transfer vehicle

Abstract

The present invention provides a system and method for realizing the joint processing of a robot and a transfer vehicle, belonging to the technical field of medical transfer vehicles. The system includes an intelligent robot terminal, a transfer vehicle body, a scanning terminal, and a remote transfer vehicle management platform. The intelligent robot terminal and the scanning terminal are arranged on the transfer vehicle body and are wirelessly connected to the remote transfer vehicle management platform. The intelligent robot terminal receives the transfer task issued by the remote transfer vehicle management platform, parses out the patient information, navigates the transfer vehicle body in combination with the hospital floor map, and receives the patient information obtained by the scanning terminal to compare and authenticate it with the patient information in the transfer task. After successful authentication, the patient and the transfer vehicle are locked. The present invention realizes intelligent navigation during the operation of the transfer vehicle, as well as one-key adjustment of the height of the transfer bed body, binds the transfer vehicle and the patient information, avoids errors, realizes the efficient and accurate operation of the transfer vehicle, and improves the convenience of patient transfer.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical transfer vehicles, and particularly relates to a system and method for realizing the combined processing of a robot and a transfer vehicle. Background Art

[0002] Most of the transfer vehicles used by hospitals during the process of transporting patients need to move the patient onto the transfer vehicle body, and then move the patient off after pushing the transfer vehicle to the destination. This requires multiple people to cooperate in the operation, and it is more difficult for postoperative patients and patients who cannot take care of themselves, and the patient experience is not good. Currently, the electric transfer vehicles on the market can realize the automatic entry and exit of patients from the transfer vehicle body through electric means, avoiding the complexity of moving patients, and at the same time, patients can enter and exit the vehicle body without feeling, and the experience effect is good. However, the existing electric transfer vehicles have a low degree of intelligence and still have the following problems:

[0003] First, the transfer vehicle fails to be bound with the patient information, especially it is easy to make mistakes when there are many patients and many transfer vehicles; second, during the use of the transfer vehicle, it is necessary to be accompanied by nurses and other personnel familiar with the hospital environment, otherwise it is easy to make mistakes in the destination and make multiple round trips in the hospital.

[0004] In summary, although the electric transfer vehicle solves the problem that the traditional transfer vehicle needs to move the patient on and off the vehicle before transferring the patient, the existing electric transfer vehicle needs to rely on professional personnel during the use process, and the degree of intelligence is not high.

[0005] This is the deficiency of the existing technology. Therefore, it is very necessary to provide a system and method for realizing the combined processing of a robot and a transfer vehicle to address the above-mentioned defects in the existing technology. Summary of the Invention

[0006] In view of the above-mentioned defects of the existing electric transfer vehicle that solves the problem of moving the patient on and off the traditional transfer vehicle, but the existing electric transfer vehicle needs to rely on professional personnel during the use process and has a low degree of intelligence, the present invention provides a system and method for realizing the combined processing of a robot and a transfer vehicle to solve the above technical problems.

[0007] In a first aspect, the present invention provides a system for realizing the combined processing of a robot and a transfer vehicle, including an intelligent robot terminal, a transfer vehicle body, a scanning terminal, and a remote transfer vehicle management platform;

[0008] The intelligent robot terminal and the scanning terminal are arranged on the transfer vehicle body and are wirelessly connected to the remote transfer vehicle management platform;

[0009] The intelligent robot terminal receives the transfer task issued by the remote transfer vehicle management platform, parses out the patient information, navigates the transfer vehicle body in combination with the hospital floor map, and receives the patient information obtained by the scanning terminal and compares and authenticates it with the patient information in the transfer task, and locks the patient and the transfer vehicle after successful authentication.

[0010] Furthermore, a fixed bed board and a transfer vehicle lifting mechanism are provided on the transfer vehicle body;

[0011] The transfer vehicle lifting mechanism is arranged below the fixed bed board and is connected to the intelligent robot terminal;

[0012] The intelligent robot terminal receives the demand instruction for entering and leaving the transfer vehicle, identifies the height of the patient bed body, and then calculates the adjustment height based on the height of the transfer vehicle body to generate an adjustment task, and controls the transfer vehicle lifting mechanism to automatically adjust the height of the transfer vehicle body to make the transfer vehicle body level with the patient bed body.

[0013] Furthermore, a transfer vehicle translation mechanism and a transfer board are provided on the transfer vehicle body, and the transfer board is slidably arranged on the upper part of the fixed bed board;

[0014] The transfer vehicle translation mechanism includes a push rod and a motor. The push rod is connected to both the transfer board and the motor, and the motor is also connected to the intelligent robot terminal;

[0015] The intelligent robot terminal receives the demand instruction for entering and leaving the transfer vehicle, and controls the motor of the transfer vehicle translation mechanism to drive the transfer board to pick up or send out the patient through the push rod.

[0016] Furthermore, a storage battery, a transfer vehicle boosting mechanism, and a transfer vehicle braking mechanism are also provided on the transfer vehicle body;

[0017] The storage battery supplies power to the transfer vehicle lifting mechanism, the transfer vehicle translation mechanism, the scanning terminal, and the intelligent robot terminal;

[0018] The intelligent robot terminal periodically detects the power and operating status of the transfer vehicle, and reports the detection results to the remote transfer vehicle management platform;

[0019] The transfer vehicle boosting mechanism is used to assist the transfer vehicle body in climbing slopes;

[0020] The transfer vehicle braking mechanism is used to brake the transfer vehicle body.

[0021] In a second aspect, the present invention provides a method for realizing the joint processing of a robot and a transfer vehicle, including the following steps:

[0022] S1. The intelligent robot terminal analyzes the patient information, the starting bed information, and the destination bed information from the transfer task;

[0023] S2. The intelligent robot terminal generates a driving route based on the starting bed information and the destination bed information, in combination with the hospital floor map, and navigates the real-time operation process of the transfer vehicle body through the driving route;

[0024] S3. The intelligent robot terminal receives the patient information obtained by the transfer vehicle scanning terminal, compares and authenticates the obtained patient information with the patient information in the transfer task, and locks the patient and the transfer vehicle body after successful comparison.

[0025] Further, the following steps are also included:

[0026] S4. The intelligent robot terminal identifies the bed height from the starting bed information and the destination bed information according to the need to enter and exit the transfer vehicle, and then automatically calculates the adjustment height in combination with the height of the transfer vehicle body, generates an adjustment task, and controls the lifting mechanism of the transfer vehicle to automatically adjust the height of the transfer vehicle body after the adjustment task is started;

[0027] S5. The intelligent robot terminal controls the translation mechanism of the transfer vehicle to drive the transfer board to access or send out the patient according to the need to enter and exit the transfer vehicle;

[0028] S6. The intelligent robot terminal regularly detects the power and operating status of the transfer vehicle, judges whether charging is required and whether there is a fault, and reports the detection results to the remote transfer vehicle management platform.

[0029] Further, the specific steps of step S1 are as follows:

[0030] S11. After receiving the reservation request from the patient end or the nurse end, the remote transfer vehicle management platform queries the available transfer vehicles within the reservation time period according to the patient information, reservation time period, operation mode, starting bed information, and destination bed information;

[0031] S12. Bind the patient information with the available transfer vehicle, generate a transfer task with the reservation time period, operation mode, starting bed information, and destination bed information, and then send the transfer task to the transfer vehicle;

[0032] S13. The intelligent robot terminal receives the transfer task, parses out the reservation time period, operation mode, patient information, starting bed information, and destination bed information from the transfer task, and generates a list of each transfer task according to the reservation time period; the operation mode includes one-way mode and round-trip mode;

[0033] The specific steps of step S2 are as follows:

[0034] S21. The intelligent robot terminal sorts the transfer tasks according to the reservation time period, takes the transfer task closest to the current time period as the current transfer task, and judges the operation mode of the current transfer task;

[0035] When it is the one-way mode, go to step S22;

[0036] When it is the round-trip mode, go to step S23;

[0037] S22. The intelligent robot terminal identifies the starting position of the patient from the starting bed information of the current transfer task, generates a patient pickup route in combination with the hospital floor map, and identifies the destination position of the patient from the destination bed information of the current transfer task, generates a patient delivery route in combination with the hospital floor map, and finally generates a one-way driving route, then enters step S25;

[0038] S23. The intelligent robot terminal identifies the first starting position of the patient from the starting bed information of the current transfer task, generates a first patient pickup route in combination with the hospital floor map, and identifies the first destination position of the patient from the destination bed information of the current transfer task, generates a first patient delivery route in combination with the hospital floor map, and obtains an initial driving route;

[0039] S24. The intelligent robot terminal identifies the second starting position of the patient from the original destination bed information, generates a second patient pickup route in combination with the hospital map, and identifies the second destination position of the patient from the original starting bed information, generates a second patient delivery route in combination with the hospital floor map, and obtains a return driving route;

[0040] S25. The intelligent robot terminal obtains the real-time positioning information of the transfer vehicle body, provides navigation information for the real-time driving of the transfer vehicle body in combination with the driving route, and outputs the navigation information through voice signals or image signals to provide a reference for the transfer vehicle operator to push the cart.

[0041] Further, the specific steps of step S3 are as follows:

[0042] S31. Scan the patient bracelet through the transfer vehicle scanning terminal to identify the patient information;

[0043] S32. The intelligent robot terminal obtains the patient information parsed from the transfer task, and compares the identified patient information with the parsed patient information. If the two are consistent, the comparison passes; if the two are inconsistent, an authentication error message is output;

[0044] S33. After the patient information authentication passes, the intelligent robot terminal locks the transfer vehicle body and returns a transfer task start success signal to the remote transfer vehicle management platform.

[0045] Further, the specific steps of step S4 are as follows:

[0046] S41. The intelligent robot terminal identifies the height of the starting bed from the starting bed information and the height of the destination bed from the destination bed information;

[0047] S42. Before the execution of the patient pickup route of the one-way driving route, the intelligent robot terminal takes the starting bed height as the target height, and before the execution of the patient delivery route of the one-way driving route, takes the destination bed height as the target height;

[0048] S43. Before the intelligent robot terminal executes the first patient pickup route of the round-trip driving route, it takes the starting bed height as the target height. Before the first patient delivery route and the second patient pickup route of the round-trip driving route are executed, it takes the destination bed height as the target height. Before the second patient delivery route of the round-trip driving route is executed, it takes the starting bed height as the target height;

[0049] S44. The intelligent robot terminal obtains the actual height of the current transfer vehicle body, compares the actual height of the transfer vehicle body with the target height, and determines the adjustment direction and the adjustment height;

[0050] S45. The intelligent robot terminal generates an adjustment task for the adjustment direction and the adjustment height, and automatically adjusts the height of the transfer vehicle body in the adjustment direction after receiving the adjustment task start instruction from the transfer vehicle operator. Or, after the intelligent robot terminal receives the manual adjustment instruction from the transfer vehicle operator, it manually adjusts the height of the transfer vehicle body in accordance with the operation direction of the operator;

[0051] The specific steps of step S5 are as follows:

[0052] S51. After the height of the transfer vehicle body is adjusted before the intelligent robot terminal executes the patient pickup route of the one-way driving route, it sets the starting bed as the target bed for the vehicle entry task. After the height of the transfer vehicle body is adjusted before the patient delivery route of the one-way driving route is executed, it sets the destination bed as the target bed for the vehicle exit task;

[0053] S52. After the height of the transfer vehicle body is adjusted before the intelligent robot terminal executes the first patient pickup route of the round-trip driving route, it sets the starting bed as the target bed for the vehicle entry task. After the height of the transfer vehicle body is adjusted before the first patient delivery route of the round-trip driving route is executed, it sets the destination bed as the target bed for the vehicle exit task. Before the second patient pickup route of the round-trip driving route is executed, it sets the destination bed as the target bed for the vehicle entry task. Before the second patient delivery route of the round-trip driving route is executed, it sets the starting bed as the target bed for the vehicle exit task;

[0054] S53. The intelligent robot terminal executes the set vehicle entry task, controls the translation mechanism to drive the transfer board and the stop bar to move out, and forcefully cuts downward along the surface of the target bed between the patient and the target bed until the patient is completely in contact with the transfer board. Then, it controls the translation mechanism to drive the transfer board and the stop bar to move back, and forcefully moves upward along the surface of the target bed to keep the patient moving with the transfer board to the transfer vehicle body;

[0055] S54. The intelligent robot terminal executes the set vehicle exit task, controls the translation mechanism to drive the transfer board and the stop bar to be removed, and forcefully moves upward along the surface of the target bed to keep the patient moving with the transfer board to the target bed until the patient completely enters the target bed area. Then, it controls the translation mechanism to drive the transfer board to move back until the transfer board is completely separated from the target bed.

[0056] Further, the step S1 further includes the following steps:

[0057] S14. After the transfer task is completed by the intelligent robot terminal, unlock the transfer vehicle body and return a transfer task completion signal to the remote transfer vehicle management platform;

[0058] The step S2 further includes the following steps:

[0059] S26. The intelligent robot terminal combines the hospital floor map to identify the slope information in the one-way driving route, the initial driving route, and the return driving route, and marks the position points with a slope exceeding the threshold for climbing;

[0060] S27. When the intelligent robot terminal detects that the distance between the real-time position point of the transfer vehicle body and the position point of the front climbing mark is less than the threshold, insert a climbing prompt in the navigation information, prompting the operator to control the transfer vehicle boosting mechanism to climb, and after climbing is completed, prompting the operator to control the transfer vehicle braking mechanism to decelerate;

[0061] The specific steps of step S6 are as follows:

[0062] S61. The intelligent robot terminal periodically detects the battery power of the transfer vehicle, judges whether the battery power of the transfer vehicle is lower than the threshold, and generates a charging request when it is lower than the threshold;

[0063] S62. The intelligent robot terminal periodically detects the functions of each component of the transfer vehicle body, judges whether there is a fault, and generates a maintenance request when there is a fault;

[0064] S63. The intelligent robot terminal reports the battery power detection result and the operation detection result to the remote transfer vehicle management platform;

[0065] S64. The remote transfer vehicle management platform identifies the low-battery transfer vehicle from the reported battery power detection result and operation detection result to generate a charging task, and identifies the faulty transfer vehicle to generate a maintenance task, and sends the charging task and the maintenance task to the operator.

[0066] The beneficial effects of the present invention are as follows:

[0067] The system and method for realizing the joint processing of the robot and the transfer vehicle provided by the present invention control the operation process of the transfer vehicle through the intelligent robot terminal arranged on the transfer vehicle body, communicate with the remote transfer vehicle management platform, realize intelligent navigation during the operation of the transfer vehicle, and one-key adjustment of the height of the transfer bed body, and bind the transfer vehicle and the patient information to avoid errors, realize the efficient and accurate operation of the transfer vehicle, and improve the convenience of patient transfer.

[0068] In addition, the design principle of the present invention is reliable, the structure is simple, and it has a very wide application prospect.

[0069] Thus, compared with the prior art, the present invention has prominent substantive features and remarkable progress, and the beneficial effects of its implementation are also obvious. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0071] Figure 1 is a schematic diagram of the system for realizing the joint processing of the robot and the transfer vehicle in the present invention.

[0072] Figure 2 is a schematic diagram of the method flow for realizing the joint processing of the robot and the transfer vehicle in the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0073] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0074] Embodiment 1:

[0075] As Figure 1 shown, the present invention provides a system for realizing the joint processing of a robot and a transfer vehicle, including an intelligent robot terminal, a transfer vehicle body, a scanning terminal, and a remote transfer vehicle management platform;

[0076] The intelligent robot terminal and the scanning terminal are arranged on the transfer vehicle body and are wirelessly connected to the remote transfer vehicle management platform;

[0077] The intelligent robot terminal receives the transfer task issued by the remote transfer vehicle management platform, parses out the patient information, navigates the transfer vehicle body in combination with the hospital floor map, and receives the patient information obtained by the scanning terminal to compare and authenticate with the patient information in the transfer task, and locks the patient and the transfer vehicle after successful authentication.

[0078] Embodiment 2:

[0079] As Figure 1As shown in the figure, the present invention provides a system for realizing the joint processing of a robot and a transfer vehicle, including an intelligent robot terminal, a transfer vehicle body, a scanning terminal, and a remote transfer vehicle management platform;

[0080] The intelligent robot terminal and the scanning terminal are arranged on the transfer vehicle body and are wirelessly connected to the remote transfer vehicle management platform;

[0081] The intelligent robot terminal receives the transfer task issued by the remote transfer vehicle management platform, parses out the patient information, navigates the transfer vehicle body in combination with the hospital floor map, and receives the patient information obtained by the scanning terminal to compare and authenticate with the patient information in the transfer task, and locks the patient and the transfer vehicle after successful authentication;

[0082] A fixed bed board and a transfer vehicle lifting mechanism are arranged on the transfer vehicle body;

[0083] The transfer vehicle lifting mechanism is arranged under the fixed bed board and is connected to the intelligent robot terminal;

[0084] The intelligent robot terminal receives the in-out transfer vehicle demand instruction, identifies the height of the patient's bed body, and then calculates the adjustment height to generate an adjustment task in combination with the height of the transfer vehicle body, and controls the transfer vehicle lifting mechanism to automatically adjust the height of the transfer vehicle body to make the transfer vehicle body flush with the patient's bed body;

[0085] A transfer vehicle translation mechanism and a transfer board are arranged on the transfer vehicle body, and the transfer board is slidably arranged on the upper part of the fixed bed board;

[0086] The transfer vehicle translation mechanism includes a push rod and a motor. The push rod is connected to both the transfer board and the motor, and the motor is also connected to the intelligent robot terminal;

[0087] The intelligent robot terminal receives the in-out transfer vehicle demand instruction, and controls the motor of the transfer vehicle translation mechanism to drive the transfer board to access or send out the patient through the push rod;

[0088] A storage battery, a transfer vehicle boosting mechanism, and a transfer vehicle braking mechanism are also arranged on the transfer vehicle body;

[0089] The storage battery supplies power to the transfer vehicle lifting mechanism, the transfer vehicle translation mechanism, and the intelligent robot terminal;

[0090] The intelligent robot terminal periodically detects the power and operating status of the transfer vehicle and reports the detection results to the remote transfer vehicle management platform;

[0091] The transfer vehicle boosting mechanism is used to assist the transfer vehicle body to climb slopes;

[0092] The transfer vehicle braking mechanism is used to brake the transfer vehicle body.

[0093] Embodiment 3:

[0094] As Figure 2 shown, the present invention provides a method for realizing the joint processing of a robot and a transfer vehicle, including the following steps:

[0095] S1. The intelligent robot terminal parses out patient information, starting bed information, and destination bed information from the transfer task;

[0096] S2. The intelligent robot terminal generates a driving route based on the starting bed information and the destination bed information, in combination with the hospital floor map, and navigates the real-time operation process of the transfer vehicle body through the driving route;

[0097] S3. The intelligent robot terminal receives the patient information obtained by the transfer vehicle scanning terminal, compares and authenticates the obtained patient information with the patient information in the transfer task, and locks the patient and the transfer vehicle body after the comparison is successful.

[0098] Embodiment 4:

[0099] As Figure 2 shown, the present invention provides a method for realizing the joint processing of a robot and a transfer vehicle, including the following steps:

[0100] S1. The intelligent robot terminal parses out patient information, starting bed information, and destination bed information from the transfer task; The specific steps of step S1 are as follows:

[0101] S11. After the remote transfer vehicle management platform receives a reservation request from the patient end or the nurse end, it queries for available transfer vehicles within the reservation time period according to the patient information, reservation time period, operation mode, starting bed information, and destination bed information;

[0102] S12. Bind the patient information to the available transfer vehicle, generate a transfer task with the reservation time period, operation mode, starting bed information, and destination bed information, and then send the transfer task to the transfer vehicle;

[0103] S13. The intelligent robot terminal receives the transfer task, parses out the reservation time period, operation mode, patient information, starting bed information, and destination bed information from the transfer task, and generates a list of each transfer task according to the reservation time period; The operation mode includes a one-way mode and a round-trip mode;

[0104] S14. After the transfer task is completed by the intelligent robot terminal, the lock of the transfer vehicle body is released, and a transfer task completion signal is returned to the remote transfer vehicle management platform;

[0105] S2. The intelligent robot terminal generates a driving route based on the starting bed information and the destination bed information, in combination with the hospital floor map, and navigates the real-time operation process of the transfer vehicle body through the driving route; The specific steps of step S2 are as follows:

[0106] S21. The intelligent robot terminal sorts the transfer tasks according to the reserved time periods, takes the transfer task closest to the current time period as the current transfer task, and determines the operation mode of the current transfer task;

[0107] When it is in the one-way mode, go to step S22;

[0108] When it is in the round-trip mode, go to step S23;

[0109] S22. The intelligent robot terminal identifies the starting position of the patient from the starting bed information of the current transfer task, generates a patient pickup route by combining with the hospital floor map, and identifies the destination position of the patient from the destination bed information of the current transfer task, generates a patient delivery route by combining with the hospital floor map, and finally generates a one-way driving route, then go to step S25;

[0110] S23. The intelligent robot terminal identifies the first starting position of the patient from the starting bed information of the current transfer task, generates a first patient pickup route by combining with the hospital floor map, and identifies the first destination position of the patient from the destination bed information of the current transfer task, generates a first patient delivery route by combining with the hospital floor map, and obtains the initial driving route;

[0111] S24. The intelligent robot terminal identifies the second starting position of the patient from the original destination bed information, generates a second patient pickup route by combining with the hospital map, and identifies the second destination position of the patient from the original starting bed information, generates a second patient delivery route by combining with the hospital floor map, and obtains the return driving route;

[0112] S25. The intelligent robot terminal obtains the real-time positioning information of the transfer vehicle body, provides navigation information for the real-time driving of the transfer vehicle body by combining with the driving route, and outputs the navigation information through voice signals or image signals to provide a reference for the transfer vehicle operator to push the cart;

[0113] It should be noted that the hospital floor map is obtained through the following steps:

[0114] Pre-construct the floor plan of each floor of the hospital, and mark the drivable areas and feature points on each floor plan. Each feature point corresponds to a ward or examination room;

[0115] Deploy positioning base stations on each floor of the hospital, and mark the positions of the positioning base stations as standard points on the corresponding floor plan;

[0116] Pre-import the floor plan of each constructed floor into the intelligent robot terminal;

[0117] The transfer vehicle is equipped with a wireless communication module and a lidar. The transfer vehicle communicates with the positioning base station through the wireless communication module at the elevator exit of each floor to achieve floor positioning. At the same time, it detects the distance from the lidar to the positioning base station to determine the current position of the transfer vehicle on the current floor. Then, according to the floor plan and a feature point as the target position, the Dijkstra algorithm is used to screen out the shortest path from the drivable area, and the shortest path is used as the planned driving route of the transfer vehicle on the current floor;

[0118] The intelligent robot terminal first conducts floor navigation in each route generation unit, which is specifically determined by communicating with the positioning base station. If the floor is incorrect, a voice alarm prompt is given. When the floor is correct, the driving route of the corresponding floor plane is planned at the elevator entrance of each floor;

[0119] Taking the example of a patient going from Ward 3 on the fifth floor to the CT room on the first floor, after receiving the patient, the intelligent robot terminal first selects an elevator as the target elevator at random, and then determines the first drivable area according to the floor plan of the fifth floor and the current position of Ward 3, and uses the Dijkstra algorithm to screen out the shortest path from the first drivable area, and controls the transfer vehicle to drive to the elevator;

[0120] When coming out of the elevator entrance and arriving at the first floor, the intelligent robot terminal first communicates with the positioning base station through the wireless communication module to verify whether the floor is correct. When arriving at the third floor, the intelligent robot terminal gives a voice prompt that the floor is incorrect. When it is the first floor, the intelligent robot terminal detects the distance from the lidar to the positioning base station, so as to determine which elevator exit on the first floor the current position of the transfer vehicle is at. Then, combined with the floor plan of the first floor and the current position, the second drivable area is determined, and the Dijkstra algorithm is used to screen out the shortest path from the second drivable area, and controls the transfer vehicle to drive to the CT room, and the navigation of the transfer vehicle is completed;

[0121] S26. The intelligent robot terminal combines the hospital floor map to identify the slope information in the one-way driving route, the initial driving route, and the return driving route, and marks the position points with slopes exceeding the threshold;

[0122] It should be noted that when constructing the floor plans of each floor in advance, usually on the first floor, slope feature points are marked at the places with slopes;

[0123] S27. When the intelligent robot terminal detects that the distance between the real-time position point of the transfer vehicle body and the position point of the front climbing mark is less than the threshold, a climbing prompt is inserted into the navigation information, prompting the operator to control the transfer vehicle's boosting mechanism to climb the slope, and after the climbing is completed, prompting the operator to control the transfer vehicle's braking mechanism to decelerate;

[0124] S3. The intelligent robot terminal receives the patient information obtained by the transfer vehicle scanning terminal, compares and authenticates the obtained patient information with the patient information in the transfer task, and locks the patient and the transfer vehicle body after successful comparison; The specific steps of step S3 are as follows:

[0125] S31. Scan the patient bracelet through the transfer vehicle scanning terminal to identify the patient information; The transfer vehicle scanning terminal uses a PDA device;

[0126] S32. The intelligent robot terminal obtains the patient information parsed from the transfer task, and compares the identified patient information with the parsed patient information. If the two are consistent, the comparison passes; if the two are inconsistent, an authentication error message is output;

[0127] S33. After the patient information is authenticated, the intelligent robot terminal locks the transfer vehicle body and returns a successful transfer task start signal to the remote transfer vehicle management platform;

[0128] S4. The intelligent robot terminal identifies the bed height from the starting bed information and the destination bed information according to the need to enter and exit the transfer vehicle, then automatically calculates the adjustment height in combination with the transfer vehicle body height, generates an adjustment task, and controls the transfer vehicle lifting mechanism to automatically adjust the transfer vehicle body height after the adjustment task is started; The specific steps of step S4 are as follows:

[0129] S41. The intelligent robot terminal identifies the starting bed height from the starting bed information and the destination bed height from the destination bed information;

[0130] S42. Before the patient receiving route of the one-way driving route is executed, the intelligent robot terminal takes the starting bed height as the target height, and before the patient sending route of the one-way driving route is executed, the intelligent robot terminal takes the destination bed height as the target height;

[0131] S43. Before the first patient receiving route of the round-trip driving route is executed, the intelligent robot terminal takes the starting bed height as the target height, before the first patient sending route and the second patient receiving route of the round-trip driving route are executed, the intelligent robot terminal takes the destination bed height as the target height, and before the second patient sending route of the round-trip driving route is executed, the intelligent robot terminal takes the starting bed height as the target height;

[0132] S44. The intelligent robot terminal obtains the actual height of the current transfer vehicle body, compares the actual height of the transfer vehicle body with the target height, and determines the adjustment direction and adjustment height;

[0133] S45. The intelligent robot terminal generates an adjustment task for adjusting the direction and height, and automatically adjusts the height of the transfer vehicle body in the adjusted direction after receiving the adjustment task start instruction from the transfer vehicle operator, or the intelligent robot terminal manually adjusts the height of the transfer vehicle body in the operation direction of the operator after receiving the manual adjustment instruction from the transfer vehicle operator;

[0134] S5. The intelligent robot terminal controls the translation mechanism of the transfer vehicle to drive the transfer board to access or send out the patient according to the demand of entering and exiting the transfer vehicle; The specific steps of step S5 are as follows:

[0135] S51. Before the execution of the patient receiving route in the one-way driving route, the intelligent robot terminal adjusts the height of the transfer vehicle body and sets the starting bed as the target bed to set the vehicle entry task. Before the execution of the patient sending route in the one-way driving route, the intelligent robot terminal adjusts the height of the transfer vehicle body and sets the destination bed as the target bed to set the vehicle exit task;

[0136] S52. Before the execution of the first patient receiving route in the round-trip driving route, the intelligent robot terminal adjusts the height of the transfer vehicle body and sets the starting bed as the target bed to set the vehicle entry task. Before the execution of the first patient sending route in the round-trip driving route, the intelligent robot terminal adjusts the height of the transfer vehicle body and sets the destination bed as the target bed to set the vehicle exit task. Before the execution of the second patient receiving route in the round-trip driving route, the intelligent robot terminal sets the destination bed as the target bed to set the vehicle entry task. Before the execution of the second patient sending route in the round-trip driving route, the intelligent robot terminal sets the starting bed as the target bed to set the vehicle exit task;

[0137] S53. The intelligent robot terminal executes the set vehicle entry task, controls the translation mechanism to drive the transfer board and the stop bar to move out, and forces downward along the surface of the target bed to cut into the space between the patient and the target bed until the patient is completely in contact with the transfer board, and then controls the translation mechanism to drive the transfer board and the stop bar to move back, and forces upward along the surface of the target bed to keep the patient moving with the transfer board to the transfer vehicle body;

[0138] S54. The intelligent robot terminal executes the set vehicle exit task, controls the translation mechanism to drive the transfer board and the stop bar to be removed, and forces upward along the surface of the target bed to keep the patient moving with the transfer board to the target bed until the patient completely enters the target bed area, and then controls the translation mechanism to drive the transfer board to move back until the transfer board is completely separated from the target bed;

[0139] S6. The intelligent robot terminal regularly detects the battery power and operating status of the transfer vehicle, judges whether charging is required and whether there is a fault, and reports the detection results to the remote transfer vehicle management platform; The specific steps of step S6 are as follows:

[0140] S61. The intelligent robot terminal regularly detects the battery power of the transfer vehicle, judges whether the battery power of the transfer vehicle is lower than the threshold value, and generates a charging request when it is lower than the threshold value;

[0141] The intelligent robot terminal periodically detects the functions of each component of the transfer vehicle body, determines whether there is a fault, and generates a maintenance request when a fault exists;

[0142] The intelligent robot terminal reports the power detection result and the operation detection result to the remote transfer vehicle management platform;

[0143] The remote transfer vehicle management platform identifies the transfer vehicles with low power from the reported power detection results and operation detection results to generate charging tasks, and identifies the faulty transfer vehicles to generate maintenance tasks, and sends the charging tasks and maintenance tasks to the operators.

[0144] Although the present invention has been described in detail by referring to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, those of ordinary skill in the art can make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions should all be within the scope of the present invention. / Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention.

Claims

1. A method for realizing joint processing of a robot and a transfer vehicle, characterized in that: The steps include: S1. The intelligent robot terminal parses the patient information, the starting bed information and the destination bed information from the transfer task; the specific steps of step S1 are as follows: S11. After receiving the appointment request from the patient or nurse, the remote transfer vehicle management platform queries the available transfer vehicles within the appointment time period according to the patient information, appointment time period, operation mode, starting bed information and destination bed information; S12. Bind the patient information to the available transfer vehicle, generate a transfer task based on the appointment time period, operation mode, starting bed information, and destination bed information, and then send the transfer task to the transfer vehicle; S13. The intelligent robot terminal receives the transfer task, parses the appointment time period, operation mode, patient information, starting bed information and destination bed information from the transfer task, and generates a list of each transfer task according to the appointment time period; the operation mode includes a single-line mode and a round-trip mode; S2. The intelligent robot terminal generates a driving route based on the starting bed information and the destination bed information in combination with the hospital floor map, and navigates the real-time operation process of the transfer vehicle through the driving route; the specific steps of step S2 are as follows: S21. The intelligent robot terminal sorts the transfer tasks according to the appointment time period, and takes the transfer task closest to the current time period as the current transfer task, and determines the current transfer task operation mode; When it is in one-way mode, go to step S22; When it is in round trip mode, go to step S23; S22. The intelligent robot terminal identifies the patient's starting position from the starting bed information of the current transfer task, generates a patient pick-up route based on the hospital floor map, and identifies the patient's destination position from the destination bed information of the current transfer task, generates a patient delivery route based on the hospital floor map, and finally generates a one-way driving route, and enters step S25; S23. The intelligent robot terminal identifies the starting position of the first patient from the starting bed information of the current transfer task, generates the first patient receiving route in combination with the hospital floor map, and identifies the destination position of the first patient from the destination bed information of the current transfer task, generates the first patient sending route in combination with the hospital floor map, and obtains the initial driving route; S24. The intelligent robot terminal identifies the second patient's starting position from the original destination bed information, generates a second patient pick-up route based on the hospital map, and identifies the second patient's destination position from the original starting bed information, generates a second patient delivery route based on the hospital floor map, and obtains a return driving route; S25. The intelligent robot terminal obtains the real-time positioning information of the transfer vehicle body, and provides navigation information for the real-time driving of the transfer vehicle body in combination with the driving route, and outputs the navigation information through voice signals or image signals to provide the transfer vehicle operator with a reference to the cart; S3. The intelligent robot terminal receives the patient information obtained by the transfer vehicle scanning terminal, compares and authenticates the obtained patient information with the patient information in the transfer task, and locks the patient and the transfer vehicle body after the comparison is successful.

2. The method for realizing joint processing of a robot and a transfer vehicle as claimed in claim 1, characterized in that: The following steps are also included: S4. The intelligent robot terminal identifies the bed height from the starting bed information and the destination bed information according to the transfer vehicle entry and exit requirements, and automatically calculates the adjustment height in combination with the transfer vehicle body height, generates an adjustment task, and controls the transfer vehicle lifting mechanism to automatically adjust the transfer vehicle body height after the adjustment task is started; S5. The intelligent robot terminal controls the translation mechanism of the transfer vehicle to drive the transfer board to access or send out patients according to the needs of the transfer vehicle in and out; S6. The intelligent robot terminal periodically checks the power and operating status of the transfer vehicle to determine whether it needs to be charged and whether there is a fault, and reports the test results to the remote transfer vehicle management platform.

3. The method for realizing joint processing of a robot and a transfer vehicle as claimed in claim 1, characterized in that: The specific steps of step S3 are as follows: S31. Scan the patient's wristband through the transfer vehicle scanning terminal to identify the patient's information; S32. The intelligent robot terminal obtains the patient information parsed from the transfer task, and compares the identified patient information with the parsed patient information. If the two are consistent, the comparison passes. If the two are inconsistent, an authentication error message is output; S33. After the patient information is authenticated, the intelligent robot terminal locks the transfer vehicle and returns a transfer task start success signal to the remote transfer vehicle management platform.

4. The method for realizing joint processing of a robot and a transfer vehicle as claimed in claim 2, characterized in that: The specific steps of step S4 are as follows: S41. The intelligent robot terminal identifies the starting bed height from the starting bed information and identifies the destination bed height from the destination bed information; S42. Before the intelligent robot terminal executes the patient pick-up route of the one-way driving route, the starting bed height is used as the target height, and before the patient delivery route of the one-way driving route is executed, the destination bed height is used as the target height; S43. Before the first patient pick-up route of the round-trip driving route is executed, the intelligent robot terminal uses the starting bed height as the target height, before the first patient delivery route and the second patient delivery route of the round-trip driving route are executed, the destination bed height is used as the target height, and before the second patient delivery route of the round-trip driving route is executed, the starting bed height is used as the target height; S44. The intelligent robot terminal obtains the actual height of the current transfer vehicle, compares the actual height of the transfer vehicle with the target height, and determines the adjustment direction and height; S45. The intelligent robot terminal generates an adjustment task for adjusting the direction and height, and automatically adjusts the height of the transfer vehicle according to the adjustment direction after receiving the adjustment task start command from the transfer vehicle operator, or the intelligent robot terminal receives a manual adjustment command from the transfer vehicle operator, and manually adjusts the height of the transfer vehicle according to the operator's operating direction; The specific steps of step S5 are as follows: S51. The intelligent robot terminal sets the starting bed as the target bed for the vehicle entry task after the height adjustment of the vehicle body before the patient pick-up route of the one-way driving route is performed, and sets the destination bed as the target bed for the vehicle exit task after the height adjustment of the vehicle body before the patient delivery route of the one-way driving route is performed; S52. The intelligent robot terminal sets the starting bed as the target bed to set the vehicle entry task after the height of the transfer vehicle body is adjusted before the first patient pick-up route of the round-trip driving route is executed, sets the destination bed as the target bed to set the vehicle exit task after the height of the transfer vehicle body is adjusted before the first patient delivery route of the round-trip driving route is executed, sets the destination bed as the target bed to set the vehicle entry task before the second patient pick-up route of the round-trip driving route is executed, and sets the starting bed as the target bed to set the vehicle exit task before the second patient delivery route of the round-trip driving route is executed; S53. The intelligent robot terminal executes the set vehicle entry task, controls the translation mechanism to drive the transfer plate and the baffle bar to move out, and forcefully cuts downward along the surface of the target bed between the patient and the target bed until the patient is completely in contact with the transfer plate, and then controls the translation mechanism to drive the transfer plate and the baffle bar to move back, and forcefully moves upward along the surface of the target bed to keep the patient moving with the transfer plate to the transfer vehicle body; S54. The intelligent robot terminal executes the set vehicle dispatching task, controls the translation mechanism to drive the transfer plate and the barrier rod to be removed, and applies force upward along the surface of the target bed to keep the patient moving along with the transfer plate to the target bed until the patient completely enters the target bed area, and then controls the translation mechanism to drive the transfer plate to move back until the transfer plate is completely separated from the target bed.

5. The method for realizing joint processing of a robot and a transfer vehicle as claimed in claim 4, characterized in that: Step S1 also includes the following steps: S14. After the transfer task is completed, the intelligent robot terminal unlocks the transfer vehicle body and returns a transfer task completion signal to the remote transfer vehicle management platform; Step S2 also includes the following steps: S26. The intelligent robot terminal identifies the slope information of the one-way driving route, the initial driving route, and the return driving route in combination with the hospital floor map, and marks the location points where the slope exceeds the threshold as a climbing mark; S27. When the intelligent robot terminal detects that the distance between the real-time position of the transfer vehicle and the position of the climbing mark in front is less than the threshold, it inserts a climbing prompt in the navigation information to prompt the operator to control the transfer vehicle power mechanism to climb the slope, and after the climbing is completed, it prompts the operator to control the transfer vehicle brake mechanism to slow down; The specific steps of step S6 are as follows: S61. The intelligent robot terminal detects the power of the transfer vehicle regularly and determines whether the power of the transfer vehicle is lower than the threshold, and generates a request for charging when it is lower than the threshold; S62. The intelligent robot terminal regularly detects the functions of each component of the transfer vehicle body and determines whether there is a fault, and generates a maintenance request when there is a fault; S63. The intelligent robot terminal reports the power test results and operation test results to the remote transfer vehicle management platform; S64. The remote transfer vehicle management platform identifies the low-power transfer vehicle from the reported power detection results and operation detection results to generate a charging task, and identifies the faulty transfer vehicle to generate a maintenance task, and sends the charging task and maintenance task to the operator.

6. A system for realizing joint processing of a robot and a transfer vehicle, using the method for realizing joint processing of a robot and a transfer vehicle as claimed in any one of claims 1 to 5, characterized in that: It includes intelligent robot terminal, transfer vehicle body, scanning terminal and remote transfer vehicle management platform; The intelligent robot terminal and the scanning terminal are installed on the transfer vehicle body and wirelessly connected to the remote transfer vehicle management platform; The intelligent robot terminal receives the transfer task issued by the remote transfer vehicle management platform, parses the patient information and navigates the transfer vehicle body in combination with the hospital floor map, and compares and authenticates the patient information obtained by the receiving scanning terminal with the patient information in the transfer task, and locks the patient and the transfer vehicle after successful verification.

7. The system for realizing joint processing of a robot and a transfer vehicle as claimed in claim 6, characterized in that: The transfer vehicle body is provided with a fixed bed plate and a transfer vehicle lifting mechanism; The transfer vehicle lifting mechanism is arranged at the lower part of the fixed bed plate and is connected to the intelligent robot terminal; The intelligent robot terminal receives the transfer vehicle entry and exit demand instructions, identifies the patient bed height, and then calculates the adjustment height based on the transfer vehicle body height to generate an adjustment task, and controls the transfer vehicle lifting mechanism to automatically adjust the transfer vehicle body height to achieve the transfer vehicle body and the patient bed flush.

8. The system for realizing joint processing of a robot and a transfer vehicle as claimed in claim 7, characterized in that: The transfer vehicle body is provided with a transfer vehicle translation mechanism and a transfer plate, and the transfer plate is slidably arranged on the upper part of the fixed bed plate; The transfer vehicle translation mechanism includes a push rod and a motor, the push rod is connected to the transfer plate and the motor, and the motor is also connected to the intelligent robot terminal; The intelligent robot terminal receives the transfer vehicle entry and exit demand instructions, controls the motor of the transfer vehicle translation mechanism, and drives the transfer plate to receive or send out patients through the push rod.

9. The system for realizing joint processing of a robot and a transfer vehicle as claimed in claim 6, characterized in that: The transfer vehicle body is also provided with a storage battery, a transfer vehicle power-assisting mechanism and a transfer vehicle brake mechanism; The battery provides power for the transfer vehicle lifting mechanism, transfer vehicle translation mechanism, scanning terminal and intelligent robot terminal; The intelligent robot terminal regularly detects the power and operating status of the transfer vehicle and reports the test results to the remote transfer vehicle management platform; The transfer vehicle power assist mechanism is used to assist the transfer vehicle body in climbing a slope; The transfer vehicle brake mechanism is used to brake the transfer vehicle body.

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