Intelligent medical automatic auxiliary equipment and method

Abstract

The invention relates to the field of intelligent medical auxiliary equipment, in particular to intelligent medical automatic auxiliary equipment and method.The intelligent medical automatic auxiliary equipment comprises a trolley assembly, a linear driving assembly, an information collecting module and a control module, and the information collecting module is used for collecting obstacles in the moving process of an intelligent moving assembly or receiving opening and closing instructions of corresponding wards; the control module is used for controlling the trolley assembly to move to the pedestal pan assembly, controlling the external expansion supporting assembly to support the pedestal pan assembly, and then controlling the trolley assembly to transport the pedestal pan assembly to a ward which triggers an instruction switch according to a planned track route, so that a patient can transport excrement out of the ward after excreting through the pedestal pan assembly. Finally, images of the excrement are collected, stored and transmitted to a medical system terminal for follow-up viewing of doctors. The problems that some consulting rooms need to be highly clean and medical staff are in shortage due to the fact that patients in a large hospital are inconvenient to move are solved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent medical auxiliary equipment, and in particular to an intelligent medical automatic auxiliary equipment and method. Background Art

[0002] Because there are many patients with limited mobility in large hospital departments such as cancer medical centers and rehabilitation and physiotherapy centers, there is a shortage of medical staff, and special medical facilities require high levels of cleanliness.

[0003] When patients are unable to move and medical staff are in short supply, it is difficult for them to go to the bathroom by themselves. If they use a toilet to defecate in the ward, the air quality will be poor. Existing excretion assistance equipment is mainly for disabled and paralyzed patients. Its shape is similar to a vacuum cleaner. Patients need to wear the corresponding equipment on their crotch. Excrement is collected into a collection container through a hose. Caregivers need to clean the excretion assistance equipment regularly. It is inconvenient for patients to wear and wastes the labor of medical staff.

[0004] Therefore, it is necessary to provide a smart medical automatic auxiliary device and method to solve the above problems. Summary of the invention

[0005] The present invention provides an intelligent medical automatic auxiliary device and method to solve the existing excretion auxiliary device, which is mainly for disabled and paralyzed patients. Its shape is similar to a vacuum cleaner, and the patient needs to wear the corresponding equipment on the crotch. The excrement is collected into a collection container through a hose, and the caregiver needs to clean the excretion auxiliary device regularly. There are problems such as inconvenience for patients to wear it and waste of labor of medical staff.

[0006] A smart medical automatic auxiliary device of the present invention adopts the following technical solution, including: A trolley assembly, the top of which is provided with a sliding outward support assembly, and the outward support assembly is used to support the toilet assembly; A linear drive assembly, used to drive the outward expansion support assembly to move on top of the intelligent moving assembly; The outward expansion support assembly includes a support frame connected to the output end of the linear drive assembly, a rotating motor is arranged on the support frame, a horizontally arranged turntable is connected to the output end of the rotating motor, two arc-shaped slots are opened symmetrically around the center of the turntable, and a transmission rod is slidably connected in the arc-shaped slot, and an outward expansion slider is connected to the end of each transmission rod, and the outward expansion slider is slidably connected to the support frame, and the outward expansion support rod assembly is connected to the opposite sides of the two outward expansion sliders, and the rotating motor is used to drive the turntable to rotate to drive the transmission rod to slide along the arc-shaped slot, and drive the two outward expansion sliders to move in opposite directions or in opposite directions; The information collection module and the control module are both arranged on the trolley assembly. The information collection module is used to collect obstacles during the movement of the intelligent mobile assembly or to receive switch commands of the corresponding ward. The control module is used to control the trolley assembly to move to the toilet assembly after the command switch is triggered, and to control the outward support assembly to support the toilet assembly, and then control the trolley assembly to transport the toilet assembly to the ward that triggers the command switch according to the planned trajectory route; the control module is used to control the trolley assembly to avoid obstacles according to the collected obstacle information.

[0007] Preferably, the trolley assembly comprises: A housing, on which a driving wheel and a steering wheel are arranged, wherein the steering wheel is connected to the bottom of the housing through a vertically arranged rotating shaft; The drive system is arranged in the housing and includes a drive motor and a differential, wherein the differential is arranged on the transmission shaft of the driving wheel; wherein the output end of the drive motor is connected to the output end of the differential through a coupling; The steering structure comprises: a steering gear, which is arranged in a housing, and an output end of the steering gear is connected to a steering gear; a steering wheel is fixedly mounted on a rotating shaft of a steering wheel, and the steering wheel is meshed with the steering gear; and a power supply assembly for supplying power to a drive motor of a drive system and a servo of a steering structure; Among them, the driving motor, the steering gear, and the energy supply component are all electrically connected to the control module.

[0008] Preferably, the linear drive assembly includes a linear motor, the linear motor and the control module are connected by a first wire, the linear motor guide rail of the linear motor is arranged on the top of the shell, and the slider of the linear motor is slidably connected in the linear motor guide rail and connected to the support frame.

[0009] Preferably, the support frame comprises: The support plate is horizontally arranged, and a sliding block is arranged at the bottom thereof, and the sliding block is slidably connected to a sliding guide rail arranged at the top of the shell, wherein the sliding guide rail is parallel to the linear motor guide rail; the outward-expanding slider is slidably connected to the outward-expanding guide rail arranged at the top of the support plate; And a frame is arranged on the top of the support plate, wherein the rotating motor is arranged on the top of the frame, and the turntable is arranged between the frame and the support plate.

[0010] Preferably, the trolley assembly also includes: a self-locking structure, which includes: a double-headed linear motor, the double-headed linear motor is electrically connected to the control module, and each output end of the double-headed linear motor is hinged with a caliper, wherein the middle part of the caliper is rotatably connected to the bottom of the shell, and brake pads are arranged on the opposite surfaces of the two calipers on the side away from the double-headed linear motor, and the two brake pads are located on both sides of the hub of the driving wheel. The control module is used to control the operation of the double-headed linear motor to drive the caliper to rotate around the rotation point, so that the two brake pads clamp the hub or loosen the hub.

[0011] Preferably, it also includes: a manipulator component and an image acquisition component, and the image acquisition component is wirelessly connected to the medical data storage system, wherein the manipulator component is used to pick up the bedpan in the toilet assembly on the trolley assembly and place it in the identification area of ​​the image acquisition component, and after the image acquisition component captures the image, the bedpan is taken into the disinfection workshop for disinfection and standby, and the image acquisition component is used to capture the image of the patient's excrement in the bedpan and transmit it to the medical data storage system.

[0012] Preferably, the inner arc surface of the arc-shaped slot faces the center of the turntable, and one end of the arc-shaped slot is close to the center of the turntable, and the other end of the arc-shaped slot is close to the outer circumference of the turntable.

[0013] Preferably, the outward expansion support rod assembly includes: a connecting rod and a support rod, one end of the connecting rod is connected to the middle of the support rod, and the other end of the connecting rod is connected to the outward expansion slider, and a layer of rubber pad is provided on the support rod.

[0014] Preferably, the information collection module includes: an upper shell, which is arranged on the top of the shell, and a laser radar is arranged on the top of the shell. The upper shell is also provided with an indicator light through a support column, wherein the indicator light and the laser radar are electrically connected to the control module, and the control module is used to control the indicator light to light up and warn when the laser radar detects an obstacle.

[0015] A smart medical automatic auxiliary information collection method, comprising: According to the switch command information of the ward, the trolley assembly is controlled to work, that is, the trolley assembly is controlled to run to the toilet assembly to support the toilet assembly; According to the trajectory planned in the control module, the trolley assembly is controlled to move to the corresponding ward for patients to defecate; Control the trolley assembly to move from the ward to the manipulator assembly and the image acquisition assembly, and the manipulator assembly takes the bedpan from the toilet assembly on the trolley assembly and places it in the recognition area of ​​the image acquisition assembly; The image acquisition component acquires the patient's excrement image in the bedpan and transmits the excrement image to the medical data storage system.

[0016] The beneficial effects of the present invention are: The control module in the intelligent medical automatic auxiliary device of the present invention receives the switch command information from the ward, and controls the trolley component to work according to the switch command information of the ward, that is, controls the trolley component to run to the toilet component to support the toilet component; controls the trolley component to move to the corresponding ward according to the trajectory planned in the control module for the patient to defecate; controls the trolley component to move from the ward to the manipulator component and the image acquisition component, and the manipulator component takes the bedpan in the toilet component on the trolley component and places it in the recognition area of ​​the image acquisition component; the image acquisition component collects the patient's excrement image in the bedpan and transmits the excrement image to the medical data storage system, thereby solving the problem of inconvenient movement of patients in large hospitals, the need for high cleanliness in some consulting rooms, and the shortage of medical staff, that is, the device of the present invention can automatically pull the toilet component to the designated ward according to the patient's excretion demand information to allow the patient to defecate, and at the end of the excretion, the patient's excrement can be photographed and transmitted to the information terminal of the medical system, and finally returns to the designated equipment room for disinfection, wiping, and replacement of used items. During driving, it automatically identifies the path, distinguishes obstacles, and completes the obstacle avoidance function. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a state schematic diagram of a smart medical automatic auxiliary device in the processing stage of this embodiment of the present invention; Figure 2 It is a schematic diagram of the states of a smart medical automatic auxiliary device in four stages in this embodiment of the present invention; Figure 3 A schematic diagram of an outward-extended support toilet assembly of a smart medical automatic auxiliary device of the present invention; Figure 4 It is a structural schematic diagram of a smart medical automatic auxiliary device of the present invention; Figure 5 for Figure 4 A partial enlarged view of middle A; Figure 6 A schematic diagram of a turntable structure of a smart medical automatic auxiliary device of the present invention; Figure 7 It is a schematic diagram of the installation of a turntable, a frame and a rotating motor in a smart medical automatic auxiliary device of the present invention; Figure 8A schematic diagram of the internal structure of a housing of a small vehicle assembly in a smart medical automatic auxiliary device of the present invention; Fig. 9 For the present invention Figure 8 Internal schematic diagram of the self-locking structure; Fig.10 For the present invention Figure 8 Schematic diagram of the structure of the center differential; Fig.11 For the present invention Figure 8 Schematic diagram of the mid-steering structure; Fig.12 It is a structural schematic diagram of the outward expansion guide rail; Fig.13 It is a structural schematic diagram of an outward-expanding slider; Fig.14 It is a structural schematic diagram of the outward expansion support rod assembly; Fig.15 is a schematic diagram of the structure of a support plate in a support frame; Fig.16 It is a schematic diagram of the structure of the frame in the support frame.

[0019] In the figure: 1. Mechanical claw; 2. Mechanical forearm; 3. Mechanical arm first drive motor; 4. Mechanical rear arm; 5. Mechanical arm second drive motor; 6. Mechanical arm steering motor; 7. Mechanical arm base; 8. Digital camera; 9. Support seat; 10. Identification area; 11. Toilet assembly; 12. Bedpan; 13. Indicator light; 14. Support column; 15. Upper shell; 16. Laser radar; 17. Controller; 18. Carriage assembly; 19. Rubber pad; 20. Outward support rod assembly; 21. Outward slide block; 22. Support frame; 23. Linear motor; 24. First wire; 25. Linear motor guide; 26. Sliding guide; 27 , sliding block; 28, outward expansion guide rail; 29, limit plate; 30, frame; 31, transmission column; 32, turntable; 33, motor bolt; 34, rotating motor; 35, connecting key; 36, wheel hub; 37, self-locking structure; 38, battery; 39, steering wheel; 40, steering gear; 41, servo; 42 steering wheel; 43, drive motor; 44, coupling; 45, drive wheel; 46, differential; 47, connecting plate; 48, bolt; 49, connecting shaft; 50, second wire; 51, double-headed linear motor; 52, brake pad; 53, planetary gear; 54, planetary gear shaft; 55, sun gear; 56, half shaft; 57, driven bevel gear; 58, transmission shaft; 59, driving bevel gear; 60, differential housing. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] An embodiment of a smart medical automatic auxiliary device of the present invention is as follows Figure 4 , Figure 5 and Figure 8 As shown, it includes: a trolley component 18, a linear drive component, an information collection module and a control module. The top of the trolley component 18 is slidably provided with an outward support component, which is used to support the toilet component 11; the linear drive component is used to drive the outward support component to move on the top of the intelligent mobile component; the information collection module and the control module are both arranged on the trolley component 18, the information collection module is used to collect obstacles during the movement of the intelligent mobile component or to receive switch instructions of the corresponding ward, the control module adopts a controller 17, the controller 17 is used to control the trolley component 18 to move to the toilet component after the command switch is triggered, and control the outward support component to support the toilet component, and then control the trolley component 18 to transport the toilet component to the ward that triggers the command switch according to the planned trajectory route; the control module is used to control the trolley component 18 to avoid obstacles according to the collected obstacle information. The outward expansion support assembly includes a support frame 22 connected to the output end of the linear drive assembly, a rotating motor 34 is arranged on the support frame 22, a horizontally arranged turntable 32 is connected to the output end of the rotating motor 34, two arc-shaped slots are opened symmetrically around the center of the turntable 32, and a transmission rod 31 is slidably connected in the arc-shaped slot, and an outward expansion slider 21 is fixed to the end of each transmission rod 31 by welding, the outward expansion slider 21 is slidably connected to the support frame 22, and the outward expansion support rod assembly 20 is connected to the opposite side of the two outward expansion sliders 21, the rotating motor 34 is used to drive the turntable 32 to rotate to drive the transmission rod 31 to slide along the arc-shaped slot, and drive the two outward expansion sliders 21 to move in opposite directions, so that the outward expansion support rod assembly 20 is supported on the toilet assembly or separated from the support of the toilet assembly; it should be noted that, if Figure 3 As shown, the toilet assembly includes a toilet support frame 11, and the toilet support frame 11 is arranged on the toilet bowl 12.

[0022] like Figure 5 and Figure 8As shown, the trolley assembly 18 includes: a housing, a drive system, a steering structure and an energy supply assembly. The housing is provided with a driving wheel 45 and a steering wheel 42, wherein the steering wheel 42 is connected to the bottom of the housing through a vertically arranged rotating shaft; the drive system is arranged in the housing, and the drive system includes a drive motor 43 and a differential 46. The structure of the differential 46 is as shown in Fig.10 As shown, the differential 46 is arranged on the transmission shaft of the driving wheel 45; wherein the output end of the driving motor 43 is connected to the output end of the differential 46 through a coupling; Fig.11 As shown, the steering structure includes: a steering gear 41, which is arranged in a shell through a mounting seat, and the output end of the steering gear 41 is connected to a steering gear 40; the rotating shaft of the steering wheel 42 is rotatably connected to the mounting seat, and a steering wheel 39 is fixedly mounted on one end of the rotating shaft passing through the mounting seat, and the steering wheel 39 is meshed with the steering gear 40; the energy supply component adopts a battery 38, and the battery 38 is used to supply energy to the driving motor 43 of the driving system and the steering gear 41 of the steering structure; and the driving motor 43, the steering gear 41, and the energy supply component are all electrically connected to the control module.

[0023] It also includes: a limit buffer device for the moving distance of the outward expansion support rod assembly 20 at the top of the trolley assembly 18, the limit buffer device includes a limit plate 29, a connecting screw hole is provided on the limit plate 29, the connecting screw hole provided on the trolley assembly 18 is aligned with the connecting screw hole provided on the limit plate 29 and is connected by screws, and a groove is provided on the side of the limit plate 29 facing the outward expansion support rod assembly 20, and a rubber buffer pad is arranged in the groove.

[0024] Among them, Fig.10 As shown, the differential 46 includes: a differential housing 60, in which planetary gears 53, planetary gear shafts 54, sun gears 55, half shafts 56, driven bevel gears 57, transmission shafts 58, and driving bevel gears 59 are arranged; the differential 46 is connected to the coupling through the half shafts 56, and the coupling is connected to the transmission shaft of the driving wheel 15, so that the differential 46 can be operated to drive the driving wheel 15 to work. This differential 46 is a prior art structure, and will not be described in detail in this embodiment.

[0025] like Figure 5 As shown, the linear drive assembly includes a linear motor 23, the linear motor 23 and the control module are connected by a first wire 24, the linear motor guide rail 25 of the linear motor 23 is connected to the top of the shell by screws, and the slider of the linear motor 23 is slidably connected in the linear motor guide rail 25 and connected to the support frame 22.

[0026] like Figure 5 and Figure 7 As shown, the support frame 22 includes: Fig.15 The horizontal support plate shown in FIG. 1 and the support plate disposed on top of the support plate as shown in FIG. Fig.16The frame 30 shown in the figure has a sliding block 27 at the bottom of the support plate, and the sliding block 27 is slidably connected to the sliding guide rail 26 provided on the top of the housing, wherein the sliding guide rail 26 is parallel to the linear motor guide rail 25; Fig.12 and Fig.13 As shown, the outward-expanding slider 21 is slidably connected to the outward-expanding guide rail 28 arranged on the top of the support plate; the frame 30 is arranged on the top of the support plate, wherein the rotating motor 34 is fixed to the top of the frame 30 by motor bolts, the turntable 32 is arranged between the frame 30 and the support plate, and the turntable 32 is connected to the output shaft of the rotating motor 34 by a connecting key.

[0027] The trolley assembly 18 also includes a self-locking structure 37, such as Fig. 9 As shown, the self-locking structure 37 includes: a double-headed linear motor 51, which is electrically connected to the controller 17 through a second wire 50, and each output end of the double-headed linear motor 51 is hinged with a caliper 47, wherein a support plate is fixed to the bottom of the shell by bolts 48, and a connecting shaft 49 is fixed to the support plate. The middle part of the caliper 47 is rotatably connected to the connecting shaft 49, and brake pads 52 are arranged on the opposite surfaces of the two calipers 47 on the side away from the double-headed linear motor 51. The two brake pads 52 are located on both sides of the hub 36 of the driving wheel 45. The control module is used to control the operation of the double-headed linear motor 51 to drive the caliper 47 to rotate around the connecting shaft 49, so that The two brake pads 52 clamp the wheel hub 36 or release the wheel hub 36 to complete the locking or releasing of the driving wheel 45. The control module is used to control the double-headed linear motor 51 of the self-locking structure 37 to work after the trolley assembly 18 reaches the designated ward, so that the two brake pads 52 clamp the wheel hub 36 of the driving wheel 45. That is, after the trolley assembly 18 reaches the designated ward, the control module controls the double-headed linear motor 51 to be energized, and the double-headed linear motor 51 extends straight to drive the caliper 47 to rotate around the connecting shaft 49, so that the two brake pads 52 move toward each other until the two brake pads 52 are respectively pressed against the two sides of the wheel hub 36, so as to achieve the clamping of the wheel hub 36 and the self-locking of the driving wheel. When the trolley assembly 18 completes the task, the double-headed linear motor 51 is controlled to retract, and the two brake pads 52 release the clamping of the wheel hub 36, thereby releasing the self-locking.

[0028] like Figure 1 and Figure 2 As shown, it also includes: a manipulator component and an image acquisition component, and the image acquisition component is wirelessly connected to the medical data storage system, wherein the manipulator component is used to take the toilet bowl 12 in the toilet bowl component on the trolley component 18 and place it in the recognition area of ​​the image acquisition component, and after the image acquisition component acquires an image, the toilet bowl 12 is taken to the disinfection workshop for disinfection, and then the toilet bowl 12 is put on standby after disinfection, and the image acquisition component is used to collect the patient's excrement image in the toilet bowl 12 and transmit it to the medical data storage system. Specifically, as Figure 1As shown, the manipulator assembly in this embodiment includes: a manipulator base 7, a manipulator steering motor 6, a manipulator second drive motor 5, a manipulator rear arm 4, a manipulator first drive motor 3, a manipulator forearm 2 and a manipulator claw 1. This manipulator assembly is a prior art structure and will not be repeated in this embodiment.

[0029] like Figure 5 and Figure 6 As shown, the inner arc surface of the arc-shaped slot faces the center of the rotating disk 32 , and one end of the arc-shaped slot is close to the center of the rotating disk 32 , and the other end of the arc-shaped slot is close to the outer circumference of the rotating disk 32 .

[0030] like Figure 4 and Fig.14 As shown, the outward expansion support rod assembly 20 includes: a connecting rod and a support rod, one end of the connecting rod is connected to the middle of the support rod, and the other end of the connecting rod is connected to the outward expansion slider 21, and a layer of rubber pad 19 is provided on the support rod.

[0031] like Figure 4 As shown, the information collection module includes: an upper shell 15, which is arranged on the top of the shell, and a laser radar 16 is arranged on the top of the shell. The upper shell 15 is also provided with an indicator light 13 through a support column 14, wherein the indicator light 13 and the laser radar 16 are both electrically connected to the control module, and the control module is used to control the indicator light 13 to light up and give a warning when the laser radar 16 detects an obstacle.

[0032] A smart medical automatic auxiliary information collection method includes: controlling a trolley component to work according to switch command information of a ward, that is, controlling the trolley component to run to a toilet component to support the toilet component; controlling the trolley component to move to a corresponding ward according to a trajectory planned in a control module for patients to defecate; controlling the trolley component to move from the ward to a manipulator component and an image acquisition component, and having the manipulator component take the bedpan in the toilet component on the trolley component and place it in an identification area 10 of the image acquisition component; the image acquisition component acquires an image of the patient's excrement in the bedpan, and transmits the excrement image to a medical data storage system for subsequent review by a doctor.

[0033] Specific working principle like Figure 2 As shown, the present invention includes four stages: The first stage is the processing stage, in which the robot assembly disinfects the device in the processing workshop, replaces the bedpan 12 used by the patient, and waits for the task command. The patient can issue the task command and call the device through the button on the bed.

[0034] The second stage is the driving stage. After the controller 17 receives the command, the controller 17 of the present invention controls the driving motor 43 of the trolley assembly 18 to start and provide power for the trolley assembly 18. When the trolley assembly moves to the specified position, the linear motor slider of the linear motor 23 moves along the linear motor guide rail 25 through the moving range set by the controller 17. That is, the outward expansion support assembly moves along the movement direction away from the trolley assembly 18, and the limit buffer device is used to reduce the impact vibration of the slider. At this time, the controller 17 controls the rotation of the rotating motor 34 to drive the turntable 32 to rotate, and then drives the outward expansion slider 21 to slide along the outward expansion guide rail 28 to both sides of the trolley assembly 18. That is, the outward expansion support rod assembly 20 expands outward to support the toilet assembly 11 to be fixed. In order to realize the function of the subsequent intelligent medical automatic auxiliary equipment to carry the toilet assembly 11 to the specified position. During the driving process of the intelligent medical automatic assistance device, the battery 38 inside the trolley assembly 18 supplies power to the drive motor 43 of the drive system of the trolley assembly 18, controls the rotation of the drive motor 43, and the drive motor 43 drives the differential 46 to rotate. The output end of the differential 46 drives the transmission shaft of the driving wheel 45 to rotate through the coupling, so that the intelligent medical automatic assistance device can complete the forward movement. When driving to a bend in the path or avoiding obstacles, the servo 41 starts to work, driving the steering gear 40 to rotate, and then driving the steering wheel 39 to rotate, realizing the steering of the steering wheel 42, that is, realizing the turning of the trolley assembly 18. During the driving process of the intelligent medical automatic assistance device, if it suddenly encounters pedestrians or other static or dynamic obstacles, the control center can display relevant information and prompts through indicator lights, and at the same time control the device to avoid obstacles by means of steering and deceleration.

[0035] The third stage is the working stage. After the trolley assembly 18 of the present invention moves to the designated position near the bed of the corresponding ward, the self-locking structure 37 is started. The control module of the self-locking structure 37 controls the double-headed linear motor 51 to be energized. The double-headed linear motor 51 extends linearly to drive the caliper 47 to rotate around the connecting shaft 49, so that the two brake pads 52 move toward each other until the two brake pads 52 are respectively pressed against the two sides of the wheel hub 36, thereby clamping the wheel hub 36 and realizing the self-locking function of the driving wheel 45. This prevents the patient from shifting the device when using the device. If the device needs to release the self-locking, that is, after the trolley assembly 18 completes the task, the double-headed linear motor 51 is controlled to retract, and the two brake pads 52 release the clamping of the wheel hub 36, thereby releasing the self-locking.

[0036] The fourth stage is the return stage. During the process of the trolley assembly 18 going to the manipulator assembly and the image acquisition assembly in the treatment area, the movement process is the same as going to the ward area. After the patient finishes using the work platform, he arrives at the treatment workshop along the prescribed path. The manipulator assembly takes the bedpan 12 and places it in the identification area 10 of the image acquisition assembly to collect the excrement image. After the collection is completed, the manipulator assembly takes the bedpan 12 and disinfects it in the treatment workshop. After the disinfection is completed, the trolley assembly 18 of the device returns to the first treatment stage; the control center 17 controls the external expansion motor 34 to reverse and retract the external expansion support rod assembly 20. The external expansion slider 21 moves in the opposite direction along the external expansion guide rail 28 to separate the trolley assembly 18 from the supporting toilet assembly 11. The supporting toilet assembly 11 is wiped and disinfected and the bedpan is replaced. The device places the bedpan 12 containing the patient's excrement into the image recognition area 10 through the mechanical claw 1 of the manipulator assembly, and digitizes the image through the digital camera 8 of the image acquisition assembly, performs image recognition on the patient's excrement, and transmits the information after image processing to the information terminal. After waiting for this work to be completed, the device is supported and fixed to the supporting toilet assembly 11 to complete this work and wait for the next task.

[0037] It should be noted that the built-in system of the controller 17 of the present invention includes: a front-end system and a back-end system. The front-end system extracts feature information based on the environmental information observed by the laser radar 16, and estimates the position and map of the device using the Kalman filter method. Then the position and map of the device are passed to the back-end, and the Kalman filter is used to optimize and estimate to obtain a map with global consistency, and finally a map constructed by SLAM technology is obtained. The front-end system obtains the updated information of the position and posture of the device by filtering, and the back-end system optimizes the global position and landmark information of the robot based on the optimization method.

[0038] The front-end system obtains environmental information: The front-end system uses the TOF ranging method of the laser radar 16 to obtain information around the device. After scanning, the laser radar obtains a set of point clouds reflected by objects in the environment. For the obtained scanned point clouds, the common features are points, line segments, and planes. According to the advantages and disadvantages of each feature, this device uses the line segment fitting method of the laser radar in the process of building a map to build a map.

[0039] The backend system optimizes the map: After obtaining the LiDAR 16 data. The device first initializes the Kalman filter and defines the initial pose, initial covariance, process noise covariance, and observation noise covariance. Then, the device performs SLAM to build the map through iterative prediction and update steps. In this process, the robot's pose is updated using the LiDAR data, and the extracted data is used to build the environment map. Finally, the updated pose estimate and environment map of the device are obtained.

[0040] Run the program as follows: Initialize Kalman filter

[0041] Define the initial pose kf.x = np.array([[0.0],[0.0],[0.0]] Define initial covariance

[0042] Defining process noise covariance

[0043] Define the observation noise covariance kf.R = np.array([[0.1]]) Build an environment map, assuming the map is 100×100 map = np.zeros((100, 100)) Build SLAM maps for i in range(num_lidar_readings): predict kf.predict() renew kf.update(lidar_data[i]) Updated environment map map[int(kf.x[0]), int(kf.x[1])]+= 1.

[0044] This device uses LiDAR to detect obstacles around it and take corresponding actions to avoid them (such as stopping, backing up, and turning). During operation, the LiDAR emits lasers and measures the echo time, and then determines whether there is an obstacle based on the measured distance. When the distance is less than the set threshold (set to 30 cm), the robot will perform obstacle avoidance actions: stop, back up, and turn. Otherwise, the robot will continue to move forward. By uploading the code to Arduino (control platform) and connecting the motor and sensor, the device can automatically avoid obstacles when an obstacle is detected.

[0045] The code functions are as follows: Laser shooting

[0046]

[0047]

[0048] Measuring distance

[0049]

[0050] If the distance is less than the set threshold, it means there is an obstacle.

[0051] Stop the robot

[0052]

[0053]

[0054] Back

[0055]

[0056]

[0057] Stop the robot

[0058]

[0059]

[0060] Turn left

[0061]

[0062]

[0063] Stop the robot

[0064]

[0065]

[0066] go ahead

[0067]

[0068] .

[0069] The information acquisition module includes two parts: image processing and image recognition. The image processing process of this device is to obtain a digitized image through a digital camera, convert it into a digital image, and store it in a computer. Then perform image enhancement to improve the clarity and quality of the image, so that the outline of the object in the image is clearer and the details are more obvious. Lay the foundation for later image analysis and image understanding. Due to image blur caused by motion, the intensity of ambient light and other reasons, the image is blurred. In order to extract a clearer image, the image needs to be restored. Image restoration mainly uses filtering methods to restore the degraded image to the original image. Secondly, through image coding and compression technology, the amount of redundant data and memory capacity of the image are reduced, the image transmission speed is increased, and the processing time is shortened. This device uses a segmentation method based on regional features to mark and locate the target and background in the image, and then separates the target from the background, laying the foundation for image classification.

[0070] The program code is as follows. Before image recognition, the image usually needs to be preprocessed, including grayscale, binarization, and denoising operations.

[0071]

[0072] Reading an Image

[0073] Convert to grayscale image

[0074] Binarization ; Among them, this device adopts a neural network image recognition model that integrates genetic algorithm and BP network. In the image recognition system, the neural network system is used to first extract the features of the image, and then the features of the image are mapped to the neural network for image recognition and classification. When this device places the bedpan in the specified position, the detection device will sense it. At this time, the detection device will enable the image acquisition device to obtain the image of the patient's excrement. After the image is acquired, the image is uploaded to the computer for storage for identification, and the image features are extracted by using the ORB algorithm. Finally, the analysis module will extract the patient's relevant information and extract the features of the excrement, so that the doctor can analyze the excrement image after the feature extraction.

[0075] The following is the program code for extracting features using the ORB algorithm:

[0076] Reading an Image

[0077] Creating an ORB Object

[0078] Detecting keypoints and descriptors

[0079] Draw key points

[0080]

[0081] .

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A smart medical automatic auxiliary device, characterized in that: include: A trolley assembly, the top of which is provided with a sliding outward support assembly, and the outward support assembly is used to support the toilet assembly; A linear drive assembly, used to drive the outward expansion support assembly to move on top of the intelligent moving assembly; The outward expansion support assembly includes a support frame connected to the output end of the linear drive assembly, a rotating motor is arranged on the support frame, a horizontally arranged turntable is connected to the output end of the rotating motor, two arc-shaped slots are opened symmetrically around the center of the turntable, and a transmission rod is slidably connected in the arc-shaped slot, and an outward expansion slider is connected to the end of each transmission rod, and the outward expansion slider is slidably connected to the support frame, and the outward expansion support rod assembly is connected to the opposite sides of the two outward expansion sliders, and the rotating motor is used to drive the turntable to rotate to drive the transmission rod to slide along the arc-shaped slot, and drive the two outward expansion sliders to move in opposite directions or in opposite directions; The information collection module and the control module are both arranged on the trolley assembly. The information collection module is used to collect obstacles during the movement of the intelligent mobile assembly or to receive the switch command of the corresponding ward. The control module is used to control the trolley assembly to move to the toilet assembly after the command switch is triggered, and control the external support assembly to support the toilet assembly, and then control the trolley assembly to transport the toilet assembly to the ward that triggers the command switch according to the planned trajectory route; The control module is used to control the car components to avoid obstacles based on the collected obstacle information.

2. The intelligent medical automatic auxiliary device according to claim 1, characterized in that: The trolley components include: A housing, on which a driving wheel and a steering wheel are arranged, wherein the steering wheel is connected to the bottom of the housing through a vertically arranged rotating shaft; The drive system is arranged in the housing and includes a drive motor and a differential, wherein the differential is arranged on the transmission shaft of the driving wheel; wherein the output end of the drive motor is connected to the output end of the differential through a coupling; The steering structure comprises: a steering gear, which is arranged in a housing, and an output end of the steering gear is connected to a steering gear; a steering wheel is fixedly mounted on a rotating shaft of a steering wheel, and the steering wheel is meshed with the steering gear; and a power supply assembly for supplying power to a drive motor of a drive system and a servo of a steering structure; Among them, the driving motor, the steering gear, and the energy supply component are all electrically connected to the control module.

3. The intelligent medical automatic auxiliary device according to claim 2, characterized in that: The linear drive assembly includes a linear motor, the linear motor and the control module are connected through a first wire, the linear motor guide rail of the linear motor is arranged on the top of the shell, and the slider of the linear motor is slidably connected in the linear motor guide rail and connected to the support frame.

4. The intelligent medical automatic auxiliary device according to claim 3, characterized in that: The support frame includes: The support plate is horizontally arranged, and a sliding block is arranged at the bottom thereof, and the sliding block is slidably connected to a sliding guide rail arranged at the top of the shell, wherein the sliding guide rail is parallel to the linear motor guide rail; the outward-expanding slider is slidably connected to the outward-expanding guide rail arranged at the top of the support plate; And a frame is arranged on the top of the support plate, wherein the rotating motor is arranged on the top of the frame, and the turntable is arranged between the frame and the support plate.

5. The intelligent medical automatic auxiliary device according to claim 2, characterized in that: The trolley assembly also includes: a self-locking structure, which includes: a double-headed linear motor, the double-headed linear motor is electrically connected to the control module, and each output end of the double-headed linear motor is hinged with a caliper, wherein the middle part of the caliper is rotatably connected to the bottom of the shell, and brake pads are arranged on the opposite surfaces of the two calipers on the side away from the double-headed linear motor, and the two brake pads are located on both sides of the hub of the driving wheel. The control module is used to control the operation of the double-headed linear motor to drive the caliper to rotate around the rotation point, so that the two brake pads clamp the hub or loosen the hub.

6. The intelligent medical automatic auxiliary device according to claim 1, characterized in that: Also includes: The manipulator component and the image acquisition component are wirelessly connected to the medical data storage system, wherein the manipulator component is used to take the bedpan from the toilet assembly on the trolley assembly and place it in the identification area of ​​the image acquisition component, and after the image acquisition component acquires the image, the bedpan is taken into the disinfection workshop for disinfection and standby, and the image acquisition component is used to acquire the image of the patient's excrement in the bedpan and transmit it to the medical data storage system.

7. The intelligent medical automatic auxiliary device according to claim 1, characterized in that: The inner arc surface of the arc-shaped slot faces the center of the rotating disk, one end of the arc-shaped slot is close to the center of the rotating disk, and the other end of the arc-shaped slot is close to the outer peripheral surface of the rotating disk.

8. The intelligent medical automatic auxiliary device according to claim 1, characterized in that: The outward expansion support rod assembly comprises: a connecting rod and a support rod, one end of the connecting rod is connected to the middle of the support rod, the other end of the connecting rod is connected to the outward expansion slider, and a layer of rubber pad is arranged on the support rod.

9. The intelligent medical automatic auxiliary device according to claim 2, characterized in that: The information collection module includes: an upper shell, which is arranged on the top of the shell, and a laser radar is arranged on the top of the upper shell. The upper shell is also provided with an indicator light through a supporting column, wherein the indicator light and the laser radar are electrically connected to the control module, and the control module is used to control the indicator light to light up and warn when the laser radar detects an obstacle.

10. A smart medical automatic auxiliary information collection method, characterized in that: include: According to the switch command information of the ward, the trolley assembly is controlled to work, that is, the trolley assembly is controlled to run to the toilet assembly to support the toilet assembly; According to the trajectory planned in the control module, the trolley assembly is controlled to move to the corresponding ward for patients to defecate; Control the trolley assembly to move from the ward to the manipulator assembly and the image acquisition assembly, and the manipulator assembly takes the bedpan from the toilet assembly on the trolley assembly and places it in the recognition area of ​​the image acquisition assembly; The image acquisition component acquires the patient's excrement image in the bedpan and transmits the excrement image to the medical data storage system.

Images