Intelligent trolley for medical operation auxiliary equipment and movement assisting method of intelligent trolley

Abstract

The invention discloses an intelligent trolley for medical operation auxiliary equipment and a movement assisting method of the intelligent trolley, and the intelligent trolley comprises a trolley body and further comprises a projection plate; the handrail is fixedly connected with the trolley body, a laser emitter is arranged on one side of the handrail, laser emitted by the laser emitter can be directly or indirectly projected to the projection plate through an optical path, and the handrail can generate certain deformation when being subjected to force in the front direction, the back direction, the left direction and the right direction. The deformation enables the direction of the laser emitted by the laser emitter to correspondingly deflect by a certain angle; the handrail generates small angular displacement when being subjected to force in the front, back, left and right directions, then the angular displacement is converted into amplified linear displacement of the projection plate through a laser path, and the control unit detects a linear displacement signal and correspondingly controls the driving unit to assist the intelligent trolley to move; the power assisting function of trolley movement is achieved with small force, and the convenience and easiness of using the power assisting function are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to an intelligent trolley for medical surgical auxiliary equipment and a moving assistance method thereof. Background Art

[0002] In the current technology, the trolley used for medical surgery assistance has an isolation transformer, UPS and its battery pack, display and other devices integrated in the system, so the weight of the entire trolley is relatively large. During the moving process, it is almost difficult for a single person to move the trolley, so the power-assisted problem of the mobile trolley needs to be solved urgently. The realization of the power-assisted trolley movement inevitably involves the indication of the moving direction. The existing method is to add forward and backward buttons on the trolley handrail, and toggle the switch first when you need to move in which direction; if you need to move diagonally up and down the slope, you need manual brute force, and the trolley movement experience is poor; some devices that can barely be pushed by manpower no longer use forward and backward buttons to deal with this problem, but directly use human movement, which has a poor experience. Or some existing technical solutions integrate sensors, mainly converting the movement of the operating part into force, and transmitting and acting on the mechanical sensor. The judgment of the direction still depends on the mechanical sensor and the mechanical transmission of the force acting on the operating part, and the trolley movement experience is still poor. In specific use, some devices that can barely be pushed by manpower directly use human movement, and give up using these power-assisted functions. Users use the power-assisted functions laboriously and have a poor experience.

[0003] Therefore, there is an urgent need for a power-assisted mobile trolley that does not rely on mechanical sensors to sense the direction in which the user applies force and has better sensitivity to the force applied by the user. Summary of the invention

[0004] In order to solve the problem in the above background technology that the power-assisted trolley movement relies on mechanical sensors to sense the direction in which the user applies force, and the force applied by the user is not sensitive enough, the present invention provides the following technical solutions:

[0005] An intelligent trolley for medical surgical auxiliary equipment, comprising a trolley body, and further comprising:

[0006] A projection board, the projection board is arranged on the table surface of the trolley body;

[0007] An armrest, the armrest is fixedly connected to the trolley body, a laser emitter is provided on one side of the armrest, the laser emitted by the laser emitter can be directly or indirectly projected onto the projection board through an optical path, and the armrest can produce a certain deformation when subjected to forces in the front, rear, left and right directions, and the deformation causes the direction of the laser emitted by the laser emitter to deflect by a certain angle accordingly;

[0008] A laser detection device, used to detect the laser point position projected onto the central projection screen and transmit a detection signal;

[0009] A control unit, used to receive the detection signal and determine the moving direction of the intelligent trolley;

[0010] The control unit controls the driving unit to assist the movement of the intelligent trolley according to the judgment of the moving direction of the intelligent trolley.

[0011] The technical effect of this solution is: using optical circuits, the slight deformation of the handrail when it is subjected to forces in the front, back, left and right directions causes the direction of the laser emitted by the laser emitter to deflect a certain angular displacement accordingly, and then using the laser path to convert the angular displacement into an amplified linear displacement of the projection board. The control unit detects the linear displacement signal and controls the drive unit to assist the movement of the intelligent trolley accordingly. This allows users to achieve the power-assist function of the trolley movement with less force without being restricted by the mechanical sensor's need to apply a large force, greatly enhancing the convenience and ease of using the power-assist function.

[0012] Preferably, a first light screen is further provided on the side of the handrail facing the trolley body, and a second light screen is provided on the table top. The laser emitted by the laser emitter is projected onto the second light screen and then reflected back to the first light screen, and then reflected to the projection board through the first light screen. The beneficial effect is that the laser path can be further used to convert the angular displacement into a more amplified linear displacement, thereby improving the sensitivity of the force applied to the user.

[0013] Preferably, the first light screen and the second light screen can both be adjusted in height by lifting up and down along a first direction, and the first direction is parallel to the projection board. The beneficial effect is that the flexibility of laser path adjustment is increased, making it easier to adjust the position of the laser point projected onto the central projection screen to be within an ideal area.

[0014] Preferably, the armrest can produce a certain deformation when subjected to forces in the front, rear, left and right directions by the inherent elastic deformation of the armrest based on the material itself, and the elastic deformation can be restored when the external force is removed; the beneficial effect is that, with the aid of the laser path, the sensitivity to the force applied to the user is improved, so that the directional force can be sensed by utilizing the inherent elastic deformation of the material itself, eliminating the need for other mechanical sensors.

[0015] Or the armrest can generate a certain deformation when subjected to the force in the front, rear, left and right directions, so that the armrest including a section of the laser emitter can rotate around its axis, and can be restored when the external force is removed.

[0016] Preferably, the projection board is a column surface of the trolley, or a liftable light screen. The beneficial effect is that the projection board is a column surface of the trolley, which can make full use of the structure of the trolley itself and reduce the cost, or is a liftable light screen.

[0017] Preferably, the laser detection device is a camera, and the camera is arranged on one side of the armrest, so that the camera can capture the laser point projected onto the central projection screen.

[0018] Preferably, the laser emitter and the camera are both retractable and can switch between a first state and a second state by receiving a trigger signal; the first state is an initial state, in which the laser emitter and the camera are both retracted into the armrest, the first light screen is retracted to one side of the armrest and does not extend beyond the adjacent upper surface, and the second light screen is retracted below the table top; the second state is a working state, in which the laser emitter and the camera are both extended out of the armrest, the first light screen is extended out of one side of the armrest and extends beyond the adjacent upper surface, and the second light screen is extended out of the table top.

[0019] Preferably, the handrail comprises a left section, a middle section and a right section, the middle section is located between the left section and the right section; the middle section is in a rectangular parallelepiped shape, the inner side facing the trolley body is a first surface, the laser emitter and the first light screen are both arranged on the first surface, the emission direction of the laser emitter is rotated clockwise at a certain angle relative to the normal of the first surface and tilted upward; the camera is arranged on an upper surface adjacent to the first surface;

[0020] The left section and the right section are both cylindrical and are provided with mechanical sensors for detecting the force applied to the left section and the right section. The intelligent trolley also includes a controller, and the controller is electrically connected to the mechanical sensor, the first light screen, the second light screen, the laser emitter and the camera; when it is detected that the force exceeds a preset threshold, the controller sends a trigger signal so that the first light screen, the second light screen, the laser emitter and the camera are all in the second state; when the detected force is less than or equal to the preset threshold, the first light screen, the second light screen, the laser emitter and the camera are all in the first state.

[0021] Preferably, the left section and the right section both include a first metal inner rod and a first outer hard plastic, and the mechanical sensor is a thin film pressure sensitive sensor, and the thin film pressure sensitive sensor is arranged between the first hard plastic and the first metal inner rod;

[0022] The force exceeding the preset threshold value includes: the sum of the forces of the left segment and the right segment exceeds the preset threshold value, or the forces of the left segment and the right segment both exceed the preset threshold value;

[0023] The middle section includes a second metal inner rod and a second outer hard plastic, the laser emitter is arranged in the second outer hard plastic, and the first light screen is arranged on the second metal inner rod; the two ends of the second metal inner rod are respectively fixedly connected to the first metal inner rods of the left section and the right section. Its beneficial effect is that the laser emitter is arranged in the second outer hard plastic, and the hard plastic can obtain a larger deformation under the same external force compared with the metal inner rod; the first light screen is arranged on the second metal inner rod, so that the first light screen is almost not affected by the deformation and keeps a stable position on the laser light path.

[0024] A mobile assisting method for an intelligent trolley, the intelligent trolley comprising:

[0025] Trolley body;

[0026] A projection board, the projection board is arranged on the table surface of the trolley body;

[0027] An armrest, the armrest is fixedly connected to the trolley body, a laser emitter is provided on one side of the armrest, the laser emitted by the laser emitter can be directly or indirectly projected onto the projection board through an optical path, and the armrest can produce a certain deformation when subjected to forces in the front, rear, left and right directions, and the deformation causes the direction of the laser emitted by the laser emitter to deflect by a certain angle accordingly;

[0028] A laser detection device, used to detect the laser point position projected onto the central projection screen and transmit a detection signal;

[0029] A control unit, used to receive the detection signal and determine the moving direction of the intelligent trolley;

[0030] A driving unit, wherein the control unit controls the driving unit to assist the movement of the smart trolley according to the judgment of the moving direction of the smart trolley;

[0031] The power-assist method comprises the following steps:

[0032] S1. In the initial state, the laser emitter emits laser light to project onto the projection board, the laser detection device detects that the laser point is at the first position, and transmits a detection signal of the first position. The initial state is a state where the handrail is not subjected to force in the front, rear, left, or right directions;

[0033] S2, in the working state, the laser transmitter emits laser light to project onto the projection board, the laser detection device detects the laser point as the second position, and transmits a detection signal of the second position, and the working state is a state in which the armrest is subjected to forces in the front, rear, left, and right directions;

[0034] S3, the control unit compares the first position and the second position to determine the moving direction of the smart trolley;

[0035] S4. The control unit controls the driving unit to assist the movement of the smart trolley based on the judgment of the moving direction of the smart trolley.

[0036] A mobile assisting method for an intelligent trolley, the intelligent trolley comprising:

[0037] Trolley body;

[0038] A projection board, the projection board is arranged on the table surface of the trolley body;

[0039] An armrest, wherein the armrest is fixedly connected to the trolley body, and a laser emitter is provided on one side of the armrest, wherein the laser emitted by the laser emitter can be directly or indirectly projected onto the projection board through an optical path, and the armrest can generate a certain deformation when subjected to forces in the front, rear, left, and right directions, and the deformation causes the direction of the laser emitted by the laser emitter to deflect by a certain angle accordingly;

[0040] A laser detection device, used to detect the laser point position projected onto the central projection screen and transmit a detection signal;

[0041] A control unit, used to receive the detection signal and determine the moving direction of the intelligent trolley;

[0042] The control unit controls the driving unit to assist the movement of the intelligent trolley according to the judgment of the moving direction of the intelligent trolley.

[0043] A first light screen is provided on the side of the handrail facing the trolley body, and a second light screen is provided on the side wall of the trolley body opposite to the handrail. The laser emitted by the laser transmitter is projected onto the second light screen and then reflected back to the first light screen, and then reflected to the projection board through the first light screen.

[0044] The laser detection device is a camera, which is arranged on the other side of the armrest so that the camera can capture the laser point projected onto the central projection screen.

[0045] The laser emitter and the camera are both retractable devices, which can switch between a first state and a second state by receiving a trigger signal; the first state is an initial state, at which time the laser emitter and the camera are both retracted into the armrest, the first light screen is retracted to one side of the armrest and does not extend beyond the adjacent upper surface, and the second light screen is retracted below the table top; the second state is a working state, at which time the laser emitter and the camera are both extended out of the armrest, the first light screen is extended out of one side of the armrest and extends beyond the adjacent upper surface, and the second light screen is extended out of the table top.

[0046] The handrail includes a left section, a middle section and a right section, wherein the middle section is located between the left section and the right section; the middle section is in a rectangular parallelepiped shape, and the inner side facing the trolley body is a first surface, the laser emitter and the first light screen are both arranged on the first surface, and the emission direction of the laser emitter is clockwise rotated at a certain angle relative to the normal line of the first surface and tilted upward; the camera is arranged on an upper surface adjacent to the first surface;

[0047] The left section and the right section are both cylindrical and are provided with mechanical sensors for detecting the force applied to the left section and the right section. The intelligent trolley also includes a controller, and the controller is electrically connected to the mechanical sensor, the first light screen, the second light screen, the laser emitter and the camera; when it is detected that the force exceeds a preset threshold, the controller sends a trigger signal so that the first light screen, the second light screen, the laser emitter and the camera are all in the second state; when the detected force is less than or equal to the preset threshold, the first light screen, the second light screen, the laser emitter and the camera are all in the first state.

[0048] The left section and the right section both include a first metal inner rod and a first outer hard plastic, and the mechanical sensor is a thin film pressure sensitive sensor, and the thin film pressure sensitive sensor is arranged between the first hard plastic and the first metal inner rod;

[0049] The force exceeding the preset threshold value includes: the sum of the forces of the left segment and the right segment exceeds the preset threshold value, or the forces of the left segment and the right segment both exceed the preset threshold value;

[0050] The middle section includes a second metal inner rod and a second outer hard plastic, the laser emitter is arranged in the second outer hard plastic, and the first light screen is arranged on the second metal inner rod; two ends of the second metal inner rod are fixedly connected to the first metal inner rods of the left section and the right section respectively;

[0051] The power-assist method comprises the following steps:

[0052] S1. In the calibration state, the laser transmitter emits laser light to project onto the projection board, the laser detection device detects the laser point as a first position, and transmits a detection signal of the first position, and the calibration state is a state in which the handrail is not subjected to forward, backward, left, or right force;

[0053] S2, holding the left section and the right section with both hands, so that the laser emitter and the camera are both in the second state, applying a thrust, a pull, a leftward tilting force, or a rightward tilting force to the handrail, so that the projection direction of the laser emitted by the laser emitter is deflected, and the laser emitted by the laser emitter is projected onto the second light screen and then reflected back to the first light screen, and then reflected to the projection board by the first light screen. The laser detection device detects that the laser point position is the second position, and transmits a detection signal of the second position;

[0054] S3, the control unit compares the first position and the second position to determine the moving direction of the smart trolley;

[0055] S5. The control unit controls the driving unit to assist the movement of the smart trolley based on the judgment of the moving direction of the smart trolley.

[0056] The technical effect of this solution is that the angular displacement is converted into an amplified linear displacement by using a laser channel, and then a mature visual detection device and a simple comparison algorithm of the first position and the second position are used to determine the direction in which the user wants to move, thereby controlling the drive unit to assist the movement of the intelligent trolley. Among them, the thin film pressure-sensitive sensor is used to sense the force applied to the left and right sections to realize the conversion of the laser emitter and the camera in different states. During the non-working period of the first state, the laser emitter and the camera are retracted into the armrest, which protects the laser emitter and the camera while making the appearance of the trolley simple and convenient for surgical use.

[0057] Compared with the prior art, the beneficial effects of the present invention are: using optical circuits, the slight deformation of the armrest when subjected to forces in the front, rear, left and right directions causes the direction of the laser emitted by the laser transmitter to deflect a certain angular displacement accordingly, and then using the laser path to convert the angular displacement into the amplified linear displacement of the projection board. The control unit detects the linear displacement signal and controls the drive unit to assist the movement of the intelligent trolley accordingly. This allows the user to achieve the power-assist function of the trolley movement with less force without being restricted by the mechanical sensor's need to apply a large force, greatly enhancing the convenience and ease of using the power-assist function, and improving the experience of the trolley movement and the comfort of the surgical process. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0059] Figure 1 It is a structural schematic diagram of an embodiment of the present invention.

[0060] Figure 2 The figure is a schematic diagram of sections of the handrail on the smart trolley in another embodiment of the present invention.

[0061] Figure 3 This is a structural diagram of an intelligent trolley in another embodiment of the present invention - a column is arranged on the table.

[0062] Figure 4 This is a schematic structural diagram of a portion of an armrest in another embodiment of the present invention.

[0063] Figure 5 This is a schematic diagram of the installation structure of a thin film pressure-sensitive sensor in another embodiment of the intelligent trolley of the present invention.

[0064] Figure 6 This is a schematic diagram of the structure of the intelligent trolley in another embodiment of the present invention.

[0065] Figure 7 Schematic diagram of the laser path of the intelligent trolley in another embodiment of the present invention.

[0066] Description of reference numerals:

[0067] Armrest 70

[0068] Left section 71

[0069] Middle section 72

[0070] Right section 73

[0071] Laser transmitter 40

[0072] Projection board 30

[0073] Carriage body 90

[0074] Table 901

[0075] First light screen 10

[0076] Second light screen 20

[0077] Laser detection device 50

[0078] Thin film pressure sensitive sensor 100

[0079] First Hard Plastic 200

[0080] First Metal Inner Rod 300 DETAILED DESCRIPTION

[0081] 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.

[0082] like Figure 1-3 and Figure 6 As shown, a smart trolley for medical surgical auxiliary equipment includes a trolley body 90, and also includes:

[0083] The projection board 30 is disposed on the table 901 of the trolley body 90;

[0084] The armrest 70 is fixedly connected to the trolley body 90. A laser emitter 40 is provided on one side of the armrest 70. The laser emitted by the laser emitter 40 can be directly or indirectly projected to the projection board 30 through an optical path. When the armrest 70 is subjected to forces in the front, rear, left and right directions, a certain deformation can be generated. The deformation causes the direction of the laser emitted by the laser emitter 40 to deflect by a certain angle accordingly.

[0085] The laser detection device 50 is used to detect the laser point position projected onto the central projection screen and transmit the detection signal;

[0086] A control unit, used to receive the detection signal and determine the moving direction of the intelligent trolley;

[0087] The driving unit and the control unit control the driving unit to assist the movement of the intelligent trolley based on the judgment of the moving direction of the intelligent trolley.

[0088] In this embodiment, a mini laser emitter 40 is provided on one side of the handrail 70. The optical circuit is used to cause the slight deformation of the handrail 70 when it is subjected to the force in the front, rear, left and right directions, so that the direction of the laser emitted by the laser emitter 40 is deflected by a certain angular displacement accordingly. Then, the laser path is used to convert the angular displacement into the amplified linear displacement of the projection board 30. The control unit detects the linear displacement signal and controls the driving unit accordingly to assist the intelligent trolley to move. This allows the user to achieve the power-assist function of the trolley movement with a smaller force without being restricted by the mechanical sensor's need to apply a large force, which greatly enhances the convenience and ease of using the power-assist function.

[0089] In some embodiments, please refer to Figure 4 and Figure 6A first light screen 10 is also provided on the side of the handrail 70 facing the trolley body 90, and a second light screen 20 is provided on the table 901. The laser emitted by the laser emitter 40 is projected onto the second light screen 20 and then reflected back to the first light screen 10, and then reflected to the projection board 30 through the first light screen 10. The laser path can be further used to convert the angular displacement into a more amplified linear displacement, thereby improving the sensitivity of the force applied to the user.

[0090] In some embodiments, Figure 3 , Figure 4 and Figure 6 As shown, the first light screen 10 and the second light screen 20 can both be adjusted in height by lifting and lowering along the first direction, and the first direction is parallel to the projection board 30. The above arrangement can increase the flexibility of laser path adjustment, making it easier to adjust the position of the laser point projected onto the central projection screen to be within the ideal area. In specific implementation, the second light screen 20 can be lowered below the table 901, so that the table 901 in the non-working state remains simple; the first light screen 10 can be fully adjusted to the inner side of the armrest 70, not higher than the upper surface of the armrest 70.

[0091] In some embodiments, the armrest 70 can produce a certain deformation when subjected to forces in the front, rear, left and right directions. The armrest 70 has an inherent elastic deformation based on the material itself, and the elastic deformation can be restored when the external force is removed. With the help of the laser path, the sensitivity to the force applied by the user is improved, so that the directional force can be sensed by utilizing the inherent elastic deformation of the material itself, eliminating the need for other mechanical sensors.

[0092] It should be noted that, in some other embodiments, the armrest 70 can be deformed to a certain extent when subjected to forces in the front, rear, left and right directions so that a section of the armrest 70 including the laser emitter 40 can rotate around its axis. Specifically, the section of the armrest 70 where the laser emitter 40 is located can be arranged to rotate to a certain angle when subjected to the force, and then be elastically pulled, and can be restored when the external force is removed.

[0093] In some embodiments, Figure 1-2 As shown, the projection board 30 is the column surface of the trolley, or is a liftable light screen. Its beneficial effect is that the projection board 30 is the column surface of the trolley, which can make full use of the structure of the trolley itself and reduce the cost.

[0094] In some embodiments, Figure 1 , Figure 4 and Figure 6 As shown, the laser detection device 50 is a camera, which is arranged on one side of the armrest 70, specifically, installed on the upper surface of the armrest 70, so that the camera can capture the laser point projected onto the central projection screen.

[0095] In some embodiments, reference Figure 3 and Figure 6 It is understood that the laser emitter 40 and the camera are both retractable and can switch between a first state and a second state by receiving a trigger signal; the first state is an initial state, at which time the laser emitter 40 and the camera 50 are both retracted into the armrest 70, the first light screen 10 is retracted to one side of the armrest 70 and does not extend beyond the adjacent upper surface, and the second light screen 20 is retracted below the table top 901; the second state is a working state, at which time the laser emitter 50 and the camera 50 are both extended out of the armrest 70, the first light screen 10 is extended out of one side of the armrest 70 and extends beyond the adjacent upper surface, and the second light screen 20 is extended out of the table top 901.

[0096] In some embodiments, Figure 2 and Figure 4 As shown, the handrail 70 includes a left section 71, a middle section 72 and a right section 73, and the middle section 72 is located between the left section 71 and the right section 73; the middle section 72 is a rectangular parallelepiped, and the inner side facing the trolley body 90 is a first surface, the laser emitter 40 and the first light screen 10 are both arranged on the first surface, and the emission direction of the laser emitter 40 is rotated clockwise at a certain angle relative to the normal line of the first surface and tilted upward; the camera is arranged on the upper surface adjacent to the first surface;

[0097] The left section 71 and the right section 73 are both cylindrical and are provided with mechanical sensors for detecting the force applied to the left section 71 and the right section 73. The intelligent trolley further includes a controller. In some embodiments, the controller is arranged in the trolley body 90. In some other embodiments, the controller can also be arranged in the armrest 70. The controller and the mechanical sensor, the first light screen 10, the second light screen 20, the laser emitter 40 and the camera are electrically connected. When the force detected exceeds the preset threshold, the controller sends a trigger signal so that the first light screen 10, the second light screen 20, the laser emitter 40 and the camera are all in the second state. When the detected force is less than or equal to the preset threshold, the first light screen 10, the second light screen 20, the laser emitter 40 and the camera are all in the first state. In actual use, a reasonable preset threshold can be set in combination with the situation of accidentally touching the handle.

[0098] In some embodiments, please refer to Figure 5 The left section 71 and the right section 73 both include a first metal inner rod 300 and a first outer hard plastic, and the mechanical sensor is a thin film pressure sensitive sensor 100, which is arranged between the first hard plastic 200 and the first metal inner rod 300;

[0099] The force exceeding the preset threshold includes: the total force of the left section 71 and the right section 73 exceeds the preset threshold, or the forces of the left section 71 and the right section 73 both exceed the preset threshold; in specific implementation, different preset thresholds can be set for the left section 71 and the right section 73 respectively based on the difference between the left and right hands.

[0100] The middle section 72 includes a second metal inner rod and a second outer hard plastic, the laser emitter 40 is arranged in the second outer hard plastic, and the first light screen 10 is arranged on the second metal inner rod; the two ends of the second metal inner rod are fixedly connected to the first metal inner rod 300 of the left section 71 and the right section 73 respectively; in a specific embodiment, the second metal inner rod and the first metal inner rod 300 of the left section 71 and the right section 73 are an integral structure. The laser emitter 40 is arranged in the second outer hard plastic, and the hard plastic can obtain a larger deformation under the same external force compared with the metal inner rod; the first light screen 10 is arranged on the second metal inner rod, so that the first light screen 10 is almost not affected by the deformation and keeps a stable position on the laser light path; in specific implementation, the laser detection device 50 is also arranged on the upper surface of the second metal inner rod to keep a stable position on the laser light path.

[0101] A mobile assisting method for an intelligent trolley, the intelligent trolley comprising:

[0102] Trolley body 90;

[0103] The projection board 30 is disposed on the table 901 of the trolley body 90;

[0104] The armrest 70 is fixedly connected to the trolley body 90. A laser emitter 40 is provided on one side of the armrest 70. The laser emitted by the laser emitter 40 can be directly or indirectly projected to the projection board 30 through an optical path. The armrest 70 can be deformed to a certain extent when subjected to forces in the front, rear, left and right directions. The deformation causes the direction of the laser emitted by the laser emitter 40 to deflect to a certain angle accordingly.

[0105] The laser detection device 50 is used to detect the laser point position projected onto the central projection screen and transmit the detection signal;

[0106] A control unit, used to receive the detection signal and determine the moving direction of the intelligent trolley;

[0107] The driving unit and the control unit control the driving unit to assist the movement of the intelligent trolley according to the judgment of the moving direction of the intelligent trolley;

[0108] The boosting method includes the following steps:

[0109] S1. In the initial state, the laser emitter 40 emits laser light to project onto the projection board 30, and the laser detection device 50 detects the laser point position as the first position and transmits the detection signal of the first position. The initial state is the state where the armrest 70 is not subjected to the force in the front, rear, left and right directions;

[0110] S2, in the working state, the laser emitter 40 emits laser light to project onto the projection board 30, the laser detection device 50 detects the laser point position as the second position, and transmits the detection signal of the second position. The working state is the state where the armrest 70 is subjected to forces in the front, rear, left and right directions;

[0111] S3, the control unit compares the first position and the second position to determine the moving direction of the intelligent trolley;

[0112] S4. The control unit controls the driving unit to assist the movement of the intelligent trolley based on the judgment of the moving direction of the intelligent trolley.

[0113] refer to Figure 1-7 Given an understanding, a mobile assist method for an intelligent trolley, the intelligent trolley includes:

[0114] Trolley body 90;

[0115] The projection board 30 is disposed on the table 901 of the trolley body 90;

[0116] The armrest 70 is fixedly connected to the trolley body 90. A laser emitter 40 is provided on one side of the armrest 70. The laser emitted by the laser emitter 40 can be directly or indirectly projected to the projection board 30 through an optical path. The armrest 70 can be deformed to a certain extent when subjected to forces in the front, rear, left and right directions. The deformation causes the direction of the laser emitted by the laser emitter 40 to deflect to a certain angle accordingly.

[0117] The laser detection device 50 is used to detect the laser point position projected onto the central projection screen and transmit the detection signal;

[0118] A control unit, used to receive the detection signal and determine the moving direction of the intelligent trolley;

[0119] The driving unit and the control unit control the driving unit to assist the movement of the intelligent trolley based on the judgment of the moving direction of the intelligent trolley.

[0120] A first light screen 10 is also provided on the side of the armrest 70 facing the trolley body 90, and a second light screen 20 is provided on the side wall of the trolley body 90 opposite to the armrest 70. The laser emitted by the laser emitter 40 is projected onto the second light screen 20 and then reflected back to the first light screen 10, and then reflected to the projection board 30 through the first light screen 10.

[0121] The laser detection device 50 is a camera, which is arranged on the other side of the armrest 70 so that the camera can capture the laser point projected onto the central projection screen.

[0122] The laser emitter 40 and the camera are both retractable devices, which can switch between a first state and a second state by receiving a trigger signal; the first state is an initial state, at which time the laser emitter 40 and the camera 50 are both retracted into the armrest 70, the first light screen 10 is retracted to one side of the armrest 70 and does not exceed the adjacent upper surface, and the second light screen 20 is retracted below the table top 901; the second state is a working state, at which time the laser emitter 50 and the camera 50 are both extended out of the armrest 70, the first light screen 10 is extended out of one side of the armrest 70 and exceeds the adjacent upper surface, and the second light screen 20 is extended out of the table top 901.

[0123] The handrail 70 includes a left section 71, a middle section 72 and a right section 73, wherein the middle section 72 is located between the left section 71 and the right section 73; the middle section 72 is in a rectangular parallelepiped shape, and the inner side facing the trolley body 90 is a first surface, the laser emitter 40 and the first light screen 10 are both arranged on the first surface, and the emission direction of the laser emitter 40 is rotated clockwise at a certain angle relative to the normal line of the first surface and tilted upward; the camera is arranged on the upper surface adjacent to the first surface;

[0124] The left section 71 and the right section 73 are both cylindrical and are provided with mechanical sensors for detecting the force applied to the left section 71 and the right section 73. The intelligent trolley also includes a controller, which is electrically connected to the mechanical sensor, the first light screen 10, the second light screen 20, the laser emitter 40 and the camera; when the force detected exceeds the preset threshold, the controller sends a trigger signal so that the first light screen 10, the second light screen 20, the laser emitter 40 and the camera are all in the second state; when the detected force is less than or equal to the preset threshold, the first light screen 10, the second light screen 20, the laser emitter 40 and the camera are all in the first state. In actual use, a reasonable preset threshold can be set in combination with the situation of accidentally touching the handle.

[0125] The left section 71 and the right section 73 both include a first metal inner rod 300 and a first outer hard plastic, and the mechanical sensor is a thin film pressure sensitive sensor 100, which is arranged between the first hard plastic 200 and the first metal inner rod 300;

[0126] The force exceeds the preset threshold value, including: the sum of the forces of the left section 71 and the right section 73 exceeds the preset threshold value, or the forces of the left section 71 and the right section 73 both exceed the preset threshold value;

[0127] The middle section 72 includes a second metal inner rod and a second outer hard plastic, the laser emitter 40 is arranged in the second outer hard plastic, and the first light screen 10 is arranged on the second metal inner rod; the two ends of the second metal inner rod are fixedly connected to the first metal inner rod 300 of the left section 71 and the right section 73 respectively;

[0128] The boosting method includes the following steps:

[0129] S1. In the calibration state, the laser emitter 40 emits laser light to project onto the projection board 30, the laser detection device 50 detects the laser point as the first position, and transmits the detection signal of the first position. The calibration state is the state in which the armrest 70 is not subjected to the front, rear, left, or right direction force;

[0130] S2, holding the left section 71 and the right section 73 with both hands, so that the laser emitter 40 and the camera are both in the second state, applying a thrust, a pull, a leftward tilting force, or a rightward tilting force to the handrail 70, so that the projection direction of the laser emitted by the laser emitter 40 is deflected, and the laser emitted by the laser emitter 40 is projected onto the second light screen 20 and then reflected back to the first light screen 10, and then reflected by the first light screen 10 to the projection board 30. The laser detection device 50 detects that the laser point position is the second position, and transmits the detection signal of the second position;

[0131] S3, the control unit compares the first position and the second position to determine the moving direction of the intelligent trolley;

[0132] S5. The control unit controls the driving unit to assist the movement of the intelligent trolley based on the judgment of the moving direction of the intelligent trolley.

[0133] Now combined Figure 7The actual use process of the intelligent trolley is described. The laser emitted by the laser emitter 40 is projected onto the second light screen 20 and then reflected back to the first light screen 10, and then reflected to the projection board 30 through the first light screen 10. Assuming that the position of the light spot on the projection board 30 after secondary reflection when no deformation occurs is A, then when the device is moved, the armrest will undergo a certain deformation. When the device is pulled back, the deformation on the armrest will cause the position of the laser generator 40 to deform slightly backward. Because the direction of the laser is slightly forward, the direction of the laser emitted by the deformed laser generator 40 will shift downward relative to the original position, and the position on the projection board 30 is B; when the device is pushed forward, the deformation on the armrest 70 will cause the position of the laser generator to deform slightly forward. Similarly, the direction of the laser emitted by the deformed laser generator will shift upward relative to the original position, and the position on the projection board 30 is C; when the device is pushed to the left, specifically, the right hand exerts force, the left hand controls the force, and the armrest The deformation produced will cause the position of the laser generator to deform slightly to the left front, and similarly the direction of the laser emitted by the deformed laser generator 40 will shift to the left relative to the original position; when the device is pushed to the right, specifically, the left hand applies force and the right hand controls the force, the deformation produced on the armrest will cause the position of the laser generator 40 to deform slightly to the right front, and similarly the direction of the laser emitted by the deformed laser generator will shift to the right relative to the original position; during the entire movement of the trolley, the camera captures the direction of the deformation in real time, and collects the position change information of the light spot, and transmits it to the control unit. Specifically, the control unit is a host computer, which processes the deformation direction corresponding to the change in the position of the light spot through an algorithm, and then controls the driver to drive the motor according to the direction of the deformation to achieve the assisted movement of the trolley.

[0134] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent trolley for medical surgical auxiliary equipment, comprising a trolley body, characterized in that: Also includes: A projection board, the projection board is arranged on the table surface of the trolley body; An armrest, the armrest is fixedly connected to the trolley body, a laser emitter is provided on one side of the armrest, the laser emitted by the laser emitter can be directly or indirectly projected onto the projection board through an optical path, and the armrest can produce a certain deformation when subjected to forces in the front, rear, left and right directions, and the deformation causes the direction of the laser emitted by the laser emitter to deflect by a certain angle accordingly; A laser detection device, used to detect the laser point position projected onto the central projection screen and transmit a detection signal; A control unit, used to receive the detection signal and determine the moving direction of the intelligent trolley; The control unit controls the driving unit to assist the movement of the intelligent trolley according to the judgment of the moving direction of the intelligent trolley.

2. The intelligent trolley according to claim 1, characterized in that: A first light screen is also provided on the side of the handrail facing the trolley body, and a second light screen is provided on the table top. The laser emitted by the laser transmitter is projected onto the second light screen and then reflected back to the first light screen, and then reflected to the projection board through the first light screen.

3. The intelligent trolley according to claim 2, characterized in that: The first light screen and the second light screen can both be adjusted in height by lifting up and down along a first direction, and the first direction is parallel to the projection board.

4. The intelligent trolley according to claim 1, characterized in that: The armrest can produce a certain deformation when subjected to the force in the front, rear, left and right directions, which is the inherent elastic deformation of the armrest based on the material itself, and the elastic deformation can be restored when the external force is removed; Or the armrest can generate a certain deformation when subjected to the force in the front, rear, left and right directions, so that the armrest including a section of the laser emitter can rotate around its axis, and can be restored when the external force is removed.

5. The intelligent trolley according to claim 1, characterized in that: The projection board is a column surface of the trolley, or a liftable light screen.

6. The intelligent trolley according to claim 2, characterized in that: The laser detection device is a camera, which is arranged on one side of the armrest so that the camera can capture the laser point position projected onto the central projection screen.

7. The intelligent trolley according to claim 6, characterized in that: The laser emitter and the camera are both retractable and can switch between a first state and a second state by receiving a trigger signal; the first state is an initial state, in which the laser emitter and the camera are both retracted into the armrest, the first light screen is retracted to one side of the armrest and does not extend beyond the adjacent upper surface, and the second light screen is retracted below the table top; the second state is a working state, in which the laser emitter and the camera are both extended out of the armrest, the first light screen is extended out of one side of the armrest and extends beyond the adjacent upper surface, and the second light screen is extended out of the table top.

8. The intelligent trolley according to claim 7, characterized in that: The handrail includes a left section, a middle section and a right section, wherein the middle section is located between the left section and the right section; the middle section is in a rectangular parallelepiped shape, and the inner side facing the trolley body is a first surface, the laser emitter and the first light screen are both arranged on the first surface, and the emission direction of the laser emitter is clockwise rotated at a certain angle relative to the normal line of the first surface and tilted upward; the camera is arranged on an upper surface adjacent to the first surface; The left section and the right section are both cylindrical and are provided with mechanical sensors for detecting the force applied to the left section and the right section. The intelligent trolley further comprises a controller, and the controller is electrically connected to the mechanical sensor, the first light screen, the second light screen, the laser emitter and the camera; when it is detected that the force exceeds a preset threshold, the controller sends a trigger signal so that the first light screen, the second light screen, the laser emitter and the camera are all in the second state; When the detected force is less than or equal to a preset threshold, the first light screen, the second light screen, the laser emitter and the camera are all in a first state.

9. The intelligent trolley according to claim 8, characterized in that: The left section and the right section both include a first metal inner rod and a first outer hard plastic, and the mechanical sensor is a thin film pressure sensitive sensor, and the thin film pressure sensitive sensor is arranged between the first hard plastic and the first metal inner rod; The force exceeding the preset threshold value includes: the sum of the forces of the left segment and the right segment exceeds the preset threshold value, or the forces of the left segment and the right segment both exceed the preset threshold value; The middle section includes a second metal inner rod and a second outer hard plastic, the laser emitter is arranged in the second outer hard plastic, and the first light screen is arranged on the second metal inner rod; the two ends of the second metal inner rod are fixedly connected to the first metal inner rods of the left section and the right section respectively.

10. A mobile assist method for an intelligent trolley, characterized in that: The intelligent trolley comprises: Trolley body; A projection board, the projection board is arranged on the table surface of the trolley body; An armrest, wherein the armrest is fixedly connected to the trolley body, and a laser emitter is provided on one side of the armrest, wherein the laser emitted by the laser emitter can be directly or indirectly projected onto the projection board through an optical path, and the armrest can generate a certain deformation when subjected to forces in the front, rear, left, and right directions, and the deformation causes the direction of the laser emitted by the laser emitter to deflect by a certain angle accordingly; A laser detection device, used to detect the laser point position projected onto the central projection screen and transmit a detection signal; A control unit, used to receive the detection signal and determine the moving direction of the intelligent trolley; A driving unit, wherein the control unit controls the driving unit to assist the movement of the smart trolley according to the judgment of the moving direction of the smart trolley; A first light screen is also provided on the side of the handrail facing the trolley body, and a second light screen is provided on the table top. The laser emitted by the laser transmitter is projected onto the second light screen and then reflected back to the first light screen, and then reflected to the projection board through the first light screen; The laser detection device is a camera, and the camera is arranged on the other side of the armrest so that the camera can capture the laser point projected onto the central projection screen; The laser transmitter and the camera are both retractable devices, which receive trigger signals. Capable of switching between a first state and a second state; the first state is an initial state, in which the laser emitter and the camera are both retracted into the armrest, the first light screen is retracted to one side of the armrest and does not extend beyond the adjacent upper surface, and the second light screen is retracted below the table top; the second state is a working state, in which the laser emitter and the camera are both extended out of the armrest, the first light screen is extended out of one side of the armrest and extends beyond the adjacent upper surface, and the second light screen is extended out of the table top. The handrail includes a left section, a middle section and a right section, wherein the middle section is located between the left section and the right section; the middle section is in a rectangular parallelepiped shape, and the inner side facing the trolley body is a first surface, the laser emitter and the first light screen are both arranged on the first surface, and the emission direction of the laser emitter is clockwise rotated at a certain angle relative to the normal line of the first surface and tilted upward; the camera is arranged on an upper surface adjacent to the first surface; The left section and the right section are both cylindrical and are provided with mechanical sensors for detecting the force applied to the left section and the right section. The intelligent trolley further comprises a controller, and the controller is electrically connected to the mechanical sensor, the first light screen, the second light screen, the laser emitter and the camera; when it is detected that the force exceeds a preset threshold, the controller sends a trigger signal so that the first light screen, the second light screen, the laser emitter and the camera are all in the second state; when the detected force is less than or equal to the preset threshold, the first light screen, the second light screen, the laser emitter and the camera are all in the first state; The left section and the right section both include a first metal inner rod and a first outer hard plastic, and the mechanical sensor is a thin film pressure sensitive sensor, and the thin film pressure sensitive sensor is arranged between the first hard plastic and the first metal inner rod; The force exceeding the preset threshold value includes: the sum of the forces of the left segment and the right segment exceeds the preset threshold value, or the forces of the left segment and the right segment both exceed the preset threshold value; The middle section includes a second metal inner rod and a second outer hard plastic, the laser emitter is arranged in the second outer hard plastic, and the first light screen is arranged on the second metal inner rod; two ends of the second metal inner rod are fixedly connected to the first metal inner rods of the left section and the right section respectively; The power-assisting method comprises the following steps: S1. In the calibration state, the laser transmitter emits laser light to project onto the projection board, the laser detection device detects the laser point as a first position, and transmits a detection signal of the first position, and the calibration state is a state in which the handrail is not subjected to forward, backward, left, or right force; S2, holding the left section and the right section with both hands, so that the laser emitter and the camera are both in the second state, applying a thrust, a pull, a leftward tilting force, or a rightward tilting force to the handrail, so that the projection direction of the laser emitted by the laser emitter is deflected, and the laser emitted by the laser emitter is projected onto the second light screen and then reflected back to the first light screen, and then reflected to the projection board by the first light screen. The laser detection device detects that the laser point position is the second position, and transmits a detection signal of the second position; S3, the control unit compares the first position and the second position to determine the moving direction of the smart trolley; S5. The control unit controls the driving unit to assist the movement of the smart trolley based on the judgment of the moving direction of the smart trolley.

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