Intelligent multifunctional transfer device and control method

Abstract

The invention discloses an intelligent multifunctional transfer device and a control method, the intelligent multifunctional transfer device comprises a walking mechanism, a transfer platform and an intelligent auxiliary assembly, the walking mechanism comprises a chassis and universal wheels mounted on the chassis, and the universal wheels can steer by 360 degrees and are flexibly controlled; the transfer platform is arranged on the chassis, and a containing space is formed and used for bearing foreign objects; the intelligent auxiliary assembly is arranged on the walking mechanism and the transfer platform and is used for controlling the walking mechanism and the transfer platform, such as controlling the steering of the universal wheels, controlling the driving route of the transfer device, setting a destination and automatically driving towards the destination; information of patients or information of transportation medical equipment and medicines used each time is recorded, so that medical staff can conveniently inquire and master the use state of the intelligent multifunctional transfer device; according to the intelligent multifunctional transfer device, intelligence is achieved, and the purpose of unmanned transfer is achieved.

Description

Technical Field

[0001] The present invention relates to the field of automatic transport technology, and in particular to an intelligent multifunctional transport device and a control method. Background Art

[0002] At present, in the daily operation of the hospital, due to the wide variety of diseases, the medical department of the hospital is subdivided into dozens or even hundreds of departments. Such a large number of departments makes the scale of the entire hospital larger. Many patients need to take wheelchairs or beds from the inpatient department to the outpatient department for examination. Patients and their families need to follow the road signs or ask medical staff to roughly know the destination. In reality, in most cases, many medical staff are only familiar with the environment of their own department and cannot accurately tell the floor location of other departments. In addition, hospital road signs are of no help to illiterate elderly people. The above factors make it impossible for patients or their families to reach their destination smoothly. At the same time, when medical staff need to transport medical equipment or a large amount of drugs by themselves, they will be at a loss due to their busy work and a large number of people in the hospital.

[0003] Therefore, most hospitals use unmanned automated transfer devices to transfer patients in wheelchairs or beds, as well as medical equipment and heavy medicines. However, the current transfer devices are difficult to achieve unmanned automatic transportation, and the actual transfer efficiency is low. It is difficult to play a role in transportation in hospitals with large flow of people and complex road conditions. Therefore, there is an urgent need for an intelligent multifunctional transfer device to solve the above-mentioned technical problems. Summary of the invention

[0004] In view of the shortcomings of the existing transfer devices in the above-mentioned technology that are difficult to play a transfer role in hospitals with large flow of people and complex road conditions, and the actual transfer efficiency is low, the present invention provides an intelligent multifunctional transfer device and a control method.

[0005] To achieve the above object, the present invention provides an intelligent multifunctional transport device, comprising: A walking mechanism comprises a chassis and universal wheels mounted on the chassis, wherein a main control panel is provided on the chassis; A transfer platform, which is disposed on the chassis and forms a receiving space for carrying foreign objects; An intelligent auxiliary component is arranged on the walking mechanism and the transfer platform, and is used to control the walking mechanism and the transfer platform.

[0006] As an improved solution of the present invention, it also includes a sound and light alarm component, which includes a warning light and a sound generator, and the warning light is installed on the vehicle frame.

[0007] As an improvement of the present invention, a diagonal support plate is formed on any one side of the transfer platform, and the diagonal support plate is flippably arranged on the chassis through a hinge. A flipping mechanism for controlling the flipping of the diagonal support plate is provided in the accommodating space, and the diagonal support plate is provided with a connecting notch, and the output end of the flipping mechanism is fixedly connected to the diagonal support plate through the connecting notch; when the flipping mechanism is working, the diagonal support plate is tilted relative to the ground and supports the diagonal support plate.

[0008] The transfer platform is connected to the chassis via metal load-bearing columns, and shock-absorbing dampers are provided on the load-bearing columns. The load-bearing columns and the shock-absorbing dampers are used to respectively increase the load-bearing capacity of the transfer platform and reduce the vibration of the transfer platform.

[0009] As an improvement of the present invention, the intelligent auxiliary component includes a map navigation unit electrically connected to the main control panel, and the map navigation unit is used to store and collect the route traveled by the intelligent multi-functional transfer device to control the intelligent multi-functional transfer device to travel along the set route.

[0010] As an improved solution of the present invention, the walking mechanism includes a walking motor for controlling the universal wheel, the walking motor is electrically connected to the main control board, and the universal wheel is made to perform 360° steering through the walking motor.

[0011] As an improved solution of the present invention, it also includes a depth vision sensor electrically connected to the main control panel, and the depth vision sensor is installed on the transfer platform to identify the environment during the movement of the intelligent multifunctional transfer device and generate spatial positioning information according to the current environment.

[0012] As an improved solution of the present invention, it also includes a laser radar, and a plurality of the laser radars are circumferentially arranged on the walking mechanism to scan and collect environmental information in the front, back, left and right directions of the walking mechanism.

[0013] As an improved solution of the present invention, it also includes a wireless interconnection unit, which is arranged in the accommodating space, and the wireless interconnection unit is used to communicate with external equipment.

[0014] As an improved solution of the present invention, the walking mechanism also includes a walking motor, a steering motor, and a main gear and a slave gear that are meshed with each other, the main gear and the slave gear are fixedly arranged on the steering wheel disc, the universal wheel is fixedly connected to the main gear, the slave gear is sleeved on the output shaft of the steering motor, and the output shaft of the walking motor is fixedly connected to the universal wheel.

[0015] The present invention also discloses a control method for an intelligent multifunctional transport device, the control method comprising the following steps: S1, generating a transfer instruction. After receiving the transfer instruction, the main control board controls the running mechanism and the transfer platform through the intelligent auxiliary components; S2, after the transfer platform carries the transfer target, the main control panel controls the walking mechanism to move from the initial point to the destination; S3, the main control panel uses the intelligent auxiliary component to ensure that the intelligent multifunctional transport device automatically travels to the destination during the transport route.

[0016] The beneficial effects of the present invention are as follows: compared with the prior art, the present invention provides an intelligent multifunctional transfer device and a control method, comprising a walking mechanism, a transfer platform and an intelligent auxiliary component, the walking mechanism comprising a chassis and a universal wheel mounted on the chassis, the universal wheel can perform 360° steering and flexible control; the transfer platform is arranged on the chassis and forms a accommodating space for carrying foreign objects; the intelligent auxiliary component is arranged on the walking mechanism and the transfer platform, the intelligent auxiliary component is arranged on the walking mechanism and the transfer platform, and is used to control the walking mechanism and the transfer platform, such as controlling the steering of the universal wheel, controlling the route of the transfer device, setting a destination and automatically driving to the destination, and recording the patient information or transportation information of each use The intelligent multifunctional transport device of the present invention realizes intelligence and achieves the purpose of unmanned transport. It is equipped with a plurality of intelligent control components such as sound and light alarm components, a flip mechanism, a map navigation unit, a depth vision sensor, a laser radar, a wireless interconnection unit, etc., which are all controlled by the main control board, so as to realize the multifunctionality of the transport device and ensure that the transport device can carry out transport activities on the premise of safety and stability, provide important technical support for hospital transport, save manpower, reduce the workload of medical staff, make the transport of patients smoother and smarter, enable medical staff to grasp the dynamics of patients throughout the process, and better grasp the opportunity of patient treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A perspective view of the present invention; Figure 2 It is a schematic diagram of the internal structure of the present invention; Figure 3 It is a schematic diagram of the traveling wheel of the present invention; Figure 4 is a side view of the present invention; Figure 5 The present invention is a flow chart of the method.

[0018] The main component symbols are described as follows: 1. Traveling mechanism; 11. Chassis; 12. Universal wheel; 13. Traveling motor; 14. Steering motor; 15. Main gear; 16. Slave gear; 17. Shock absorber; 2. Transfer platform; 21. Diagonal support plate; 22. Flipping mechanism; 23. Articulated parts; 3. Depth vision sensor; 4. Sound and light alarm component; 5. LiDAR; 6. Load-bearing pillar; 7. Control button; 8. Display screen; 9. Main control panel; 10. Wireless interconnection unit. DETAILED DESCRIPTION

[0019] In order to more clearly illustrate the present invention, the present invention is further described below in conjunction with the accompanying drawings.

[0020] In the following description, the example details are given to provide a deeper understanding of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. It should be understood that the specific embodiments are only used to explain the present invention and are not used to limit the present invention.

[0021] It should be understood that when the terms "include" and / or "comprises" are used in this specification, they indicate the existence of the stated features, integers, steps, operations, elements or components, but do not exclude the existence or addition of one or more other features, integers, steps, operations, elements, components or combinations thereof.

[0022] The present invention proposes an intelligent multifunctional transport device, which can be used in scenarios where the actuator and the target point are precisely docked, especially an intelligent multifunctional transport device for transporting wheelchairs, beds, medical equipment or medicines. The intelligent multifunctional transport unmanned vehicle will be used as an example for introduction below, which does not mean that the intelligent multifunctional transport device of the present invention is only suitable for hospital transport scenarios.

[0023] See also Figure 1-Figure 4The present invention provides an intelligent multifunctional transfer device, comprising a walking mechanism 1, a transfer platform 2, an intelligent auxiliary component and a battery. The battery is arranged on a chassis 11 and is used to provide power to the walking mechanism 1, the transfer platform 2 and the intelligent auxiliary component. The walking mechanism 1 comprises a chassis 11 and a universal wheel 12 installed on the chassis 11. The chassis 11 is provided with a main control panel 9. The universal wheel 12 can perform 360° steering and flexible control. The transfer platform 2 is arranged on the chassis 11 and forms a storage space for carrying foreign objects. The intelligent auxiliary component is arranged between the walking mechanism 1 and the transfer platform 2. The intelligent multifunctional transport device is mounted on the platform 2 and is used to control the walking mechanism 1 and the transfer platform 2, such as controlling the steering of the universal wheel 12, controlling the route of the transfer device, setting the destination and automatically driving to the destination, and recording the patient information or the information of the transported medical equipment and drugs each time used, so as to facilitate medical staff to query and master the use status of the intelligent multifunctional transport device; the product of the present invention provides important technical support for hospital transportation, saves manpower, reduces the workload of medical staff, makes the transfer of patients smoother and smarter, enables medical staff to master the dynamics of patients throughout the process, and better grasps the opportunity of patient treatment.

[0024] In this embodiment, all technical features of the above embodiments are included. Figure 1-Figure 2 , and also includes an acoustic and visual alarm component 4, which includes a warning light and a sounder. The acoustic and visual alarm component 4 is installed on the transfer platform 2. Since the application scenario of this product is mainly used for the transportation of hospital patients, medical equipment or large quantities of medicines, and there may be many medical staff, patients and their families coming and going in the hospital, at this time, the warning light and the sounder can remind pedestrians near the transfer unmanned vehicle to avoid accidents such as collision with the transfer unmanned vehicle, thereby reducing the probability of accidents. In addition, when the transfer unmanned vehicle encounters an obstacle that cannot be avoided, the medical staff can remotely speak through the sounder to seek help from pedestrians around the transfer unmanned vehicle.

[0025] In this embodiment, all technical features of the above embodiments are included. Figure 4A diagonal support plate 21 is formed on any side of the transfer platform 2, and the diagonal support plate 21 is flippably arranged on the chassis 11 through a hinge 23. A flipping mechanism 22 for controlling the flipping of the diagonal support plate 21 is arranged in the accommodating space, and the diagonal support plate 21 is provided with a connecting notch, and the output end of the flipping mechanism 22 is fixedly connected to the diagonal support plate 21 through the connecting notch; when the flipping mechanism 22 is working, the diagonal support plate 21 is tilted relative to the ground and supports the diagonal support plate 21; in order to facilitate the placement of the transported equipment on the transfer platform 2, the diagonal support plate 21 is arranged to provide an auxiliary effect, and equipment such as wheelchairs, beds and other movable and draggable equipment with wheels can be easily pushed and placed on the transfer platform through the diagonal support plate 21. 2; wherein the flipping mechanism 22 can be an electric cylinder driven, hydraulic cylinder driven, cylinder driven or other device capable of supporting flipping adjustment to ensure that the diagonal support plate 21 can withstand heavy weight; further, the transfer platform 2 is connected to the chassis 11 through a metal load-bearing support 6 to ensure that the transfer platform 2 has the conditions for carrying heavy weight, and in order to improve the stability of the patient on the transfer platform 2, a shock-absorbing damper 17 such as a shock-absorbing spring, a shock-absorbing gasket or other damping component capable of shock absorption can be added to the load-bearing support 6. In the event of bumpy road conditions, the shock-absorbing damper 17 can be used to reduce the vibration of the transfer platform 2, thereby ensuring the stability of the transfer and improving the comfort of patient transfer.

[0026] In this embodiment, all the technical features of the above embodiments are included, and the intelligent auxiliary component also includes a map navigation unit electrically connected to the main control board 9. The map navigation unit is used to store and collect the routes traveled by the intelligent multifunctional transfer device to control the intelligent multifunctional transfer device to travel to the set route; before the intelligent transfer unmanned vehicle actually operates, it is also necessary to memorize the hospital's floors, departments and other information through the map navigation unit. During the transfer, the target location can be input into the main control board 9, and the intelligent transfer unmanned vehicle is planned according to the route recorded by the map navigation unit to reach the target location with a correct and short route; further, the terminal device can also be connected to the intelligent transfer unmanned vehicle through the Internet of Things, and at least one locator is set on each floor of the hospital. The locator is used to connect to the map navigation unit, and the location of the transfer unmanned vehicle is determined according to the locator, and the floor location and information of the transfer unmanned vehicle can be remotely viewed in the corresponding APP.

[0027] In this embodiment, all the technical features of the above embodiments are included. The intelligent auxiliary component also includes a depth vision sensor 3 electrically connected to the main control board 9. The depth vision sensor 3 is installed on the transfer platform 2 and is used to identify the environment during the travel of the intelligent multifunctional transfer device and generate spatial positioning information according to the current environment. When the intelligent transfer unmanned vehicle is driving, it is necessary to detect and collect the driving environment to avoid obstacles such as walls, pedestrians, doors and other obstacles during driving to ensure driving safety. The operator can also view the current driving conditions of the transfer unmanned vehicle in real time through the depth vision sensor 3, and can also record and save the driving process of the transfer unmanned vehicle.

[0028] In this embodiment, all the technical features of the above embodiments are included, and the intelligent auxiliary component also includes a laser radar 5. Several laser radars 5 are circumferentially arranged on the walking mechanism 1 to scan and collect environmental information in the front, back, left and right directions of the walking mechanism 1; the laser radar 5 is used to scan the environment around the unmanned transfer vehicle, and the laser radar 5 receives the emitted reflected laser pulse to measure the distance between the unmanned transfer vehicle and the obstacle, ensuring that the unmanned transfer vehicle travels within a safe distance, reducing the probability of collision and improving safety. It can be understood that the laser radar 5 can change the safety distance through the main control board 9, such as setting 1m or 2m as the safety distance. If there is a foreign object in the detection range, the sound and light alarm component 4 can correspondingly issue an alarm to prompt pedestrians in the environment and prompt remote operators.

[0029] In this embodiment, all the technical features of the above embodiments are included. The intelligent auxiliary component also includes a wireless interconnection unit 10 electrically connected to the main control board 9, which is arranged in the accommodating space. The wireless interconnection unit 10 is used to communicate with external equipment. Through the wireless interconnection unit 10, the transfer unmanned vehicle can communicate with the terminal device and conduct real-time communication. For example, it can be linked with a new type of Internet elevator. The transfer unmanned vehicle can remotely call the elevator required by the planned route in advance through wireless communication to ensure that when the transfer unmanned vehicle arrives at the elevator or gate, the elevator can wait in advance at the designated floor and automatically open and close the door, and remain in a normally open state until the transfer unmanned vehicle completely enters the elevator, and controls the elevator to be transported to the designated floor through the wireless interconnection unit 10, effectively reducing the elevator waiting time and tedious matters such as manual elevator calls, and improving transportation efficiency; and in order not to waste public resources, the transfer priority can be set to represent the urgency of the transfer, and the transfer unmanned vehicle can judge whether to force the elevator to wait according to the transfer priority to avoid the elevator being in an empty state for a long time; or remotely send an alarm to the staff to remind the staff that the transfer unmanned vehicle is in an abnormal state at this time.

[0030] In this embodiment, all technical features of the above embodiments are included. Figure 3The walking mechanism 1 also includes a walking motor 13, a steering motor 14, and a main gear 15 and a slave gear 16 that are meshed with each other. The main gear 15 and the slave gear 16 are fixedly arranged on the steering wheel disc, and the universal wheel 12 is fixedly connected to the main gear 15. The slave gear 16 is sleeved on the output shaft of the steering motor 14, and the output shaft of the walking motor 13 is fixedly connected to the universal wheel 12; the universal wheel 12 is combined with the walking motor 13 and the steering motor 14 to enable the unmanned transport vehicle to have a variety of driving conditions. For example, the forward and reverse rotation of the walking motor 13 can enable the unmanned transport vehicle to realize the function of forward, backward and straight driving. Combined with the steering motor 14, the universal wheel 12 can be controlled to turn 360°, so as to realize 360° all-round driving conditions such as turning, oblique driving, and lateral driving of the unmanned transport vehicle. For the complex road conditions and pedestrian flow in the hospital, it can shuttle in a flexible and changeable posture to ensure the transportation efficiency of the transfer and improve the flexibility.

[0031] See also Figure 1-Figure 2 A control button 7 and a display screen 8 electrically connected to the main control panel 9 are also provided on the transfer platform 2. The control button 7 can realize the start, stop and emergency stop of the intelligent transfer unmanned vehicle and the lowering and raising of the diagonal support plate. The transfer unmanned vehicle can be directly and quickly controlled by physical buttons; and the display screen 8 can display transfer information such as the patient's hospital number, the battery level of the transfer unmanned vehicle, the speed and other information.

[0032] This product is mainly powered by a rechargeable battery. The battery is installed on the chassis and provides power to the main control panel, walking mechanism, transfer platform, intelligent auxiliary components and external equipment. The battery power can be displayed on the display screen 8, and the transfer unmanned vehicle can send a charging reminder to the operator. The operator can use the one-key charging function to let the transfer unmanned vehicle automatically drive to the charging area, and the operator can manually connect the charging pile or charger to replenish the power. Furthermore, in order to ensure the safety of the transfer unmanned vehicle, a cooling fan is also provided in the accommodation space to dissipate the heat of the motor, battery and other components that generate a lot of heat, so as to prevent safety hazards such as motor burning or battery overheating.

[0033] See also Figure 5 The present invention also discloses a control method for an intelligent multifunctional transport device, the control method comprising the following steps: S1, generating a transfer instruction. After receiving the transfer instruction, the main control board 9 controls the operation of the walking mechanism 1 and the transfer platform 2 through the intelligent auxiliary component; S2, after the transfer platform 2 carries the transfer target, the main control board 9 controls the walking mechanism 1 to move from the initial point to the destination; S3, the main control panel 9 uses intelligent auxiliary components to ensure that the intelligent multifunctional transfer device automatically travels to the destination during the transfer route.

[0034] When the outside world inputs the transfer instruction to the main control panel 9, the main control panel 9 controls the walking and turning of the walking mechanism 1, and lowers and lifts the diagonal support plate 21 of the transfer platform 2 through the intelligent auxiliary component. When the transfer platform 2 carries the transfer target, the main control panel 9 determines the final destination to be reached based on the intelligent auxiliary component, and plans the driving route for it, and generates parameter indicators such as driving time and transfer priority. The operator can also control the main control panel 9 to control other components in the intelligent auxiliary component through the wireless interconnection unit 10, such as controlling the safety distance of the laser radar 5, setting values ​​such as 1m or 2m as the safe distance from the vehicle, or manually controlling the travel of the walking mechanism 1 through the main control panel 9, and changing the parameters such as the walking route planned by the main control panel 9, so as to reach the final destination.

[0035] The advantages of the present invention are: 1) The product of the present invention provides important technical support for hospital transfer, saves manpower, reduces the workload of medical staff, makes patient transfer smoother and smarter, enables medical staff to grasp the patient's dynamics throughout the process, and better grasp the timing of patient treatment.

[0036] 2) Medical staff can remotely view the information of the intelligent multifunctional transport device and bind it to the patient currently using it, making it convenient for medical staff to check and view the information.

[0037] 3) The laser radar and depth vision sensor assist the driving of the intelligent multifunctional transfer device, detect whether there are obstacles or pedestrians in the environment and avoid them, thus improving the efficiency and safety of transfer.

[0038] 4) It is able to call the elevator in advance through the wireless interconnection unit, reducing the waiting time for the elevator call and improving transportation efficiency. In order not to waste public resources, the transfer unmanned vehicle comprehensively determines whether to forcefully call the elevator to wait based on the transfer priority, thus avoiding the elevator being in an empty state for a long time.

[0039] The above disclosures are only several specific embodiments of the present invention, but the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. An intelligent multifunctional transport device, characterized in that: include: A walking mechanism comprises a chassis and universal wheels mounted on the chassis, wherein a main control panel is provided on the chassis; A transfer platform, which is disposed on the chassis and forms a receiving space for carrying foreign objects; An intelligent auxiliary component is arranged on the walking mechanism and the transfer platform, and is used to control the walking mechanism and the transfer platform.

2. The intelligent multifunctional transport device according to claim 1, characterized in that: A diagonal support plate is formed on any one side of the transfer platform, and the diagonal support plate is flippably arranged on the chassis through a hinge. A flipping mechanism for controlling the flipping of the diagonal support plate is provided in the accommodating space, and the diagonal support plate is provided with a connecting notch. The output end of the flipping mechanism is fixedly connected to the diagonal support plate through the connecting notch; when the flipping mechanism is working, the diagonal support plate is tilted relative to the ground and supports the diagonal support plate.

3. The intelligent multifunctional transport device according to claim 2, characterized in that: The transfer platform is connected to the chassis via metal load-bearing columns, and shock-absorbing dampers are provided on the load-bearing columns. The load-bearing columns and the shock-absorbing dampers are used to respectively increase the load-bearing capacity of the transfer platform and reduce the vibration of the transfer platform.

4. The intelligent multifunctional transport device according to claim 1, characterized in that: It also includes a sound and light alarm component, which includes a warning light and a sound generator, and the warning light and the sound generator are installed on the transfer platform.

5. The intelligent multifunctional transport device according to claim 1, characterized in that: The intelligent auxiliary component includes a map navigation unit electrically connected to the main control panel, and the map navigation unit is used to store and collect the route traveled by the intelligent multi-functional transfer device to control the intelligent multi-functional transfer device to travel along the set route.

6. The intelligent multifunctional transport device according to claim 1, characterized in that: It also includes a depth vision sensor electrically connected to the main control panel, and the depth vision sensor is installed on the transfer platform to identify the environment in which the intelligent multifunctional transfer device is moving and generate spatial positioning information according to the current environment.

7. The intelligent multifunctional transport device according to claim 1, characterized in that: It also includes a laser radar electrically connected to the main control board, and a plurality of the laser radars are circumferentially arranged on the walking mechanism to scan and collect environmental information in the front, back, left and right directions of the walking mechanism.

8. The intelligent multifunctional transport device according to claim 1, characterized in that: It also includes a wireless interconnection unit electrically connected to the main control board and arranged in the accommodating space, and the wireless interconnection unit is used to communicate with external equipment.

9. The intelligent multifunctional transport device according to claim 1, characterized in that: The walking mechanism also includes a walking motor, a steering motor, and a main gear and a slave gear that are meshed with each other. The main gear and the slave gear are fixedly arranged on the steering wheel disc, the universal wheel is fixedly connected to the main gear, the slave gear is sleeved on the output shaft of the steering motor, and the output shaft of the walking motor is fixedly connected to the universal wheel.

10. A control method for an intelligent multifunctional transport device, applied to the intelligent multifunctional transport device according to any one of claims 1 to 9, characterized in that: The control method comprises the following steps: S1, generating a transfer instruction. After receiving the transfer instruction, the main control board controls the running mechanism and the transfer platform through the intelligent auxiliary components; S2, after the transfer platform carries the transfer target, the main control panel controls the walking mechanism to move from the initial point to the destination; S3, the main control panel uses the intelligent auxiliary component to ensure that the intelligent multifunctional transport device automatically travels to the destination during the transport route.

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