Intelligent medicine delivery robot and medicine delivery method thereof

Abstract

According to the intelligent medicine delivery robot, medicine is delivered through the intelligent medicine delivery robot, intelligence and high efficiency of medicine delivery are achieved, the navigation device is arranged to navigate the route of the robot in the advancing process, the route of the robot in the walking process is monitored in real time through the sensor, and the intelligent medicine delivery robot is more intelligent. According to the method, a walking robot is arranged to ensure that the walking robot sends medicines into corresponding areas, the medicines are classified into large categories and small categories, whether the areas of the large categories of medicines correspond to each other or not is detected during medicine taking, meanwhile, whether errors occur when medical staff take the small categories of medicines or not is detected, and the situation that the medicines are wrongly sent is prevented through multiple times of detection.

Description

Technical Field

[0001] The present invention relates to the field of crop planting, and specifically to an intelligent medicine delivery robot and a medicine delivery method thereof. Background Art

[0002] At present, hospitals are in the transition period from traditional manual operations to intelligent automatic hospitals. The traditional way of delivering medicines is manual delivery. Each department needs to be equipped with special medicine pickers and delivery personnel, which takes up a lot of manpower and time, and has a high cost. In the southern region, the temperature is high and there are many rainy days, which causes many inconveniences in the process of picking up medicines. Manual delivery of medicines also often causes the wrong medicines in the process of dispensing medicines. Therefore, in the current intelligent hospital transformation, the first thing is to improve the way of delivering medicines, and improve manual delivery of medicines to robot delivery of medicines. The invention patent with publication number CN118514103A discloses a control method and related devices based on humanoid robot assisted medication, which is equipped with a route planning system, and realizes that during the process of delivering medicines, it passes through continuous up and down stairs and flat sections, executes different motion strategies for different sections, and can cope with stable travel on a variety of different sections. The invention patent application with publication number CN118534912A discloses a real-time path planning method for a multi-sensory fusion medical robot, which uses its own sensor and other sensing systems to perceive environmental information such as obstacles. When an obstacle is detected, the robot can avoid it based on previous obstacle avoidance experience. The utility model patent with publication number CN217496999U discloses a high-efficiency medicine delivery trolley based on intelligent tracking. The partition is convenient for carrying multiple drugs at one time to improve the efficiency of drug delivery, and at the same time avoid multiple drugs being mixed together and taken by mistake. The medicine is pushed to the right by the scissor mechanism so that the box cover covers the medicine to avoid cross infection caused by contact with bacteria when passing other patients during the delivery process. From the above-mentioned prior art, it can be seen that most of the existing automated medicine delivery robots have route planning systems and obstacle avoidance systems, and will classify the medicines to a certain extent and set means to avoid taking the wrong medicines. However, there are still problems with the medicine delivery robots in the prior art. First, although a route planning system is set, there is still a possibility of going to the wrong ward. The existing medicine delivery robot cannot correct and warn problems in the route during the delivery process. Although the existing medicine delivery robot classifies the medicines, there is still a possibility of taking the wrong medicine after delivery. How to prevent the wrong medicine from being taken is an urgent problem to be solved.

[0003] 1. Technical issues to be resolved

[0004] In order to solve the above technical problems, the present invention provides an intelligent medicine delivery robot.

[0005] (II) Technical solution

[0006] An intelligent medicine delivery robot comprises a robot body, wherein the robot body comprises an outer shell, a top surface and a bottom surface, the outer shell is arc-shaped, a medicine dispensing port is arranged on the top surface, the medicine dispensing port is closed by a sealing plate which can be opened automatically, and a walking device is arranged on the bottom surface.

[0007] Furthermore, a medicine storage device is provided inside the shell, and the medicine storage device includes multiple medicine storage drawers from top to bottom inside the robot shell. There are N medicine storage drawers, and the left, right, upper and lower medicine storage drawers are adjacent to each other. N sliding devices corresponding to the N medicine storage drawers are provided in the shell.

[0008] Furthermore, the sliding device includes sliding rails I and II on the left and right walls inside the shell, and sliding rods corresponding to the sliding rails are arranged on both sides of the medicine storage drawer. One end of the sliding rod is slidably connected to the sliding rail, and the other end of the sliding rod is fixedly connected to the medicine storage drawer.

[0009] Furthermore, the sliding device also includes N opening cylinders I and push rods I. The opening cylinder I is fixedly arranged on the rear wall inside the shell. One end of the push rod I is pushed by the cylinder I, and the other end is connected to the rear end of the medicine storage drawer. The medicine storage drawer can be pushed out of the robot shell by the cylinder.

[0010] Furthermore, an information receiving device, an information comparing device, and a control device are also provided on the outside of the robot body; a plurality of sensors, a route planning system, and an information transmission system are also provided inside the robot body, and the information transmission system transmits information to the information receiving device outside the robot body.

[0011] Furthermore, the sensors inside the robot include a medicine delivery position sensor, a medicine delivery area sensor, a major medicine type sensor, and a minor medicine type sensor.

[0012] Furthermore, a plurality of medicine storage slots are provided on the surface of each medicine storage drawer, and different types of medicines are stored in the medicine storage slots. The medicine storage slots are cavity-shaped, and the medicines are placed in the cavities of the medicine storage slots. A medicine clamping device is also provided inside the medicine storage slots.

[0013] Furthermore, the medicine clamping device includes a clamping cylinder I and a clamping cylinder II arranged on the side walls of the medicine storage groove. The clamping cylinder I and the clamping cylinder II are both connected to a clamping push rod, and the other ends of the two clamping push rods are directed toward both sides of the medicine to clamp the medicine.

[0014] From another embodiment, it can be seen that: there is also another intelligent medicine delivery robot, including a robot body, the robot body includes a robot head, a robot body and a robot walking device; a plurality of sensor devices are arranged on the robot head, and the plurality of sensor devices include a medicine delivery position sensor, a medicine delivery area sensor, a medicine type sensor, and an obstacle detection sensor; the obstacle detection sensor on the robot head detects obstacles on the walking path of the robot body and avoids them.

[0015] Furthermore, a robot walking device is arranged at the bottom of the robot, and the robot walking device includes a front walking wheel and a rear walking wheel, the front walking wheel is a driven wheel, and the rear walking wheel is a driving universal wheel; the front walking wheel and the rear walking wheel each include two wheels, and the rear wheel I and the rear wheel II of the rear walking wheel are connected by a driving shaft, and the driving shaft is driven by a driving device arranged inside the robot body.

[0016] Furthermore, a body driving part and medicine holding arm I and medicine holding arm II are provided on the robot body, and medicine holding arms I-II each include a connecting part, a forearm and an upper arm; the connecting part of medicine holding arms I-II is hinged to the driving part of the robot body, the connecting part is connected to the forearm, the forearm is connected to the upper arm, and the driving device inside the robot body drives medicine holding arms I-II to rotate.

[0017] Furthermore, a medicine tray is arranged between the two medicine holding walls, and the medicine tray is clamped by medicine holding arm I and medicine holding arm II. A medicine classification groove is arranged on the medicine tray, and different kinds of medicines are placed on the medicine tray.

[0018] The invention also includes a medicine delivery method of an intelligent medicine delivery robot, which includes the following steps: Step 1: firstly classify each medicine storage drawer in the robot body, mark 1-N medicine storage drawers, store medicines of different types in different medicine drawers, and mark different medicine storage drawers as N1, N2, N3...N n .

[0019] Step 2: After classifying the medicine drawers, classify the areas where the medicines are delivered, classify the different areas where the different types of medicines are to be delivered, and mark the different areas where the different types of medicines are to be delivered as X1, X2, X3...X n ; Among them, N1, N2, N3.....N n and regions X1, X2, X3...X n One to one correspondence.

[0020] Step 3: Before the robot starts, plan the route of the robot. Set the initial walking speed of the robot to V0, set the starting point of the robot to X0, and then plan according to the urgency of the medication needs in each area. Set the distance from the starting point X0 to the first planned arrival area to L0, and X1, X2, X3...X n The distances between them are L1, L2, L3, L 4. ...L n ; and L0+L1+L2+L3+.....+L n =L t , set L t / V0=T0, set T0<T p .

[0021] Step 4: Classify the multiple medicine storage slots in a medicine storage drawer, put different subcategories of medicines in a large category into different medicine storage slots of a medicine storage drawer and classify them.

[0022] Step 5: During the walking process of the robot, the medicine delivery position sensor of the robot body detects the position of the robot body, and transmits the detected information to the information receiving device through the information transmission system. The information receiving device transmits the position information to the information comparison device for comparison with the planned position route, and calculates the current position of the robot by the walking speed V0 and the total movement time T0, and compares the actual position with the predicted position. If the error rate does not exceed 3%, the movement continues. If the error rate exceeds 3%, the initial speed V0 of the walking robot is adjusted according to the position.

[0023] Step 6: If the demand for medicines in different areas changes during the robot's walking process, the walking route needs to be changed. At this time, the route planning system of the walking robot is first controlled by the control device to stop working, and then the new planned route is transmitted to the robot through the information transmission system through the control device, and the robot moves according to the new planned route.

[0024] Step 7: When the walking robot reaches the planned area X1, X2, X3...X n After that, the medicine delivery position sensor first detects the area to be reached, and then the control device controls N1, N2, N3...N corresponding to the area to be planned. n The opening cylinder Ⅰ corresponding to each medicine storage drawer opens the medicine storage drawer. While opening, the medicine type sensor detects the label of the opened medicine storage drawer, and compares the detected label with the label of the area to be planned. If they correspond to each other, the opening continues; if not, the opening stops.

[0025] Step 8: After opening the medicine storage drawer corresponding to the area to be planned, the medical staff will take the medicine from the medicine storage slot. At this time, the medicine type sensor will detect the type of medicine taken. If the medicine taken is correct, the two clamping cylinders of the medicine clamping device will be controlled to retract the clamping push rod. If the medicine taken is incorrect, it will continue to clamp and issue an alarm.

[0026] In another case, the medicine delivery robot walks to the patient's bedside based on sensing, and the smart bracelet worn by the patient needs to interact with the robot. After the interaction is completed, the robot will open the window accordingly and deliver the medicine needed by the patient, realizing one-to-one interaction and providing the corresponding product.

[0027] (3) Beneficial effects;

[0028] The present invention realizes intelligent and efficient drug delivery by delivering drugs through an intelligent drug delivery robot, and navigates the route of the robot during its movement by setting a navigation device, and monitors the route of the robot in real time through sensors to ensure that the walking robot delivers the drugs to corresponding areas. Drugs are classified into major categories and minor categories, and when taking drugs, it is first detected whether the areas of major categories of drugs correspond, and at the same time, it is detected whether errors occur when medical staff take minor categories of drugs, and multiple detections are performed to prevent the wrong delivery of drugs. When the patient takes the medicine by himself, one-to-one interaction is directly realized through the correspondence between the bracelet and the robot, and the corresponding product is given to avoid errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Attached Figure 1 This is a schematic diagram of the robot body of Example 1.

[0030] Attached Figure 2 This is a schematic diagram of the medicine storage drawer.

[0031] Attached Figure 3 Schematic diagram of the sliding device.

[0032] Attached Figure 4 This is a schematic diagram of the drug classification trough.

[0033] Attached Figure 5 This is a schematic diagram of the robot body of Example 2.

[0034] 1- robot body; 2- medicine taking port; 3- robot shell; 4- medicine storage drawer; 5- opening cylinder Ⅰ; 6- push rod Ⅰ; 7- slide rails Ⅰ-Ⅱ; 8- sliding rod; 9- medicine storage slot; 10- medicine; 11- clamping cylinder Ⅰ-Ⅱ; 12- clamping push rod; 13- robot head; 14- driven wheel; 15- driving universal wheel; 16- medicine holding arm Ⅰ-Ⅱ; 17- medicine tray. DETAILED DESCRIPTION

[0035] 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.

[0036] Embodiment 1: An intelligent medicine delivery robot comprises a robot body (1), the robot body (1) comprises a shell (3), a top surface and a bottom surface, the shell is arc-shaped, the top surface is provided with a medicine dispensing port (2), the medicine dispensing port (2) is closed by a sealing plate that can be opened automatically, the bottom surface is provided with a walking device, a medicine storage device is provided inside the shell (3), the medicine storage device comprises a plurality of medicine storage drawers (4) from top to bottom inside the robot shell, the medicine storage drawers (4) are provided with N, the left and right medicine storage drawers (4) are adjacent to each other, and the shell is provided with N and N medicine storage drawers (4) A sliding device corresponding to the medicine storage drawer (4) comprises a sliding rail I (7) and a sliding rail II (7) on the left and right walls inside the shell, sliding rods (8) corresponding to the sliding rails are arranged on both sides of the medicine storage drawer, one end of the sliding rod (8) is slidably connected in the sliding rail, and the other end of the sliding rod (8) is fixedly connected to the medicine storage drawer (4), and the sliding device also comprises N opening cylinders I (5) and push rods I (6), the opening cylinder I (5) is fixedly arranged on the rear wall inside the shell, one end of the push rod I (6) is pushed by the cylinder I (5), and the other end is connected to the medicine storage drawer (4). At the rear end of the drawer (4), the medicine storage drawer can be pushed out of the robot shell by the cylinder I (5). The outside of the robot body is also provided with an information receiving device, an information comparing device, and a control device; the inside of the robot body is also provided with a plurality of sensors, a route planning system, and an information transmission system. The information transmission system transmits information to the information receiving device outside the robot body. The sensors inside the robot include a medicine delivery position sensor, a medicine delivery area sensor, a medicine major category sensor, and a medicine minor category sensor. The surface of each medicine storage drawer is provided with a plurality of A medicine storage tank (9) is provided, wherein different kinds of medicines are stored in the medicine storage tank (9), the medicine storage tank (9) is in the shape of a cavity, the medicine (10) is placed in the cavity of the medicine storage tank, and a medicine clamping device is also provided inside the medicine storage tank, the medicine clamping device comprises a clamping cylinder I (11) and a clamping cylinder II (11) provided on the side walls of the medicine storage tank on both sides, the clamping cylinder I (11) and the clamping cylinder II (11) are both connected to a clamping push rod (12), and the other ends of the two clamping push rods (12) face the two sides of the medicine to clamp the medicine (10).

[0037] The invention also includes a medicine delivery method of an intelligent medicine delivery robot, which includes the following steps: Step 1: firstly classify each medicine storage drawer in the robot body, mark 1-N medicine storage drawers, store medicines of different types in different medicine drawers, and mark different medicine storage drawers as N1, N2, N3...N n .

[0038] Step 2: After classifying the medicine drawers, classify the areas where the medicines are delivered, classify the different areas where the different types of medicines are to be delivered, and mark the different areas where the different types of medicines are to be delivered as X1, X2, X3...X n ; Among them, N1, N2, N3.....N n and regions X1, X2, X3...X n One to one correspondence.

[0039] Step 3: Before the robot starts, plan the route of the robot. Set the initial walking speed of the robot to V0, set the starting point of the robot to X0, and then plan according to the urgency of the medication needs in each area. Set the distance from the starting point X0 to the first planned arrival area to L0, and X1, X2, X3...X n The distances between them are L1, L2, L3, L 4. ...L n ; and L0+L1+L2+L3+.....+L n =L t , set L t / V0=T0, set T0<T p .

[0040] Step 4: Classify the multiple medicine storage slots in a medicine storage drawer, put different subcategories of medicines in a large category into different medicine storage slots of a medicine storage drawer and classify them.

[0041] Step 5: During the walking process of the robot, the medicine delivery position sensor of the robot body detects the position of the robot body, and transmits the detected information to the information receiving device through the information transmission system. The information receiving device transmits the position information to the information comparison device for comparison with the planned position route, and calculates the current position of the robot by the walking speed V0 and the total movement time T0, and compares the actual position with the predicted position. If the error rate does not exceed 3%, the movement continues. If the error rate exceeds 3%, the initial speed V0 of the walking robot is adjusted according to the position.

[0042] Step 6: If the demand for medicines in different areas changes during the robot's walking process, the walking route needs to be changed. At this time, the route planning system of the walking robot is first controlled by the control device to stop working, and then the new planned route is transmitted to the robot through the information transmission system through the control device, and the robot moves according to the new planned route.

[0043] Step 7: When the walking robot reaches the planned area X1, X2, X3...X n After that, the medicine delivery position sensor first detects the area to be reached, and then the control device controls N1, N2, N3...N corresponding to the area to be planned. n The opening cylinder Ⅰ corresponding to each medicine storage drawer opens the medicine storage drawer. While opening, the medicine type sensor detects the label of the opened medicine storage drawer, and compares the detected label with the label of the area to be planned. If they correspond to each other, the opening continues; if not, the opening stops.

[0044] Step 8: After opening the medicine storage drawer corresponding to the area to be planned, the medical staff will take the medicine from the medicine storage slot. At this time, the medicine type sensor will detect the type of medicine taken. If the medicine taken is correct, the two clamping cylinders of the medicine clamping device will be controlled to retract the clamping push rod. If the medicine taken is incorrect, it will continue to clamp and issue an alarm.

[0045] Embodiment 2: Step 8: The medicine delivery robot walks to the patient's bed according to the induction, and the smart bracelet worn by the patient needs to interact with the robot induction. After the interaction is completed, the robot will open the window accordingly and deliver the medicine required by the patient, realizing one-to-one interaction and giving the corresponding product.

[0046] Embodiment 3: Also included is another intelligent medicine delivery robot, including a robot body, the robot body including a robot head (13) and a robot body and a robot walking device; a plurality of sensor devices are arranged on the robot head (13), and the plurality of sensor devices include a medicine delivery position sensor, a medicine delivery area sensor, a medicine type sensor, and an obstacle detection sensor; the obstacle detection sensor on the robot head detects obstacles on the walking path of the robot body and avoids them; a robot walking device is arranged at the bottom of the robot, and the robot walking device includes a front walking wheel and a rear walking wheel, the front walking wheel is a driven wheel (14), and the rear walking wheel is a driving universal wheel (15); the front walking wheel and the rear walking wheel both include The robot comprises two wheels, rear wheels I and II of the rear wheels are connected by a driving shaft, and the driving shaft is driven by a driving device arranged inside the robot body. The robot body is provided with a body driving part and a medicine holding arm I (16) and a medicine holding arm II (16), and the medicine holding arms I-II both include a connecting part, a small arm and a large arm; the connecting part of the medicine holding arms I-II is hinged with the driving part of the robot body, the connecting part is connected to the small arm, and the small arm is connected to the large arm, and the driving device inside the robot body drives the medicine holding arms I-II to rotate, and a medicine tray (17) is arranged between the two medicine holding walls, and the medicine holding arm I (16) and the medicine holding arm II (16) clamp the medicine tray, and the medicine tray is provided with a medicine classification slot, and different kinds of medicines are placed on the medicine tray.

Claims

1. An intelligent medicine delivery robot, comprising a robot body, the robot body comprising a shell, a top surface and a bottom surface, the shell being arc-shaped, the top surface being provided with a medicine taking port, the medicine taking port being closed by a sealing plate that can be opened automatically, the bottom surface being provided with a walking device, the shell being provided with a medicine storage device inside, the medicine storage device comprising a plurality of medicine storage drawers from top to bottom inside the shell of the robot, the medicine storage drawers being provided with N, the left and right upper and lower medicine storage drawers being provided adjacently, the shell being provided with N sliding devices corresponding to the N medicine storage drawers, the sliding devices comprising slide rails I and II on the left and right walls inside the shell, the two sides of the medicine storage drawers being provided with slide rails corresponding to the slide rails Rod, one end of the sliding rod is slidably connected in the slide rail, and the other end of the sliding rod is fixedly connected to the medicine storage drawer. The sliding device also includes N opening cylinders I and push rods I. The opening cylinder I is fixedly arranged on the rear wall inside the shell. One end of the push rod I is pushed by the cylinder I, and the other end is connected to the rear end of the medicine storage drawer. The medicine storage drawer can be pushed out of the robot shell by the cylinder. An information receiving device, an information comparing device, and a control device are also arranged on the outside of the robot body. A plurality of sensors, a route planning system, and an information transmission system are also arranged inside the robot body. The information transmission system transmits information to the information receiving device outside the robot body.

2. The intelligent medicine delivery robot according to claim 1, characterized in that: The sensors inside the robot include drug delivery position sensors, drug delivery area sensors, major drug type sensors, and minor drug type sensors.

3. The intelligent medicine delivery robot according to claim 2, characterized in that: The surface of each medicine storage drawer is provided with a plurality of medicine storage slots, in which different kinds of medicines are stored. The medicine storage slots are in the shape of cavities, in which medicines are placed, and medicine clamping devices are also provided inside the medicine storage slots.

4. The intelligent medicine delivery robot according to claim 3, characterized in that: The medicine clamping device comprises a clamping cylinder I and a clamping cylinder II arranged on the side walls of the medicine storage tank. The clamping cylinder I and the clamping cylinder II are both connected with a clamping push rod, and the other ends of the two clamping push rods are directed toward the two sides of the medicine to clamp the medicine.

5. The method for delivering medicine by an intelligent medicine delivery robot according to any one of claims 1 to 4, characterized in that: The steps include: Step 1: First, classify the medicine storage drawers in the robot body, mark 1-N medicine storage drawers, store the corresponding medicines of different types in different medicine drawers, and mark the different medicine storage drawers as N1, N2, N3...N n .

6. The drug delivery method according to claim 5, characterized in that: Step 2: After classifying the medicine drawers, classify the areas where the medicines are delivered, classify the different areas where the different types of medicines are to be delivered, and mark the different areas where the different types of medicines are to be delivered as X1, X2, X3...X n ; Among them, N1, N2, N3.....N n and regions X1, X2, X3...X n One to one correspondence.

7. The drug delivery method according to claim 6, characterized in that: Step 3: Before the robot starts, plan the robot's route. Set the robot's initial walking speed to V0 and the robot's starting point to X0. Then plan according to the urgency of the medication needs in each area. Set the distance from the starting point X0 to the first planned arrival area to L0, and X1, X2, X3...X n The distances between them are L1, L2, L3, L 4. ...L n ; and L0+L1+L2+L3+.....+L n =L t , set L t / V0=T0, set T0<T p ; Step 4: Classify the multiple medicine storage slots in a medicine storage drawer, put different subcategories of medicines in a large category into different medicine storage slots of a medicine storage drawer and classify them.

8. The drug delivery method according to claim 7, characterized in that: Step 5: During the walking process of the robot, the medicine delivery position sensor of the robot body detects the position of the robot body, and transmits the detected information to the information receiving device through the information transmission system. The information receiving device transmits the position information to the information comparison device for comparison with the planned position route, and calculates the current position of the robot by the walking speed V0 and the total movement time T0, and compares the actual position with the predicted position. If the error rate does not exceed 3%, the robot continues to move. If the error rate exceeds 3%, the initial speed V0 of the walking robot is adjusted according to the position; Step 6: If the demand for medicines in different areas changes during the robot's walking process, the walking route needs to be changed. At this time, the route planning system of the walking robot is first controlled by the control device to stop working, and then the new planned route is transmitted to the robot through the information transmission system through the control device, and the robot moves according to the new planned route.

9. The drug delivery method according to claim 8, characterized in that: Step 7: When the walking robot reaches the planned area X1, X2, X3...X n After that, the medicine delivery position sensor first detects the area to be reached, and then the control device controls N1, N2, N3...N corresponding to the area to be planned. n The opening cylinder Ⅰ corresponding to each medicine storage drawer opens the medicine storage drawer. While opening, the medicine type sensor detects the label of the opened medicine storage drawer, and compares the detected label with the label of the area to be planned. If they correspond to each other, the opening continues; if not, the opening stops.

10. The drug delivery method according to claim 9, characterized in that: Step 8: After opening the medicine storage drawer corresponding to the area to be planned, the medical staff will take the medicine from the medicine storage slot. At this time, the small medicine type sensor will detect the type of medicine taken. If the medicine taken is correct, the two clamping cylinders of the medicine clamping device will be controlled to retract the clamping push rod. If the medicine taken is incorrect, it will continue to clamp and issue an alarm, or; the medicine delivery robot will walk to the patient's bed according to the induction, and the smart bracelet worn by the patient will interact with the robot. After the interaction is completed, the robot will open the window accordingly and deliver the medicine needed by the patient, realizing one-to-one interaction and giving the corresponding product.

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