Autonomous triage hospital guide equipment and method

Abstract

The invention relates to an autonomous triage guide device and method, and belongs to the technical field of triage guide, the device comprises a hardware system and a software system, the hardware system comprises an embedded computer, a multi-view camera, a motion motor and a touchable screen display; the software system comprises an obstacle sensing module, a speedometer positioning module, a navigation planning module, a visual interaction module and an AI voice intelligent triage module; the equipment is mounted on a wheelchair or a flatcar; the embedded computer is used for operating a software system and carrying out data processing and decision making; the multi-view camera collects image data in the moving process of the wheelchair or the flatcar; the motion motor receives instructions of the navigation planning module and the obstacle sensing module and controls the action of the wheelchair or the flatcar; the touchable screen display is used for user interaction. According to the autonomous triage hospital guide equipment and method, convenience is provided for autonomous medical treatment, the medical treatment time is saved, and meanwhile convenience is provided for patients who have difficulty in moving.

Description

Technical Field

[0001] The present invention belongs to the technical field of triage and guidance, and particularly relates to an autonomous triage and guidance device and method. Background Art

[0002] For emergency patients seeking medical treatment, their conditions are urgent, the medical environment is unfamiliar, and their families are not present in a timely manner, or the families are elderly and frail and are not clear about various medical treatment procedures and locations. Currently in clinical practice, patients are given a medical treatment process form, but the specific locations of each link are often not found or are found incorrectly by the families and patients. Asking around in the hospital delays the medical treatment time, increases pain, and delays the condition. For patients with inconvenient mobility such as those with traumatic fractures, it is very inconvenient to seek medical treatment independently. Summary of the Invention

[0003] In view of the above deficiencies of the prior art, the purpose of the invention is to provide an autonomous triage and guidance device and method, which not only provides convenience for independent medical treatment, saves medical treatment time, but also ensures safe, efficient and convenient travel of wheelchairs or stretchers during the driving process, improves the medical experience, provides high-quality services for patients, and also provides convenience for patients with inconvenient mobility such as those with traumatic fractures.

[0004] In the first aspect of the present invention, an autonomous triage and guidance device is proposed, including: a hardware system and a software system,

[0005] The hardware system includes: an embedded computer, a multi-camera, a motion motor, and a touch screen display;

[0006] The software system includes: an obstacle perception module, an odometer positioning module, a navigation planning module, a visual interaction module, and an AI voice intelligent triage module;

[0007] The autonomous triage and guidance device is installed on a wheelchair or a stretcher;

[0008] The embedded computer is used to run the software system and perform data processing and decision-making;

[0009] The multi-camera is used to collect image data for obstacle detection and obstacle positioning during the movement of the wheelchair or stretcher;

[0010] The motion motor is used to receive instructions from the navigation planning module and the obstacle perception module to control the actions of the wheelchair or stretcher;

[0011] The touch screen display is used for users to interact through the display.

[0012] Further, in the above-mentioned autonomous triage and guidance device, the embedded computer is used to run the software system and perform data processing and decision-making, including:

[0013] The AI voice intelligent triage module is used to receive the voice commands input by the user, understand the user's needs through natural language processing technology, and determine triage suggestions according to the user's needs and the hospital information system;

[0014] The visualization interaction module is used to display the departments or examination rooms required by the user in the triage suggestions.

[0015] Furthermore, in the above autonomous triage and guiding device, the embedded computer is used to run the software system and perform data processing and decision-making, including:

[0016] The visualization interaction module is used to receive the destination input by the user;

[0017] The odometer positioning module is used to determine the current position of the wheelchair or stretcher;

[0018] The navigation planning module is used to generate the optimal path to the destination according to the current position of the wheelchair or stretcher and the destination input by the user;

[0019] The obstacle perception module is used to adjust the optimal path according to the detected information.

[0020] Furthermore, in the above autonomous triage and guiding device, the touch screen display is used for the user to interact through the display, including:

[0021] The touch screen display receives the instruction to view the path information or the consulting room and displays the path information or the consulting room;

[0022] Receives the instruction from the user to zoom in or out the path information and zooms in or out the path information.

[0023] Furthermore, in the above autonomous triage and guiding device, the odometer positioning module determines the current position of the wheelchair or stretcher, including:

[0024] The odometer positioning module determines the relative position estimate by tracking the movement path of the wheelchair or stretcher according to the camera odometer technology, and determines the position of the wheelchair or stretcher according to the relative position estimate and the hospital prior map.

[0025] Furthermore, in the above autonomous triage and guiding device, the obstacle perception module is used to adjust the optimal path according to the detected information, including:

[0026] The obstacle perception module real-time detects the position of the obstacle in front of the wheelchair or stretcher according to the image data collected by the multi-camera;

[0027] The embedded computer calculates the distance from the position of the obstacle in front of the wheelchair or stretcher to the wheelchair or stretcher;

[0028] When the distance between the position of the obstacle in front of the wheelchair or stretcher and the wheelchair or stretcher is less than a preset distance, the embedded computer controls the actions of the wheelchair or stretcher, such as moving forward, backward or turning.

[0029] In a second aspect of the present invention, an autonomous triage and guidance method is also proposed, which is applied to the above-mentioned autonomous triage and guidance device, and includes:

[0030] The AI voice intelligent triage module receives the voice command input by the user and understands the user's needs through natural language processing technology;

[0031] Determine the triage suggestion according to the user's needs and the hospital information system;

[0032] Display the department or examination room required by the user in the triage suggestion through the visual interaction module;

[0033] The visual interaction module receives the destination input by the user;

[0034] The odometer positioning module determines the current position of the wheelchair or stretcher;

[0035] The navigation planning module generates the optimal path to reach the destination according to the current position of the wheelchair or stretcher and the destination input by the user;

[0036] Adjust the optimal path according to the information detected by the obstacle perception module;

[0037] Control the actions of the wheelchair or stretcher, such as moving forward, backward or turning, according to the adjusted optimal path.

[0038] Further, the above-mentioned autonomous triage and guidance method further includes:

[0039] The touch screen display receives the instruction to view the path information or the consulting room;

[0040] Display the path information or the consulting room;

[0041] After displaying the path information, receive the instruction from the user to zoom in or out the path information, and zoom in or out the path information.

[0042] Further, in the above-mentioned autonomous triage and guidance method, the odometer positioning module determines the current position of the wheelchair or stretcher, including:

[0043] The odometer positioning module determines the relative position estimate according to the camera odometer technology to track the movement path of the wheelchair or stretcher;

[0044] Determine the position of the wheelchair or stretcher according to the relative position estimate and the hospital prior map.

[0045] Further, in the above-mentioned autonomous triage and guiding method, adjusting the optimal path according to the information detected by the obstacle perception module includes:

[0046] The obstacle perception module detects the position of obstacles in front of the wheelchair or stretcher in real time based on the image data collected by the multi-camera.

[0047] The embedded computer calculates the distance from the position of the obstacle in front of the wheelchair or stretcher to the wheelchair or stretcher.

[0048] When the distance from the position of the obstacle in front of the wheelchair or stretcher to the wheelchair or stretcher is less than the preset distance, the embedded computer controls the actions of the wheelchair or stretcher, such as moving forward, backward, or turning.

[0049] The beneficial effects of the present invention are as follows: The autonomous triage and guiding device in the present invention includes a hardware system and a software system. The hardware system includes an embedded computer, a multi-camera, a motion motor, and a touch screen display. The software system includes an obstacle perception module, an odometer positioning module, a navigation planning module, a visual interaction module, and an AI voice intelligent triage module. The autonomous triage and guiding device is installed on a wheelchair or a stretcher. The embedded computer is used to run the software system and perform data processing and decision-making. The multi-camera is used to collect image data for obstacle detection and obstacle positioning during the movement of the wheelchair or stretcher. The motion motor is used to receive instructions from the navigation planning module and the obstacle perception module to control the actions of the wheelchair or stretcher. The touch screen display is used for users to interact through the display. The present invention not only provides convenience for autonomous medical treatment, but also saves the time for seeing a doctor. At the same time, the wheelchair or stretcher is safe, efficient, and convenient during driving, improving the medical experience, providing high-quality services for patients, and also providing convenience for patients with limited mobility such as trauma fractures. Description of the Drawings

[0050] The drawings are only for the purpose of showing specific embodiments and are not considered as a limitation of the present invention. Throughout the drawings, the same reference signs represent the same components. Obviously, the drawings in the following description are only some embodiments described in the embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0051] Figure 1 Schematic diagram of an autonomous triage and guiding device provided by an embodiment of the present invention;

[0052] Figure 2 An autonomous triage and guiding method provided by an embodiment of the present invention Figure 1 ;

[0053] Figure 3 An autonomous triage and guiding method provided by an embodiment of the present invention Figure 2 ;

[0054] Figure 4 A method diagram for an odometer positioning module provided by an embodiment of the present invention to determine the current position of a wheelchair or a flatbed

[0055] Figure 5 A method diagram for adjusting an optimal path according to information detected by an obstacle perception module provided by an embodiment of the present invention. Detailed implementation manners

[0056] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0057] In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts disclosed in the present invention.

[0058] In the description of the present invention, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. The terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0059] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all the implementation manners consistent with the present invention. On the contrary, they are merely examples of methods and systems consistent with some aspects of the present invention as detailed in the appended claims.

[0060] The present invention proposes an autonomous triage and guiding device and method, which not only provides convenience for autonomous medical treatment, saves medical treatment time, but also enables the wheelchair or flatbed to be safe, efficient and convenient during driving, improves the medical treatment experience, provides high-quality services for patients, and also provides convenience for patients with inconvenient mobility such as trauma fractures.

[0061] Device embodiments

[0062] Figure 1 Schematic diagram of an autonomous triage and guiding device provided by an embodiment of the present invention.

[0063] In the first aspect of the present invention, an autonomous triage and guiding device is proposed, in combination with Figure 1 , including: a hardware system 11 and a software system 21.

[0064] The hardware system 11 includes: an embedded computer 101, a multi-camera 102, a motion motor 103, and a touchscreen display 104.

[0065] The software system 21 includes: an obstacle perception module 201, an odometer positioning module 202, a navigation planning module 203, a visualization interaction module 204, and an AI voice intelligent triage module 205.

[0066] The autonomous triage and guiding device is installed on a wheelchair or a flatbed.

[0067] The embedded computer 101 is used to run the software system 21 and perform data processing and decision-making.

[0068] The multi-camera 102 is used to collect image data for obstacle detection and obstacle positioning during the movement of the wheelchair or flatbed.

[0069] The motion motor 103 is used to receive instructions from the navigation planning module and the obstacle perception module to control the actions of the wheelchair or flatbed.

[0070] The touchscreen display 104 is used for users to interact through the display.

[0071] Specifically, in the embodiment of the present invention, the autonomous triage and guiding device is installed on a wheelchair or a flatbed. The wheelchair or flatbed is safe, efficient, and convenient during driving, improving the medical experience and providing high-quality services for patients. The embedded computer is a small embedded computer, which serves as the core processing unit of the entire device and is responsible for running the obstacle perception module 201, the odometer positioning module 202, the navigation planning module 203, the visualization interaction module 204, and the AI voice intelligent triage module 205 of the software system, and performing data processing and decision-making. The multi-camera 102 is used to collect visual information of the surrounding environment during the movement of the wheelchair or flatbed. The visual information is used to provide image data for obstacle detection and obstacle positioning. The motion motor 103 receives instructions from the navigation planning module 203 and the obstacle perception module 201, drives the movement of the wheelchair or flatbed, and controls actions such as the forward, backward, and turning of the autonomous triage and guiding device. The touchscreen display 104 is used for patients or family members to interact through the touch screen, view path information, consulting rooms, etc.

[0072] Further, in the above-mentioned autonomous triage and guiding device, the embedded computer 101 is used to run the software system and perform data processing and decision-making, including:

[0073] The AI voice intelligent triage module 205 is used to receive the voice command input by the user, understand the user's needs through natural language processing technology, and determine triage suggestions according to the user's needs and the hospital information system;

[0074] The visual interaction module 204 is used to display the departments or examination rooms required by the user in the triage suggestions.

[0075] Specifically, in the embodiment of the present invention, the AI voice intelligent triage module 205 understands the voice command input by the user through voice recognition technology, uses natural language processing technology to understand the patient's needs, determines triage suggestions according to the user's needs and the hospital information system, and the visual interaction module 204 is used to display the departments or examination rooms required by the user in the triage suggestions to guide the patient to the correct department or examination room.

[0076] Furthermore, in the above autonomous triage and guiding device, the embedded computer 101 is used to run the software system and perform data processing and decision-making, including:

[0077] The visual interaction module 204 is used to receive the destination input by the user;

[0078] The odometer positioning module 202 is used to determine the current position of the wheelchair or stretcher;

[0079] The navigation planning module 203 is used to generate the optimal path to the destination according to the current position of the wheelchair or stretcher and the destination input by the user;

[0080] The obstacle perception module 201 is used to adjust the optimal path according to the detected information.

[0081] Specifically, in the embodiment of the present invention, after the visual interaction module 204 displays the departments or examination rooms required by the user in the triage suggestions, the user can input the destination department or examination room through the visual interaction module 204. The visual interaction module receives the destination input by the user, the odometer positioning module 202 determines the current position of the wheelchair or stretcher, and the navigation planning module 203 is used to generate the optimal path to the destination according to the current position of the wheelchair or stretcher and the destination input by the user. Combining the real-time obstacle perception data of the obstacle perception module 201, the path is dynamically adjusted to ensure safe and efficient transportation of the user to the destination.

[0082] Furthermore, in the above autonomous triage and guiding device, the touch screen display 104 is used for the user to interact through the display, including:

[0083] The touch screen display 104 is used to receive the instruction to view the path information or the consulting room and display the path information or the consulting room;

[0084] Upon receiving an instruction from the user to zoom in or out on the path information, the path information is zoomed in or out.

[0085] Specifically, in the embodiments of the present invention, the touch screen display 104 provides a user-friendly interface, facilitating operation by patients or their families. The touch screen display 104 supports functions such as map zooming and path display, enhancing the user experience.

[0086] Further, in the above-mentioned autonomous triage and guiding device, the odometer positioning module 202 determines the current position of the wheelchair or stretcher, including:

[0087] The odometer positioning module 202 is used to determine the relative position estimate by tracking the movement path of the wheelchair or stretcher according to the camera odometer technology, and determine the position of the wheelchair or stretcher based on the relative position estimate and the hospital prior map.

[0088] Specifically, in the embodiments of the present invention, the odometer positioning module utilizes the camera odometer technology to track the movement path of the wheelchair or stretcher, provides a relative position estimate, and locates the position of the wheelchair or stretcher based on the relative position estimate and the hospital prior map.

[0089] Further, in the above-mentioned autonomous triage and guiding device, the obstacle perception module is used to adjust the optimal path according to the detected information, including:

[0090] The obstacle perception module 201 detects the position of the obstacle in front of the wheelchair or stretcher in real time according to the image data collected by the multi-camera 102;

[0091] The embedded computer 101 calculates the distance from the position of the obstacle in front of the wheelchair or stretcher to the wheelchair or stretcher;

[0092] When the distance from the position of the obstacle in front of the wheelchair or stretcher to the wheelchair or stretcher is less than the preset distance, the embedded computer 101 controls the actions of the wheelchair or stretcher to move forward, backward or turn.

[0093] Specifically, in the embodiments of the present invention, the obstacle perception module 201 utilizes the image data collected by the multi-camera to detect the position of the obstacle in front of the wheelchair or stretcher in real time, calculates and judges the distance from the position of the obstacle to the wheelchair or stretcher, and dynamically adjusts the optimal path when the distance from the position of the obstacle in front of the wheelchair or stretcher to the wheelchair or stretcher is less than the preset distance, controls the actions of the wheelchair or stretcher to move forward, backward or turn to avoid collision, and the preset distance can be flexibly set according to the actual situation.

[0094] In some embodiments, the obstacle perception module 201 combines machine learning algorithms to identify different types of obstacles, such as pedestrians, fixed objects, etc.

[0095] Method embodiments

[0096] Figure 2 An autonomous triage and guiding method provided by an embodiment of the present invention Figure 1 .

[0097] In a second aspect of the present invention, an autonomous triage and guiding method is further proposed, which is applied to the above-mentioned autonomous triage and guiding device, and in combination with Figure 2 , including eight steps from S21 to S28:

[0098] S21: The AI voice intelligent triage module receives the voice instruction input by the user and understands the user's needs through natural language processing technology.

[0099] Specifically, in the embodiment of the present invention, the AI voice intelligent triage module understands the voice instruction input by the user through voice recognition technology and understands the patient's needs through natural language processing technology.

[0100] S22: Determine the triage suggestion according to the user's needs and the hospital information system.

[0101] Specifically, in the embodiment of the present invention, the AI voice intelligent triage module determines the triage suggestion according to the user's needs and the hospital information system.

[0102] S23: Display the department or examination room required by the user in the triage suggestion through the visual interaction module.

[0103] Specifically, in the embodiment of the present invention, the visual interaction module displays the department or examination room required by the user in the triage suggestion to guide the patient to the correct department or examination room.

[0104] S24: The visual interaction module receives the destination input by the user.

[0105] Specifically, in the embodiment of the present invention, after the visual interaction module displays the department or examination room required by the user in the triage suggestion, the user can input the destination department or examination room through the visual interaction module, and the visual interaction module receives the destination input by the user.

[0106] S25: The odometer positioning module determines the current position of the wheelchair or stretcher.

[0107] Specifically, in the embodiment of the present invention, the odometer positioning module determines the current position of the wheelchair or stretcher.

[0108] S26: The navigation planning module generates the optimal path to the destination according to the current position of the wheelchair or stretcher and the destination input by the user.

[0109] Specifically, in the embodiment of the present invention, the navigation planning module generates the optimal path to the destination according to the current position of the wheelchair or stretcher and the destination input by the user.

[0110] S27: Adjust the optimal path according to the information detected by the obstacle perception module.

[0111] Specifically, in the embodiments of the present invention, the path is dynamically adjusted in combination with the real-time obstacle perception data of the obstacle perception module.

[0112] S28: Control the actions of the wheelchair or flatbed, such as moving forward, backward or turning, according to the adjusted optimal path.

[0113] Specifically, in the embodiments of the present invention, the actions of the wheelchair or flatbed, such as moving forward, backward or turning, are controlled according to the dynamically adjusted path to ensure the safe and efficient transportation of the user to the destination.

[0114] Figure 3 An autonomous triage and guiding method provided by the embodiments of the present invention Figure 2 .

[0115] Further, in the above-mentioned autonomous triage and guiding method, in combination with Figure 3 , it further includes three steps S31 to S33:

[0116] S31: The touch screen display receives an instruction to view path information or a consulting room.

[0117] S32: Display the path information or the consulting room.

[0118] S33: After the path information is displayed and an instruction from the user to zoom in or out the path information is received, zoom in or out the path information.

[0119] Specifically, in the embodiments of the present invention, the touch screen display provides a user-friendly interface for the convenience of patients or their families to operate. The touch screen display receives an instruction to view path information or a consulting room, displays the path information or the consulting room, and supports functions such as map zooming and path display, improving the user experience.

[0120] Figure 4 A method diagram for an odometer positioning module to determine the current position of a wheelchair or flatbed provided by the embodiments of the present invention.

[0121] Further, in the above-mentioned autonomous triage and guiding method, the odometer positioning module determines the current position of the wheelchair or flatbed. In combination with Figure 4 , it includes two steps S41 to S42:

[0122] S41: The odometer positioning module determines the relative position estimate according to the camera odometer technology to track the moving path of the wheelchair or flatbed.

[0123] S42: Determine the position of the wheelchair or flatbed according to the relative position estimate and the prior map of the hospital.

[0124] Specifically, in the embodiments of the present invention, the odometer positioning module uses camera odometer technology to track the movement path of the wheelchair or flatbed, provides relative position estimation, and locates the position of the wheelchair or flatbed according to the relative position estimation and the prior map of the hospital.

[0125] Figure 5 It is a method diagram for adjusting the optimal path according to the information detected by the obstacle perception module provided by the embodiments of the present invention.

[0126] Further, in the above-mentioned autonomous triage and guiding method, the optimal path is adjusted according to the information detected by the obstacle perception module, combined with Figure 5 , including three steps S51 to S53:

[0127] S51: The obstacle perception module detects the position of the obstacle in front of the wheelchair or flatbed in real time according to the image data collected by the multi-camera.

[0128] S52: The embedded computer calculates the distance from the position of the obstacle in front of the wheelchair or flatbed to the wheelchair or flatbed.

[0129] S53: When the distance from the position of the obstacle in front of the wheelchair or flatbed to the wheelchair or flatbed is less than the preset distance, the embedded computer controls the actions of the wheelchair or flatbed, such as moving forward, backward or turning.

[0130] Specifically, in the embodiments of the present invention, the obstacle perception module uses the image data collected by the multi-camera to detect the position of the obstacle in front of the wheelchair or flatbed in real time, calculates and judges the distance from the position of the obstacle to the wheelchair or flatbed, and dynamically adjusts the optimal path when the distance from the position of the obstacle in front of the wheelchair or flatbed to the wheelchair or flatbed is less than the preset distance, controls the actions of the wheelchair or flatbed, such as moving forward, backward or turning to avoid collision, and the preset distance can be flexibly set according to the actual situation.

[0131] In some embodiments, the obstacle perception module combines machine learning algorithms to identify different types of obstacles, such as pedestrians, fixed objects, etc.

[0132] Those skilled in the art can understand that although some of the embodiments described herein include certain features included in other embodiments rather than other features, the combination of the features of different embodiments means that it is within the scope of the present invention and forms different embodiments.

[0133] Those skilled in the art can understand that the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0134] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims. The above is only the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

[0135] The above is only the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An autonomous triage and guidance device, characterized in that: include: Hardware systems and software systems, The hardware system includes: an embedded computer, a multi-camera, a motion motor and a touch screen display; The software system includes: obstacle perception module, odometer positioning module, navigation planning module, visualization interaction module and AI voice intelligent triage module; The autonomous triage and guidance equipment is installed on a wheelchair or a flatbed cart; The embedded computer is used to run the software system and perform data processing and decision-making; The multi-camera is used to collect image data for obstacle detection and obstacle positioning during the movement of the wheelchair or flatbed truck; The motion motor is used to receive instructions from the navigation planning module and the obstacle sensing module to control the movement of the wheelchair or flatbed cart; The touch screen display is used for user interaction through the display.

2. The autonomous triage and guidance device according to claim 1, characterized in that: The embedded computer is used to run the software system and perform data processing and decision making, including: The AI ​​voice intelligent triage module is used to receive voice commands input by users, understand user needs through natural language processing technology, and determine triage suggestions based on user needs and hospital information systems; The visualization interaction module is used to display the department or examination room required by the user in the triage suggestion.

3. The autonomous diagnosis and guidance device according to claim 1, characterized in that: The embedded computer is used to run the software system and perform data processing and decision making, including: The visual interaction module is used to receive a destination input by a user; The odometer positioning module is used to determine the current position of the wheelchair or cart; The navigation planning module is used to generate an optimal path to the destination according to the current position of the wheelchair or cart and the destination input by the user; The obstacle sensing module is used to adjust the optimal path according to the detected information.

4. The autonomous triage and guidance device according to claim 1, characterized in that: The touch screen display is used for user interaction through the display, including: The touch screen display receives an instruction to view the path information or the clinic, and displays the path information or the clinic; When receiving a user's instruction to zoom in or zoom out on the path information, the path information is zoomed in or out.

5. The autonomous triage and guidance device according to claim 3, characterized in that: The odometer positioning module is used to determine the current position of the wheelchair or cart, including: The odometer positioning module tracks the moving path of the wheelchair or dolly according to the camera odometer technology to determine the relative position estimate, and determines the position of the wheelchair or dolly according to the relative position estimate and the hospital prior map.

6. The autonomous diagnosis and guidance device according to claim 3, characterized in that: The obstacle sensing module is used to adjust the optimal path according to the detected information, including: The obstacle sensing module detects the position of obstacles in front of the wheelchair or dolly in real time based on the image data collected by the multi-view camera; The embedded computer calculates the distance from the obstacle position in front of the wheelchair or flatbed to the wheelchair or flatbed; When the distance from the obstacle in front of the wheelchair or dolly to the wheelchair or dolly is less than a preset distance, the embedded computer controls the wheelchair or dolly to move forward, backward or turn.

7. An autonomous triage and guidance method, applied to the autonomous triage and guidance device according to claims 1-6, characterized in that: include: The AI ​​voice intelligent triage module receives voice commands input by users, understands user needs through natural language processing technology, and determines triage recommendations based on user needs and the hospital information system; The visual interaction module displays the department or examination room required by the user in the triage suggestion; The visual interaction module receives the destination input by the user; The odometer positioning module determines the current position of the wheelchair or cart; The navigation planning module generates the optimal path to the destination based on the current position of the wheelchair or cart and the destination input by the user; The embedded computer adjusts the optimal path based on the information detected by the obstacle perception module; The embedded computer controls the movement of the wheelchair or cart forward, backward or turning according to the adjusted optimal path.

8. The autonomous diagnosis and guidance method according to claim 7, characterized in that: The method further comprises: The touch screen display can receive instructions to view path information or consulting rooms; Display route information or clinics; After the path information is displayed, an instruction to zoom in or out of the path information is received from the user, and the path information is zoomed in or out.

9. The autonomous diagnosis and guidance method according to claim 7, characterized in that: The odometer positioning module determines the current position of the wheelchair or cart, including: The odometer positioning module tracks the movement path of the wheelchair or cart based on the camera odometer technology to determine the relative position estimate; The wheelchair or cart is located based on relative position estimates and a priori hospital maps.

10. The autonomous diagnosis and guidance method according to claim 7, characterized in that: The adjusting the optimal path according to the information detected by the obstacle sensing module includes: The obstacle sensing module detects the position of obstacles in front of the wheelchair or dolly in real time based on the image data collected by the multi-view cameras; The embedded computer calculates the distance from the obstacle position in front of the wheelchair or flatbed to the wheelchair or flatbed; When the distance from the obstacle in front of the wheelchair or dolly to the wheelchair or dolly is less than a preset distance, the embedded computer controls the wheelchair or dolly to move forward, backward or turn.

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