Infrared distance measurement electronic control first-aid cart

Abstract

The utility model discloses an infrared distance measurement electronic control first-aid cart which comprises a cart body. The control unit is arranged in a trolley body of the trolley body; the sensor module sends sensing signals to the control unit, the sensor module is electrically connected with the control unit in a one-way mode, and the signal output end of the sensor module is electrically connected to the signal input end of the control unit; a motion signal is transmitted between the motion control module and the control unit for driving, and a signal end of the motion control module is bidirectionally and electrically connected with the control unit; automatic positioning is achieved through an infrared phase distance measuring method, the first-aid cart positioning system is simple and reliable, accurate positioning of the first-aid cart can be assisted through matched use of the control unit, the sensor module and the motion control module, the control unit is an ATtiny13A single-chip microcomputer, and the first-aid cart positioning system is small in size, convenient to use and high in applicability and can be popularized in multiple fields.

Description

Technical Field

[0001] The utility model relates to the technical field of emergency carts, and specifically relates to an infrared ranging electronically controlled emergency cart. Background Art

[0002] In the related technology, in clinical nursing work, in order to ensure that patients with sudden illnesses receive timely and effective treatment, all wards need to be equipped with emergency carts, especially electric emergency carts that can automatically transport medicines.

[0003] In the process of implementing the embodiments of the present disclosure, it is found that there are at least the following problems in the related art:

[0004] The accurate positioning of the automatic emergency cart itself is one of the most critical technologies and one of the prerequisites for the automatic emergency cart to be autonomous. The task of the automatic emergency cart is to deliver medicines and equipment to the doctor in need, which puts forward more stringent requirements on the positioning of the automatic emergency cart itself. Utility Model Content

[0005] The purpose of the utility model is to provide an infrared ranging electronically controlled emergency cart to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an infrared ranging electronically controlled emergency cart, comprising: a cart body; a control unit, the control unit being arranged on the body of the cart body; a sensor module, sending a sensing signal to the control unit, the sensor module being electrically connected to the control unit in one direction, and the signal output end of the sensor module being electrically connected to the signal input end of the control unit; a motion control module, transmitting a motion signal to and driving the control unit, the signal end of the motion control module being electrically connected to the control unit in two directions; an infrared receiving module, sending an infrared signal to the control unit, the signal output end of the infrared receiving module being electrically connected to the signal input end of the control unit in one direction.

[0007] Preferably, the signal input end of the control unit is unidirectionally electrically connected to a voltage detection module, and the voltage detection module is unidirectionally electrically connected to a lithium battery. The voltage detection module transmits the voltage signal of the lithium battery when working to the control unit, and the lithium battery is unidirectionally electrically connected to a power management module, and the power management module regulates the current of each control.

[0008] Preferably, the control unit is unidirectionally electrically connected to a monitoring module, and the monitoring module monitors each control in the circuit.

[0009] Preferably, the sensor module includes an ultrasonic sensor and a collision sensor, the ultrasonic sensor is arranged inside the body of the cart body, and the collision sensor is arranged on the front end surface of the cart body.

[0010] Preferably, the motion control module includes an overcurrent detection module, a travel motor and an encoder, the overcurrent detection module adopts an overcurrent detection circuit, and the travel motor is arranged in the body of the cart body to provide traveling power for the cart body.

[0011] Preferably, the infrared receiving module is unidirectionally electrically connected to a positioning reference module, and the positioning reference module is independent of the cart body and mainly performs the modulation and transmission functions of infrared signals.

[0012] Compared with the prior art, the beneficial effects of the utility model are: the utility model realizes automatic positioning through infrared phase ranging method, which is simple and reliable, and can assist the emergency cart in accurate positioning through the combination of the control unit, sensor module and motion control module. The control unit is an ATtiny13A single-chip microcomputer, which is small and convenient in size, has strong applicability, and can be promoted in multiple fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the main body of the cart of the utility model;

[0014] Figure 2 It is a system schematic diagram of the utility model.

[0015] In the figure: 1. Cart body; 2. Control unit; 3. Sensor module; 4. Motion control module; 5. Infrared receiving module; 6. Voltage detection module; 7. Lithium battery; 8. Power management module; 9. Monitoring module; 10. Positioning reference module; 3-1. Ultrasonic sensor; 3-2. Collision sensor; 4-1. Overcurrent detection module; 4-2 Walking motor; 4-3. Encoder. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0017] See also Figure 1-2The utility model provides a technical solution: an infrared ranging electronically controlled emergency cart, comprising a cart body 1, a control unit 2, a sensor module 3, a motion control module 4 and an infrared receiving module 5. The control unit 2 uses the STM32F103 enhanced series. According to the design requirements, the specific model is STM32103VET6. The controller is a 100-pin LQFP package. The series of single-chip microcomputers uses Cortex-M3 as the core, and the clock frequency reaches 72MHz. It has rich peripheral resources and has the characteristics of low power consumption, low cost, and high performance. The STM32 series of single-chip microcomputers has a complete firmware library and supporting development tools. The firmware library of STM3210x is independent of all software tools. Each peripheral has a set of routines, which can be easily transplanted to various development boards for operation. The control unit 2 is arranged on the body of the cart body 1 to send a sensor signal to the control unit 2. The sensor module 3 is electrically connected to the control unit 2 in a unidirectional manner, and the signal output terminal of the sensor module 3 It is electrically connected to the signal input end of the control unit 2, and transmits motion signals and drives the control unit 2. The signal end of the motion control module 4 is bidirectionally electrically connected to the control unit 2, and sends infrared signals to the control unit 2. The signal output end of the infrared receiving module 5 is unidirectionally electrically connected to the signal input end of the control unit 2. The cart body 1 uses an infrared integrated receiving head VS0038 to receive the infrared signal of the positioning reference module. The received signal is demodulated and analyzed to obtain the distance between the positioning reference module and the cart body 1. VS0038 is a plastic-encapsulated integrated infrared receiver. It is an integrated circuit that integrates infrared reception, amplification, and shaping. Without any external components, it can complete all the work of infrared reception and output compatible with TTL level signals. According to the distance between itself and the positioning reference module, the positioning reference module can be used as the center, thereby roughly building a map of the indoor environment, so that the robot can determine its own location according to the map and know where to go. With the information of these initial locations and destinations, the optimal solution of the walking route can be found, thereby realizing the precise navigation and efficient cleaning functions of the robot.

[0018] Specifically, the signal input end of the control unit 2 is electrically connected to a voltage detection module 6 in a unidirectional manner, and the voltage detection module 6 is electrically connected to a lithium battery 7 in a unidirectional manner. The voltage detection module 6 transmits the voltage signal of the lithium battery 7 when working to the control unit 2. The lithium battery 7 is electrically connected to a power management module 8 in a unidirectional manner, and the power management module 8 regulates the current of each control.

[0019] Specifically, the control unit 2 is unidirectionally electrically connected to a monitoring module 9, which monitors each control in the circuit. In order to ensure stable and reliable operation of the system and avoid program running away, a watchdog chip SP706S is selected to monitor the control unit 2 in real time. The dog feeding time is set to 0.8s in the program. If the monitoring chip WDI pin does not receive the dog feeding signal of the main control chip within the specified time, the / RESSET pin of SP706S outputs a low level to reset the main control chip of the control unit 2.

[0020] Specifically, the sensor module 3 includes an ultrasonic sensor 3-1 and a collision sensor 3-2. The ultrasonic sensor 3-1 is arranged inside the body of the cart body 1, and the collision sensor 3-2 is arranged on the front end surface of the cart body 1. Both the ultrasonic sensor 3-1 and the collision sensor 3-2 are commercially available devices.

[0021] Specifically, the motion control module 4 includes an overcurrent detection module 4-1, a travel motor 4-2 and an encoder 4-3. The overcurrent detection module 4-1 adopts an overcurrent detection circuit. The travel motor 4-2 is arranged in the body of the cart body 1 to provide the cart body 1 with traveling power. The encoder 4-3 is a device that compiles and converts signals or data into a signal form that can be used for communication, transmission and storage, and is arranged in the body of the cart body 1.

[0022] Specifically, the infrared receiving module 5 is unidirectionally electrically connected to the positioning reference module 10. The positioning reference module 10 is independent of the cart body 1 and mainly performs the modulation and transmission functions of the infrared signal. The main circuit of the positioning reference module 10 is composed of a single-chip microcomputer, an infrared transmitting tube, etc. The single-chip microcomputer uses an 8-pin processor-ATtiny13A. The single-chip microcomputer is a high-performance, low-power 8-bit AVR microprocessor with a wide operating voltage and operating frequency, and has an independent pre-divider 8-bit timer / counter and two PWM channels. The working principle of the positioning reference module 10 is as follows: Infrared signals of different frequencies are formed by ATtiny13A soft coding, which are emitted by two infrared LEDs, propagate and scatter in the air, and are received by the infrared receiving module 5 on the cart body 1. The control unit 2 can locate the reference module 10 as the center according to the distance between itself and the positioning reference module 10, thereby roughly constructing a map of the indoor environment. In this way, the cart body 1 can determine its own position according to the map and know where to go. With the information of the initial place and the destination, the optimal solution of the walking route can be found, thereby realizing the accurate navigation of the cart body 1.

[0023] Working principle: When the utility model is working, automatic positioning is achieved through infrared phase ranging method. Infrared phase ranging adopts two infrared waves of different frequencies to roughly measure the waveform, that is, the infrared signal with higher frequency. The signal is the envelope signal for testing. The corresponding distance can be obtained according to the relationship between the propagation speed of the infrared signal in the air and the signal phase. It is simple and reliable. The combination of the control unit 2, the sensor module 3 and the motion control module 4 can assist the emergency cart in accurate positioning. The control unit is an ATtiny13A single-chip microcomputer, which is small and convenient, has strong applicability, and can be promoted in many fields.

[0024] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" 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 a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the instructions and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0026] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An infrared ranging electronically controlled emergency cart, characterized in that: include: Cart body (1); A control unit (2), the control unit (2) being arranged on the body of the cart (1); A sensor module (3) for sending a sensing signal to the control unit (2); the sensor module (3) is electrically connected to the control unit (2) in a unidirectional manner, and a signal output end of the sensor module (3) is electrically connected to a signal input end of the control unit (2); A motion control module (4) transmits motion signals to and drives the control unit (2), and a signal end of the motion control module (4) is bidirectionally electrically connected to the control unit (2); An infrared receiving module (5) sends an infrared signal to the control unit (2); a signal output end of the infrared receiving module (5) is electrically connected to a signal input end of the control unit (2) in a unidirectional manner.

2. The infrared ranging electronically controlled emergency cart according to claim 1, characterized in that: The signal input end of the control unit (2) is electrically connected unidirectionally to a voltage detection module (6), the voltage detection module (6) is electrically connected unidirectionally to a lithium battery (7), the voltage detection module (6) transmits a voltage signal of the lithium battery (7) when in operation to the control unit (2), the lithium battery (7) is electrically connected unidirectionally to a power management module (8), and the power management module (8) regulates the current of each control.

3. The infrared ranging electronically controlled emergency cart according to claim 1, characterized in that: The control unit (2) is unidirectionally electrically connected to a monitoring module (9), and the monitoring module (9) monitors each control in the circuit.

4. The infrared ranging electronically controlled emergency cart according to claim 1, characterized in that: The sensor module (3) comprises an ultrasonic sensor (3-1) and a collision sensor (3-2), wherein the ultrasonic sensor (3-1) is arranged inside the body of the cart body (1), and the collision sensor (3-2) is arranged on the front end surface of the cart body (1).

5. The infrared ranging electronically controlled emergency cart according to claim 1, characterized in that: The motion control module (4) comprises an overcurrent detection module (4-1), a travel motor (4-2) and an encoder (4-3); the overcurrent detection module (4-1) adopts an overcurrent detection circuit; the travel motor (4-2) is arranged in the body of the cart body (1) to provide driving force for the cart body (1).

6. The infrared ranging electronically controlled emergency cart according to claim 1, characterized in that: The infrared receiving module (5) is unidirectionally electrically connected to a positioning reference module (10), and the positioning reference module (10) is independent of the cart body (1) and mainly performs the modulation and transmission functions of infrared signals.

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