Medicine transport vehicle

Abstract

The medicine transport vehicle comprises a base, a control mainboard is fixed below a bottom plate, the output end of the control mainboard is connected with a stepping motor, the output end of the stepping motor is upwards connected with a lifting table through a transmission screw penetrating through the bottom plate, a mechanical arm is installed on the lifting table, and a depth camera and a laser radar are installed on the mechanical arm; the output end of the control main board is further connected with wheels through a driving motor. According to the medicine transport vehicle, the functions of automatic medicine taking, automatic distribution and the like can be conveniently achieved; therefore, the working quality and efficiency of a pharmacy are improved, the waiting time of a patient is shortened, and the risk of wrong drug dispensing is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of drug transportation, and more specifically, to a medical transport vehicle. Background Art

[0002] In the traditional pharmacy management mode, pharmacists are at risk of exposure in the links of drug receipt and issue, drug dispensing, pharmacy delivery, and prescription consultation. Moreover, errors are likely to occur in drug dispensing and manual drug delivery. The processing of a single prescription is cumbersome and time-consuming, and the waiting time of patients and their families is long, resulting in the difficulty of ensuring the work quality and efficiency of traditional pharmacies. Although the information-based pharmacy under the HIS system can achieve a certain degree of intelligence, it still relies on manual operations in aspects such as drug inventory management and drug dispensing, and cannot solve the key problems such as the cumbersome process of dispensing drugs in traditional pharmacies, the long waiting time of patients, and the gathering of personnel at the drug delivery window.

[0003] At present, in the process of the construction and application of information-based pharmacies in China, it mainly provides the supervision and statistics of data such as drug inventory and drug information, and still stays in the construction of the basic data platform, with a low degree of intelligent application. There is still no popular solution for the vision of "intelligent pharmacy".

[0004] To solve these problems, a small number of top-three public pilot hospitals have adopted automatic drug dispensers to achieve automatic drug dispensing in the way of rail transportation. However, the cost of such automatic drug dispensers and their supporting systems is high, and there are some disadvantages:

[0005] 1. Strong dependence: The pharmacy rail transportation system requires a complete infrastructure and a professional operation and maintenance team. If problems such as equipment failures or insufficient personnel occur, it may lead to the interruption of drug transportation.

[0006] 2. Space limitation: Pharmacy rail transportation usually requires a certain amount of space to build tracks, and it is impossible to find a suitable site for building a pharmacy rail transportation system in some small and medium-sized hospitals and primary medical institutions.

[0007] 3. Long construction time: The construction time of the pharmacy rail transportation system is long, and it usually takes 1-2 years for relatively comprehensive transformation, which will bring inconvenience to medical institutions.

[0008] 4. Low flexibility: The rail route of the pharmacy rail transportation system is relatively fixed, which is not conducive to the subsequent improvement and upgrading of the pharmacy.

[0009] Therefore, how to solve the above technical problems is still an urgent problem for those skilled in the art. Summary of the Invention

[0010] In view of this, the utility model provides a medical transport vehicle to solve the above problems in the prior art.

[0011] To achieve the above object, the utility model adopts the following technical solutions:

[0012] A medical transport vehicle includes a bottom plate,

[0013] A control main board is fixed below the bottom plate. The output end of the control main board is connected to a stepping motor. The output end of the stepping motor is upward connected to a lifting platform through a transmission screw rod passing through the bottom plate. A manipulator is installed on the lifting platform, and a depth camera and a lidar are installed on the manipulator;

[0014] The output end of the control main board is also connected to wheels through drive motors.

[0015] Preferably, there are 4 wheels, which are respectively fixed at the four corners of the bottom plate, and each wheel is equipped with a drive motor.

[0016] Preferably, the stepping motor is mounted on the first bearing base pair through output shafts at both ends. The end of the output shaft is connected to a worm mounted on the second bearing base pair through a first turbine assembly. Both ends of the worm are connected to the transmission screw rod through a second turbine assembly.

[0017] Preferably, there are multiple transmission screw rods, and the multiple transmission screw rods are evenly distributed around the lifting platform.

[0018] Preferably, the lifting platform has a downwardly concave frame structure.

[0019] Preferably, the manipulator includes a large arm, a small arm and a clamping jaw; one end of the large arm is fixed to the lifting platform, the other end is hinged to the small arm, and the other end of the small arm is connected to the clamping jaw,

[0020] The depth camera is installed at the front end of the clamping jaw, and the lidar is installed on the large arm and faces the side of the lifting platform.

[0021] Preferably, it further includes a housing, and the housing covers the periphery of the transmission screw rod and the lower side of the bottom plate.

[0022] Through the above technical solutions, the utility model discloses a medical transport vehicle. Compared with the prior art, the medical transport vehicle of the present application can facilitate functions such as automatic medicine taking and automatic distribution; thereby promoting the improvement of the work quality and efficiency of the pharmacy, facilitating the reduction of the waiting time of patients, and reducing the risk of drug dispensing errors. At the same time, the medical transport vehicle has the advantages of low cost, small space requirement, short construction period and high flexibility. Description of the Drawings

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on the provided drawings.

[0024] Figure 1 Schematic diagram of the frame structure of the medical transport vehicle provided by this application;

[0025] Figure 2 Schematic diagram of the bottom structure of the bottom plate provided by this application;

[0026] Figure 3 Schematic diagram of the manipulator structure provided by this application;

[0027] Figure 4 Schematic diagram of the overall structure of the medical transport vehicle provided by this application;

[0028] Figure 5 Schematic diagram of the client structure provided by this application;

[0029] Figure 6 Flow chart for activation when the medical transport system provided by this application is first applied;

[0030] Figure 7 Process diagram for medicine fetching and delivering control of the medical transport vehicle provided by this application. Detailed implementation manners

[0031] The following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0032] The embodiments of this application disclose a medical transport vehicle, which includes a bottom plate 1, as Figures 1 - 3 shown,

[0033] A control main board (not shown) is fixed below the bottom plate 1. The output end of the control main board is connected to a stepping motor 7. The output end of the stepping motor 7 is connected upward through a transmission screw 2 passing through the bottom plate 1 to a lifting platform 3. A manipulator 4 is installed on the lifting platform 3, and a depth camera 14 and a lidar 17 are installed on the manipulator 4;

[0034] The output end of the control main board is also connected to a wheel 5 through a driving motor 8.

[0035] In this embodiment, the medical transport vehicle adopts a double-layer structure. The first layer is fixed with a control main board, a motor, etc.; the second layer is mainly a lifting platform; there is a downwardly concave frame structure above the lifting platform for placing medicines; at the same time, a robotic arm, a depth camera, and a lidar are fixed.

[0036] In an exemplary embodiment, there are multiple drive screws 2, preferably 4. The multiple drive screws 2 are evenly distributed at the four corners of the lifting platform 3, and each wheel 5 is equipped with a drive motor 8. That is, four vertical linear modules are fixed at the four corners of the chassis to form a frame structure design. Each module includes a drive screw and a stepper motor, with good stability, durability, and excellent load capacity, which is beneficial to the stable and safe transportation of medicines by the lifting platform 3.

[0037] Furthermore, the stepper motor 7 has two output shafts, and each output shaft controls the rotation of two screws through a double-headed worm. Specifically, as Figure 2 shown, the stepper motor 7 is mounted on the first bearing base 9 through the output shafts at both ends. The end of the output shaft is connected to the worm mounted on the second bearing base 12 through the first turbine assembly 11, and both ends of the worm are connected to the drive screw 2 through the second turbine assembly 6.

[0038] To further optimize the above technical solution, as Figure 3 shown, in this application, the robotic arm includes a large arm 16, a small arm 13, and a gripper 15; one end of the large arm 16 is fixed to the lifting platform, and the other end is hinged to the small arm 13. The other end of the small arm 13 is connected to the gripper 15,

[0039] and the depth camera 14 is installed at the front end of the gripper 15, and the lidar 17 is installed on the large arm 16. At the same time, the lidar 17 faces the side of the lifting platform, and both the lidar 17 and the depth camera 14 are electrically connected to the control main board; for facilitating the collection and summary of pharmacy data.

[0040] In this embodiment, the joint design and arm length ratio of the robotic arm can be adjusted according to needs to make it move flexibly in the horizontal and vertical directions.

[0041] To further optimize the above technical solution, the medical transport vehicle is provided with a housing 18, as Figure 4 shown, the housing covers the periphery of the drive screw and the lower side of the bottom plate to form a complete vehicle body. In a preferred embodiment, the wheels 5 are fixed to the housing 18.

[0042] The whole vehicle is made of metal and some high-strength PLA materials. Most of the structural parts are connected by stud bolts, with stable structure and convenient disassembly. In one embodiment, the length of the transport vehicle is 300 mm, the width is 200 mm, and the fully unfolded height reaches 250 mm.

[0043] In a specific embodiment, the hardware composition of the medical transport vehicle is shown in the following table:

[0044]

[0045] 1. Raspberry Pi 3B: In this application, the Raspberry Pi 3B is used as the main controller of the small vehicle. The Raspberry Pi 3B is a powerful single-board computer equipped with a 1.2GHz quad-core ARM Cortex-A53 processor and 1GB of memory, enabling the Raspberry Pi to efficiently process various sensor data and run some relatively complex algorithms. At the same time, the Raspberry Pi 3B has multiple GPIO interfaces, USB interfaces, Ethernet interfaces, etc., supporting connections with various sensors, actuators, and devices. In addition, the Raspberry Pi is based on the Linux operating system and has the support of a large open-source community, improving the reliability during the development process. And compared with other embedded systems, the Raspberry Pi 3B has a lower price and a wide market supply.

[0046] A variety of sensors (such as lidar, depth camera) and hardware devices (such as robotic arm, lifting platform) are mounted on the Raspberry Pi 3B using GPIO pins. The sensor data is obtained through the GPIO library in the python program and transmitted to the server for processing via wireless network transmission. Based on the returned data, the coordinated work of each system is controlled to achieve the various functions of the project. At the same time, through the communication interface, the main control system can achieve real-time communication with other systems to realize functions such as monitoring and remote control.

[0047] 2. Manipulator: The manipulator of the medical delivery cart adopts an improved design based on the KUKA robotic arm for achieving precise movement and grasping tasks in three-dimensional space. The team adjusted the structure of the KUKA robotic arm to meet the needs of the cart's medicine-taking system, including joint design, adjustment of arm length ratio, etc. In addition, the end effector of the manipulator has been improved, including a more flexible gripper design, integration of camera sensors, etc.

[0048] The improved manipulator supports program control, and through program control, automated grasping and placing tasks are achieved, working in coordination with the entire cart system. At the same time, the manipulator maintains a high-precision operating ability, has flexible joints and end effectors, can move flexibly in the horizontal and vertical directions, can adapt to medicines of different shapes and sizes, and ensures that it can perform tasks in complex environments and achieve diverse operations.

[0049] 3. Lifting platform: Since the medicine rack specifications adopted by different medical institutions are different, in order to ensure that the medical delivery cart can adapt to diverse environments, the team independently designed a lifting platform to ensure the normal operation of the medicine-taking function. The lifting platform is a lifting device improved based on four linear modules, used to lift or lower the load in the vertical direction to achieve height adjustment function. The coordinated combination of each linear module together constitutes a stable and precise motion system.

[0050] The specific structural composition of the lifting system is as follows:

[0051] (1) Linear module: The lifting platform uses four linear modules to be responsible for the vertical movement of the lifting platform. Each module includes a transmission screw and a stepper motor, providing basic motion support for the lifting platform.

[0052] (2) Lifting platform: The lifting platform is supported by linear modules. The interior of the platform is designed with a frame structure for carrying and lifting loads, with good stability, durability, and excellent load capacity, effectively ensuring the smooth and safe transportation of drugs.

[0053] (3) Stepper motor and control system: Each linear module is connected to the motor and the control system, ensuring synchronous movement and precise control under the control of Raspberry Pi 3B to achieve precise height adjustment of the lifting platform.

[0054] 4. D415 depth camera: The D415 depth camera is a depth camera based on the principle of structured light in the Intel RealSense D400 series of cameras. It projects structured light onto the object to be measured through a built-in infrared laser emitter, then captures the structured light pattern image through the infrared imaging module of the camera, and combines it with the visible light image of the measured target to obtain the depth information of the object to be measured through depth analysis and calculation. This camera consists of a pair of depth sensors, an RGB sensor, and an infrared projector. This camera integrates the Intel D4 vision processor and the depth module in a small, powerful, low-cost, and immediately deployable package, which is very suitable for development and productization.

[0055] The physical size of the D415 depth camera is 99mmL×20mmW×23mmH, and the weight is only 72 grams. Its small size and light weight are very suitable for being mounted on a medical delivery cart. In addition, the depth measurement range of the D415 depth camera is 0.5m - 3m, the field of view angle is 65°×40°, the highest output depth resolution can reach 1280×720, and the frame rate can reach 90FPS; the RGB resolution is 1920×1080, the frame rate is 30FPS, and the field of view angle is 69°×42°. Its characteristics such as standard field of view and high depth resolution make it possible for the medical delivery cart to achieve real-time positioning and pharmacy map construction based on the slam technology and identify drugs based on image recognition technology, thus ensuring accurate drug picking.

[0056] 5. YDLIDAR X4 LiDAR: YDLIDAR X4 LiDAR is a 360-degree two-dimensional ranging LiDAR developed by Shenzhen Yuedeng Intelligent Technology Co., Ltd. (YDLIDAR) based on the principle of triangulation. It realizes high-frequency and high-precision distance measurement through relevant optical, electrical and algorithm design. While measuring the distance, the mechanical structure of the LiDAR rotates 360 degrees to continuously obtain angle information, thereby realizing 360-degree scanning and ranging, and outputting point cloud data of the scanning environment.

[0057] The physical size of the YDLIDAR X4 laser radar is φ65.6*58.39*101.7mm, the scanning radius is 0.12-10m, the angular resolution is 0.43-0.86°, and the weight is only 280 grams. Due to its light and compact appearance, wide detection range and high-precision environmental perception capabilities, it is very suitable for being mounted on a medical cart. The team mounted the YDLIDAR X4 laser radar on the Raspberry Pi 3B and combined it with the D415 depth camera to realize the positioning of the car and the construction of the pharmacy map. At the same time, during the process of the robot taking medicine, it provides good guarantee for the accurate ranging and positioning of the medicine.

[0058] 6. Mecanum wheel: Mecanum wheel is a special wheel design with omnidirectional driving capability, which is widely used in various robot and car projects. Its overall structure consists of a hub and rollers. The hub is the main support of the entire wheel, and the roller is a drum mounted on the hub. The hub shaft of the Mecanum wheel is at a 45-degree angle to the roller shaft. Its overall design enables the wheel to roll on the ground at a certain angle, thereby achieving independent translation and rotational motion on a plane, allowing the car to move flexibly and freely in all directions.

[0059] Two sets of Mecanum wheels are installed on the front and rear of the car chassis. When the four Mecanum wheels rotate at the appropriate speed and direction, the car can achieve translational motion; by adjusting the rotation speed and direction of the wheels, it can achieve rotational motion without changing the overall direction.

[0060] The utility model medicine transport vehicle is mainly controlled by Raspberry Pi 3B, and various sensors (such as D415 depth camera, YDLIDAR X4 laser radar) and hardware devices (such as manipulator, lifting platform) are controlled through the GPIO pins of Raspberry Pi 3B. The built-in WiFi module of Raspberry Pi 3B is configured to achieve real-time communication with other systems. Compared with the existing technology, this design has the following beneficial effects:

[0061] Improve the efficiency and quality of pharmacy work: The medicine transport vehicle can realize functions such as automatic medicine collection and automatic delivery, reduce manual operations, reduce the risk of drug dispensing errors, and improve the work quality and efficiency of the pharmacy;

[0062] Reduce patient waiting time: Through automated drug delivery, the waiting time of patients in the pharmacy can be shortened, improving patient satisfaction;

[0063] Reduce costs: Compared with expensive automatic drug dispensers and their supporting systems, this medical transport vehicle has a lower cost and is more suitable for promotion and use in medium-sized and small hospitals and primary medical institutions.

[0064] Save space: This medical transport vehicle does not require an additional track transport system, occupies a small area, and can achieve efficient operation in a limited space.

[0065] Short construction period: Compared with the pharmacy track transport system that requires a construction period of 1 - 2 years, the construction period of this medical transport vehicle is shorter and it can be put into use quickly.

[0066] High flexibility: The route and tasks of this medical transport vehicle can be adjusted according to actual needs, with high flexibility, facilitating subsequent improvement and upgrading of the pharmacy.

[0067] High safety: Through sensors such as depth cameras and lidar, it can realize the perception of the surrounding environment and obstacle avoidance, ensuring the safety of the transportation process.

[0068] Strong adaptability: This medical transport vehicle is applicable to medical institutions of various scales, can be customized and optimized according to different scenarios, and meets different needs.

[0069] In summary, through automated and intelligent design, this medical transport vehicle improves the working efficiency of the pharmacy, reduces costs, and shortens the waiting time of patients, providing an efficient, safe, and flexible drug delivery solution for medical institutions.

[0070] In another embodiment, the present application discloses a medical transport system, which applies the medical transport vehicle as described above and includes a client;

[0071] The medical transport vehicle communicates wirelessly with the client through a control mainboard;

[0072] The client is used to control the medical transport vehicle to complete the operation of fetching and delivering drugs. During distribution, the client is connected to the medical delivery vehicle through Internet of Things technology, and the pharmacist can perform operations such as prescription management, drug management, and automatic drug fetching through the client.

[0073] The client provides services for users by processing database information, mainly including a prescription management unit, a drug management unit, a trolley control unit, and a personal center; as Figure 5 shown;

[0074] The prescription management unit includes prescription classification, prescription details, and prescription import. Pharmacists can conveniently and quickly classify prescriptions through this client. Clicking on the e-prescription allows them to view the prescription details. The one-key prescription import operation enables the medical delivery vehicle to quickly match the drugs with those in the database, eliminating the need for pharmacists to input each drug to be retrieved one by one.

[0075] The drug management unit includes drug classification, drug details, and medication guidance. Drug classification facilitates the search and selection of drugs by pharmacists. Drug details enable pharmacists to view basic information such as the type, expiration date, and manufacturer of the drugs. Medication guidance provides certain reference suggestions to assist pharmacists in reviewing prescriptions.

[0076] The trolley control unit includes real-time information, initial settings, and intelligent drug retrieval. The intelligent drug retrieval includes prescription import, autonomous drug retrieval, and continued scanning. By inputting the drugs to be retrieved on the client, the trolley can go to the designated drug shelf to retrieve the drugs based on the stored data. Pharmacists can view the image data transmitted back by the trolley's depth camera in the real-time information module.

[0077] The personal center includes account information. Pharmacists can perform basic account operations such as identity query and changing the mobile phone number in this module.

[0078] As the core of the system, the medical transport vehicle can obtain more accurate image data information by carrying various sensors such as the D415 depth camera and the YDLIDAR X4 lidar. At the same time, based on the data information transmitted back by the sensors, through various algorithms deployed on the client, it can achieve optimal path planning, accurate drug identification, and drug retrieval and delivery operations. Specifically, core framework algorithms such as slam, A*, DWA, YOLOv5l, and OCR are deployed on the client. By utilizing the powerful computing resources of the client to process the image data collected by the sensors, including:

[0079] Construct a more accurate pharmacy map through the slam algorithm to make it more suitable for use in unknown pharmacies. The premise for the medical transport vehicle to perform drug transport tasks in the pharmacy is to have an accurate pharmacy map. Since lidar mainly provides distance information and lacks visual features such as color and texture, and the depth camera can better reflect environmental information but has a limited field of view and measurement range, a precise pharmacy map is drawn by using the multi-sensor fusion slam technology with the depth camera and YDLIDAR X4 lidar mounted on the medical delivery vehicle. In this project, the Cartographer and RTAB-Map open-source frameworks are used to construct the environmental map.

[0080] The path is planned by combining the A* algorithm and the DWA algorithm. The A* algorithm combines the ideas of heuristic functions and shortest path algorithms, and can quickly find an approximate shortest path within a limited search space. The DWA algorithm is a sub-optimal method based on predictive control theory, which can safely and effectively avoid obstacles in an unknown environment, and has the characteristics of small computational complexity, rapid response, and strong operability. Therefore, combining with the A* algorithm can better realize functions such as path planning and real-time obstacle avoidance. This product deploys the A* algorithm combined with the DWA algorithm, enabling the medical delivery vehicle to safely, accurately, and quickly reach the target location during slam mapping and subsequent travel to the target location.

[0081] And the drugs are detected by combining YOLOv5l and OCR, so that the medical delivery vehicle can perform more accurate medicine picking and delivery operations; by identifying the drugs on the medicine shelf twice, the medicine picking operation can be completed more precisely.

[0082] In addition, the medical transport vehicle is equipped with hardware devices such as a self-designed and improved manipulator and a lifting platform, enabling the medical delivery vehicle to adapt to more complex pharmacy environments. That is, when the vehicle reaches the specified position, the lifting platform can be raised to the specified position according to the existing data, and the manipulator takes out the drugs and places them on the lifting platform, with high efficiency and flexibility, facilitating pharmacists to pick up drugs, relieving the pressure on pharmacists, and enabling pharmacists to have sufficient energy to provide medication consultation services. Due to its high flexibility, this medical delivery vehicle can adapt to the vast majority of pharmacies.

[0083] In this embodiment, when the medical transport system is applied for the first time, as Figure 6 shown, it needs to be activated according to the following steps:

[0084] 1) Initialize the client and the medical transport vehicle; including setting the initial data of the medicine shelf in the client, determining the starting position of the medical delivery vehicle; and constructing the overall pharmacy map and the detailed pharmacy map through the autonomous scanning of the medical transport vehicle;

[0085] 2) Manually assist in checking whether the construction of the pharmacy map is accurate. If there are omissions, the above steps can be repeated, and manual verification and annotation can be used to assist in constructing the pharmacy map.

[0086] When picking up drugs, the steps are as Figure 7 shown, including:

[0087] The user selects the function of prescription import or self-service drug picking through the client; if choosing prescription import, select the prescription and click to pick up the drug; if choosing self-service drug picking, the relevant information of the drug needs to be filled in the input box and the drug is selected to pick up the drug;

[0088] After receiving the user's instruction, the medical transport vehicle matches the location of the drugs according to the pharmacy map and goes to pick up the drugs based on the determined location. The user can view relevant information about the drug pickup progress of the vehicle on the vehicle control page;

[0089] After the medical delivery vehicle successfully picks up the drugs, it delivers the drugs to the drug storage area, and the user takes out the drugs from the drug storage area.

[0090] In this embodiment, when the medical transport vehicle is first applied to a pharmacy in an unknown environment, the data collected by the D415 depth camera and YDLIDAR X4 lidar carried by the vehicle is transmitted to the server based on the slam technology to complete the simultaneous localization of the vehicle and the construction of the pharmacy map.

[0091] During subsequent use, using the already constructed pharmacy map, it reaches the designated drug shelf through the vehicle power system and path planning algorithm. The data information transmitted back by the D415 depth camera and YDLIDAR X4 lidar is combined with the object detection and image classification algorithms to detect and identify the drugs. Finally, through the improved lifting platform and manipulator independently designed by the team, the drugs are picked up and delivered to the pharmacist to achieve the drug delivery function.

[0092] To further optimize the above technical solution, after the medical transport vehicle completes the drug pickup operation, it delivers the drugs to the drug inspection platform for the pharmacist to review. After the review, it is delivered to the drug self-service cabinet or the drug storage area.

[0093] Based on the combination of the above hardware part and software part, the medical transport system of this application can overall achieve the following functions: When the user uses the combination of this medical delivery vehicle and the client system, it can complete functions such as the construction of the pharmacy map, automatic drug pickup, drug identification, etc. in the pharmacy for the first time. Through the coordinated cooperation of the lifting platform and the manipulator, it can be applied to pharmacy environments with more complex environments.

[0094] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0095] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A medicine transport vehicle, characterized in that: Including base plate, A control mainboard is fixed below the bottom plate, the output end of the control mainboard is connected to a stepper motor, the output end of the stepper motor is upwardly connected to a lifting platform through a transmission screw passing through the bottom plate, a manipulator is installed on the lifting platform, and a depth camera and a laser radar are installed on the manipulator; The output end of the control main board is also connected to the wheel via a driving motor.

2. A medicine transport vehicle according to claim 1, characterized in that: There are four wheels, which are respectively fixed at the four corners of the base plate, and each wheel is equipped with a driving motor.

3. A medicine transport vehicle according to claim 1, characterized in that: The stepper motor is mounted on the first bearing base pair through output shafts at both ends, the end of the output shaft is connected to a worm mounted on the second bearing base pair through a first turbine assembly, and both ends of the worm are connected to a transmission screw through a second turbine assembly.

4. The medicine transport vehicle according to claim 1, characterized in that: There are multiple transmission screws, and the multiple transmission screws are evenly distributed on the periphery of the lifting platform.

5. The medicine transport vehicle according to claim 1, characterized in that: The lifting platform has a frame-shaped structure that is concave downwards.

6. The medicine transport vehicle according to claim 1, characterized in that: The manipulator comprises a large arm, a small arm and a gripper; One end of the big arm is fixed to the lifting platform, and the other end is hingedly connected to the small arm, and the other end of the small arm is connected to the clamping claw. The depth camera is installed at the front end of the clamp, and the laser radar is installed on the upper arm, and the laser radar faces one side of the lifting platform.

7. The medicine transport vehicle according to claim 1, characterized in that: The utility model also comprises a shell, which covers the periphery of the driving screw and the underside of the bottom plate.

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