Automatic patrol medicine delivery robot with high flexibility and large operation range

Abstract

The utility model discloses an automatic patrol medicine delivery robot with high flexibility and a large operation range. The automatic patrol medicine delivery robot comprises an information acquisition module, an embedded host, a main control module, an information output module, a power supply module, a mobile module, a medicine delivery module and a physical sign measurement module. Wherein the information acquisition module comprises a camera shooting unit, a voice unit, a laser ranging unit, an infrared approaching unit and a gyroscope; the camera unit is connected with the embedded host, and the voice unit, the laser ranging unit, the infrared approaching unit and the gyroscope are connected with the main control module; an operating system is arranged in the embedded host to control the main control module; the master control module comprises a master control upper computer and a plurality of single-chip microcomputer lower computers. The master control upper computer, the single-chip microcomputer lower computers and the embedded host are electrically connected. The mobile module, the medicine delivery module and the physical sign measurement module are controlled through each single-chip microcomputer lower computer; and the information output module is connected with the embedded host so as to output data of the information acquisition module and / or the physical sign measurement module.

Description

Technical Field

[0001] This utility model relates to the field of intelligent robot technology, and in particular to an automated mobile medical and medicine delivery robot with high flexibility and a large operating range. Background Technology

[0002] With social development and progress, the aging trend of society is becoming increasingly apparent. Against this backdrop of an aging society, coupled with the impact of global public health events in recent years, the pressure on medical institutions is constantly increasing. Faced with these circumstances, the workload and complexity of medical staff have also increased, especially in their daily nursing work, where they need to frequently conduct basic health monitoring of hospitalized patients, such as checking vital signs like body temperature and heart rate.

[0003] To ensure that every hospitalized patient receives timely and effective care, nurses and doctors, in addition to their routine rounds, are also responsible for medication delivery. When the hospital is crowded with patients, these repetitive, mechanical tasks undoubtedly increase the workload of medical staff significantly. Being under prolonged high pressure not only easily leads to excessive psychological burden on medical staff but may also cause a decline in service quality or human error due to mental fatigue. Therefore, improving the efficiency of medical services and reducing the burden on medical staff has become an urgent issue to address. Summary of the Invention

[0004] In view of this, the present invention provides an automated mobile medical and medicine delivery robot with high flexibility and a large operating range.

[0005] This utility model embodiment provides an automated mobile medical and medication delivery robot with high flexibility and a large operating range, including an information acquisition module, an embedded host, a main control module, an information output module, a power supply module, a mobility module, a medication delivery module, and a vital sign measurement module;

[0006] The information acquisition module includes a camera unit, a voice unit, a laser ranging unit, an infrared proximity unit, and a gyroscope; the camera unit is connected to the embedded host, and the voice unit, laser ranging unit, infrared proximity unit, and gyroscope are connected to the main control module;

[0007] The embedded host is equipped with an operating system to control the main control module;

[0008] The main control module includes a main control host computer and multiple microcontroller slave computers. The main control host computer, multiple microcontroller slave computers, and an embedded host are electrically connected. The movement module, drug delivery module, and vital sign measurement module are controlled through each microcontroller slave computer.

[0009] The information output module is connected to the embedded host to output data from the information acquisition module and / or the vital sign measurement module.

[0010] Furthermore, the camera unit is a camera with a focal length greater than 135mm.

[0011] Furthermore, the moving module includes multiple omnidirectional wheels and DC geared motors that control the omnidirectional wheels; the microcontroller lower unit includes a closed-loop motor drive lower unit, which is connected to the DC geared motors that control the omnidirectional wheels.

[0012] Furthermore, the closed-loop motor drive lower-level machine is implemented using an STM32F103C8T6; the DC geared motor controlling the omnidirectional wheel is implemented using a DRV8701.

[0013] Furthermore, the drug delivery module includes an extension structure, a stepper motor, a drug compartment, a telescopic structure, a DC geared motor controlling the telescopic structure, a flipping structure, and a DC geared motor controlling the flipping structure; the microcontroller lower-level machine includes an upper-level flipping control lower-level machine, a closed-loop stepper motor drive lower-level machine, a closed-loop telescopic control lower-level machine, and a closed-loop stepper motor drive lower-level machine; the extension structure is controlled by the stepper motor; the closed-loop stepper motor drive lower-level machine is connected to the stepper motor; the closed-loop telescopic control lower-level machine is connected to the DC geared motor controlling the telescopic structure; and the upper-level flipping control lower-level machine is connected to the DC geared motor controlling the flipping structure.

[0014] Furthermore, the power module includes a 24V lithium battery and a power control board; the 24V lithium battery is connected to the power control board, and the power control board is electrically connected to the main control module.

[0015] Furthermore, the information output module includes a display screen and an audio speaker; the display screen and the audio speaker are connected to the embedded host.

[0016] Furthermore, the vital signs measurement module includes a heart rate measurement module and a body temperature measurement module; the microcontroller slave device includes a heart rate and body temperature measurement slave device, which is electrically connected to the heart rate measurement module and the body temperature measurement module.

[0017] Furthermore, the lower-level machine for heart rate and body temperature measurement is implemented using an ATMEGA2560; the heart rate measurement module is implemented using a SON1205 heart rate sensor; and the body temperature measurement module is implemented using a B-1 infrared temperature sensor.

[0018] Furthermore, the main control module also includes a signal adapter board; the main control host computer and multiple microcontroller slave computers are connected through the signal adapter board; the information acquisition module and the power module are connected to the main control module through the signal adapter board.

[0019] One technical solution in the above-described embodiment of this utility model has the following advantages: The medication delivery robot provided by this utility model can automatically recognize a given task QR code and deliver medications in the order specified by the QR code information. Upon receiving a medication delivery instruction, the robot can move to the bedside, scan the patient's barcode to confirm their identity, place the corresponding medication in the center of the bedside table, and simultaneously provide a voice prompt to remind the patient to pick up and use the medication. The robot in this embodiment is also equipped with heart rate and body temperature measuring instruments, allowing it to measure the patient's heart rate, body temperature, and other information while dispensing medication and report this information to the doctor. Furthermore, patients can communicate remotely with doctors through the robot, making doctor-patient communication more convenient. In summary, this utility model significantly improves the efficiency of medication delivery and rounds in medical institutions and has a broad market potential. Attached Figure Description

[0020] Figure 1 This is a block diagram of the overall structure of an automated mobile medical and medicine delivery robot with high flexibility and a large operating range according to an embodiment of the present invention.

[0021] Figure 2 This is a schematic diagram of the physical structure of an automated mobile medical and medicine delivery robot with high flexibility and a large operating range according to an embodiment of the present invention.

[0022] Figure 3 This is a schematic diagram of an omnidirectional wheel according to an embodiment of this utility model.

[0023] Figure 4 This is a schematic diagram illustrating the control effect of the closed-loop motor drive lower-level machine in an embodiment of this utility model.

[0024] Figure 5 This is a schematic diagram showing the effect of the extension structure before activation in an embodiment of this utility model.

[0025] Figure 6 This is a schematic diagram showing the effect of the extension structure after activation in an embodiment of this utility model.

[0026] Figure 7 This is a schematic diagram showing the effect of the telescopic structure after activation in an embodiment of this utility model.

[0027] Figure 8 This is a schematic diagram showing the effect of the flip structure after activation in an embodiment of this utility model.

[0028] Figure 9 This is a schematic diagram of the medicine storage compartment in an embodiment of this utility model.

[0029] Figure 10 This is a schematic diagram illustrating the control effect of the upper-level flip control and the lower-level machine in an embodiment of this utility model.

[0030] Figure 11 This is a schematic diagram of the lower-level control effect of heart rate and body temperature measurement according to an embodiment of this utility model.

[0031] Figure 12 This is a schematic diagram of the control effect of the host computer in an embodiment of this utility model.

[0032] Figure 13 This is a schematic diagram of the overall module connection effect of an embodiment of this utility model.

[0033] Attached reference numerals: 1-Flipping structure, 2-Telescopic structure, 3-Extension structure, 4-Medicine compartment, 5-Omnidirectional wheel, 6-Chassis, 7-DC geared motor. Detailed Implementation

[0034] The present invention will be further explained and described below with reference to the accompanying drawings and specific embodiments.

[0035] The step numbers in the following embodiments are set only for ease of explanation and do not limit the order of the steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0036] like Figure 1 As shown, this utility model embodiment provides an automated mobile medical and medication delivery robot with high flexibility and a large operating range, including an information acquisition module, an embedded host, a main control module, an information output module, a power supply module, a mobility module, a medication delivery module, and a vital sign measurement module;

[0037] The information acquisition module includes a camera unit, a voice unit, a laser ranging unit, an infrared proximity unit, and a gyroscope; the camera unit is connected to the embedded host, and the voice unit, laser ranging unit, infrared proximity unit, and gyroscope are connected to the main control module.

[0038] An operating system is configured in the embedded host to control the main control module;

[0039] The main control module includes a main control host computer and multiple microcontroller slave computers. The main control host computer, multiple microcontroller slave computers, and the embedded host are electrically connected. The movement module, drug delivery module, and vital sign measurement module are controlled through the various microcontroller slave computers.

[0040] The information output module is connected to the embedded host to output data from the information acquisition module and / or the vital signs measurement module.

[0041] This utility model of an automated mobile medical service robot aims to replace traditional manual processes, focusing on performing basic tasks such as vital sign monitoring and medication delivery. This robot can handle simple medical tests and routine medication distribution, allowing healthcare professionals to dedicate their limited and valuable time and energy to more important and critical medical matters, thereby improving the overall quality and efficiency of healthcare services.

[0042] In this embodiment of the invention, the camera unit is used to scan the given task QR code and patient barcode, transport the medication according to the order specified by the QR code information, and after moving it to the bedside, scan the patient barcode to confirm the patient's identity.

[0043] In a specific embodiment, the camera unit of this invention uses a 720P high-definition USB camera, which is connected to an embedded host and uses the operating system to read the camera image in real time. Simultaneously, it runs the OpenCV visual recognition algorithm to decode the QR code, achieving an extremely high recognition rate. Furthermore, the camera uses a telephoto lens (with a focal length greater than 135mm), making the captured QR code clearer.

[0044] The overall physical structure of this utility model is as follows: Figure 2 As shown, the robot delivers the medicine container to the patient using a flipping, telescopic, and extending structure. These structures are mounted on a chassis that can move freely via omnidirectional wheels.

[0045] Specifically, in this embodiment of the invention, the moving module includes multiple omnidirectional wheels and a DC geared motor controlling the omnidirectional wheels; the microcontroller-based lower-level unit includes a closed-loop motor-driven lower-level unit, which is connected to the DC geared motor controlling the omnidirectional wheels. A schematic diagram of the omnidirectional wheels used in this embodiment of the invention is shown below. Figure 3 As shown, the omnidirectional wheels are designed with a suspension structure, which enables the robot to adapt to various terrains, ensures that the grip of the four wheels remains consistent, and reduces slippage.

[0046] This utility model's closed-loop motor drive slave unit independently designed a motor closed-loop algorithm, capable of achieving closed-loop speed and current loops. Simultaneously, it connects to the main control host computer via RS485 or CAN communication. By transmitting specified speed parameters through the host computer, the closed-loop motor drive slave unit automatically achieves speed closed-loop operation. All DC geared motors in this robot are driven by this closed-loop motor drive slave unit. Specifically, as shown... Figure 4 As shown, the closed-loop motor drive lower-level machine in this embodiment of the invention is implemented using an STM32F103C8T6; the DC geared motor controlling the omnidirectional wheel is implemented using a DRV8701. The STM32F103C8T6 measures the speed of the motor encoder via external interrupts, samples the motor current using an ADC, and communicates with the host computer via RS485 or CAN bus to receive speed control commands from the host computer. Furthermore, the lower-level machine uses cascaded PID control for dual closed-loop speed and current loops. Finally, the FreeRTOS operating system is used to implement the above multi-process functions, achieving excellent results.

[0047] like Figure 5As shown, the drug delivery module of this utility model embodiment includes an extension structure, a stepper motor, a drug compartment, a telescopic structure, a DC geared motor controlling the telescopic structure, a flipping structure, and a DC geared motor controlling the flipping structure. The extension structure, telescopic structure, and flipping structure are described below:

[0048] Extended structures: such as Figure 6 As shown, the extension structure of this utility model is realized by a lead screw. The swing of the lead screw is achieved by a stepper motor driving a slider on the guide rail, thereby realizing the extension of the upper telescopic structure, the flipping structure, and the medicine compartment. The stepper motor drives the lower-level machine through a corresponding closed-loop stepper motor, and the lower-level machine is controlled in a similar manner to the closed-loop motor-driven lower-level machine.

[0049] Telescopic structure: such as Figure 7 As shown, the telescopic structure of this embodiment adopts a double-stroke design with a track drive structure, allowing it to extend twice its original size to save on projected area during standby. The telescopic structure is controlled by a corresponding DC geared motor, which is controlled by a corresponding closed-loop telescopic control slave device. The slave device operates similarly to a closed-loop motor-driven slave device.

[0050] Flip structure: such as Figure 8 As shown, the flipping structure carries the medicine container and medication to the center of the bedside table, thus fulfilling the function of medication placement. The medicine container is located at the end of the flipping structure, and the structural design is as follows: Figure 9 As shown, an infrared proximity unit and a gyroscope are also installed at the end of the flipping structure. The infrared proximity unit detects the edge of the bedside table for positioning; the gyroscope determines the flipping angle. The flipping structure is controlled by a corresponding DC geared motor, which is controlled by an upper-level flipping control lower-level machine. Because the upper-level flipping control lower-level machine needs to handle both infrared detection and angle control, its control logic differs from that of the closed-loop motor-driven lower-level machine. Specifically, as... Figure 10 As shown, the movement of the flipping structure is controlled by an STM32F407ZET6 lower-level computer. The lower-level computer's core board has an onboard BMI088 high-precision gyroscope with an onboard heating resistor for PID temperature control of the gyroscope, reducing drift. Furthermore, a high-torque DC geared motor controls the movement of the flipping structure, and RS485 communication with the closed-loop motor drive allows for real-time reading of the gyroscope values. A PID algorithm is then used to control the speed and stability of the flipping swing in real time, suspending the flipping arm at a specified angle, ultimately achieving a smooth flip.

[0051] In this embodiment of the invention, the power module includes a 24V lithium battery and a power control board. The robot is powered by a separate 24V ordinary lithium battery, which is connected to a self-designed power control board PCB. The DC-DC step-down circuit on the PCB can split the power supply into two 5V paths to power all other modules. In addition, the power supply section also includes a button control board with a main power switch, as well as setting buttons for some functional modules and a start button.

[0052] In this embodiment of the invention, the vital signs measurement module includes a heart rate measurement module and a body temperature measurement module. The heart rate measurement module is based on the SON1205 heart rate sensor and measures pulse by utilizing the difference in light transmittance caused by blood vessel pulsation in human tissue. A corresponding module circuit is designed so that the measured electrocardiogram waveform can be displayed on a screen for more intuitive observation. The body temperature measurement module uses a B-1 infrared temperature sensor, which is a non-contact temperature sensor with an accuracy of ±0.2℃.

[0053] The vital signs measurement module is controlled by a lower-level computer that measures heart rate and body temperature. Specifically, for example... Figure 11 As shown, the lower-level device reads the measurement values ​​of various modules via serial communication using an ATMEGA2560 microcontroller, including the heart rate measurement module, the body temperature measurement module, and the PWM-controlled servo motor for the medicine compartment. Furthermore, the lower-level device features an onboard OLED display with a Chinese character library, and displays the measurement values ​​on the screen via software SPI communication for easy user access.

[0054] In this embodiment of the invention, the information output module includes a display screen and a speaker. The display screen is a 5-inch LCD screen, which can display the operating system interface of the embedded host in real time and demonstrate audio and video call functions. The speaker is integrated with a microphone, which serves as the voice unit, enabling voice broadcasting and remote communication between patients and doctors.

[0055] Main Control Module: In this embodiment of the invention, the main control module uses an STM32F407ZET6 microcontroller to control the operation of all lower-level machines of the robot. The software operation flow of the main control module is as follows: Figure 11As shown in the diagram. First, all lower-level robots are initialized and communication is successful. Upon receiving the departure command, inertial navigation and speed planning algorithms are used to guide the robot to the vicinity of the bedside table. Simultaneously, the speed values ​​of the closed-loop motor-driven lower-level robots are read in real time and PID control is implemented. The upper-level telescopic, pitch, and tilt structures are also invoked for movement, ensuring that the upper-level drug dispensing structure is fully deployed upon arrival at the destination. Subsequently, laser ranging and proximity sensors are used for precise positioning. After positioning is complete, the lower-level robots are controlled to perform barcode scanning, drug dispensing, and voice announcement operations. After completing the task, inertial navigation and speed planning algorithms are used to quickly return to the starting area and terminate the operation. The overall robot operation is shown in the diagram. Figure 13 As shown.

[0056] Embedded Host: In this embodiment of the invention, the embedded host acquires QR codes by running an algorithm based on the OpenCV architecture. Simultaneously, it communicates with the host computer via USB to achieve voice broadcast functionality. Furthermore, the open-source audio and video calling software AnyChat is deployed on the operating system, and scripts are used to implement the software's self-starting and automatic call invitation reception functions, achieving fully automated operation.

[0057] The above is a detailed description of the preferred embodiments of the present utility model. However, the present utility model is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. An automated mobile medical and medication delivery robot with high flexibility and a large operating range, characterized in that, It includes an information acquisition module, an embedded host, a main control module, an information output module, a power supply module, a mobility module, a medication delivery module, and a vital signs measurement module; The information acquisition module includes a camera unit, a voice unit, a laser ranging unit, an infrared proximity unit, and a gyroscope; the camera unit is connected to the embedded host, and the voice unit, laser ranging unit, infrared proximity unit, and gyroscope are connected to the main control module; The embedded host is equipped with an operating system to control the main control module; The main control module includes a main control host computer and multiple microcontroller slave computers. The main control host computer, multiple microcontroller slave computers, and an embedded host are electrically connected. The movement module, drug delivery module, and vital sign measurement module are controlled through each microcontroller slave computer. The information output module is connected to the embedded host to output data from the information acquisition module and / or the vital sign measurement module.

2. The automated mobile medical and medication delivery robot with high flexibility and a large operating range according to claim 1, characterized in that, The camera unit is a camera with a focal length greater than 135mm.

3. The automated mobile medical and medication delivery robot with high flexibility and a large operating range according to claim 1, characterized in that, The mobile module includes multiple omnidirectional wheels and DC geared motors that control the omnidirectional wheels; the microcontroller lower unit includes a closed-loop motor drive lower unit, which is connected to the DC geared motors that control the omnidirectional wheels.

4. The automated mobile medical and medication delivery robot with high flexibility and a large operating range according to claim 3, characterized in that, The closed-loop motor drive lower-level machine is implemented using an STM32F103C8T6; the DC geared motor controlling the omnidirectional wheel is implemented using a DRV8701.

5. The automated mobile medical and medication delivery robot with high flexibility and a large operating range according to claim 1, characterized in that, The drug delivery module includes an extension structure, a stepper motor, a drug compartment, a telescopic structure, a DC geared motor controlling the telescopic structure, a flipping structure, and a DC geared motor controlling the flipping structure. The microcontroller-based lower-level unit includes an upper-level flipping control lower-level unit, a closed-loop stepper motor drive lower-level unit, a closed-loop telescopic control lower-level unit, and a closed-loop stepper motor drive lower-level unit. The extension structure is controlled by the stepper motor. The closed-loop stepper motor drive lower-level unit is connected to the stepper motor. The closed-loop telescopic control lower-level unit is connected to the DC geared motor controlling the telescopic structure. The upper-level flipping control lower-level unit is connected to the DC geared motor controlling the flipping structure.

6. The automated mobile medical and medication delivery robot with high flexibility and a large operating range according to claim 1, characterized in that, The power module includes a 24V lithium battery and a power control board; the 24V lithium battery is connected to the power control board, and the power control board is electrically connected to the main control module.

7. The automated mobile medical delivery robot with high flexibility and a large operating range according to claim 1, characterized in that, The information output module includes a display screen and a speaker; the display screen and speaker are connected to an embedded host.

8. The automated mobile medical and medication delivery robot with high flexibility and a large operating range according to claim 1, characterized in that, The vital signs measurement module includes a heart rate measurement module and a body temperature measurement module; the microcontroller slave device includes a heart rate and body temperature measurement slave device, which is electrically connected to the heart rate measurement module and the body temperature measurement module.

9. An automated mobile medical and medication delivery robot with high flexibility and a large operating range according to claim 8, characterized in that, The lower-level machine for heart rate and body temperature measurement is implemented using an ATMEGA2560; the heart rate measurement module is implemented using a SON1205 heart rate sensor; and the body temperature measurement module is implemented using a B-1 infrared temperature sensor.

10. The automated mobile medical and medication delivery robot with high flexibility and a large operating range according to claim 1, characterized in that, The main control module also includes a signal adapter board; the main control host computer and multiple microcontroller slave computers are connected through the signal adapter board; the information acquisition module and the power module are connected to the main control module through the signal adapter board.

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