Intelligent ward distribution unmanned aerial vehicle based on laser radar and visual inspection

Abstract

The utility model belongs to the technical field of unmanned aerial vehicle control, and discloses a ward intelligent distribution unmanned aerial vehicle based on laser radar and visual inspection, the ward intelligent distribution unmanned aerial vehicle comprises an unmanned aerial vehicle main body and a medicine loading main body, the unmanned aerial vehicle main body comprises a rack and a vehicle arm connected with the rack, the vehicle arm is provided with a motor and a wing, a main foot stool is arranged below the rack, and the main foot stool is connected with the unmanned aerial vehicle main body. An auxiliary foot stool is arranged below the vehicle arms, the rack is connected with a medicine loading main body, a camera is arranged above the medicine loading main body, an optical flow positioning laser ranging device is arranged below the medicine loading main body, and a GPS positioning device and a laser radar device are arranged on the unmanned aerial vehicle main body. The camera, the optical flow positioning laser ranging device, the laser radar and the GPS positioning device are connected with an airborne computer, and the airborne computer is connected with a flight controller to realize overall control of the unmanned aerial vehicle. The medicine loading main body and the unmanned aerial vehicle main body are simple and high in stability, and the adaptive capacity of the unmanned aerial vehicle distribution system in a medical application environment can be improved.

Description

Technical Field

[0001] This utility model belongs to the field of drone delivery technology, specifically relating to a smart ward delivery drone based on lidar and visual detection. Background Technology

[0002] With the development of intelligent healthcare, the demand for drug delivery within hospitals is increasing. Traditional manual delivery methods are not only inefficient but also prone to errors under high-intensity work environments, thus affecting patient treatment outcomes. At the same time, the high cost of manual delivery is a significant burden on hospital operations. To improve delivery efficiency, reduce costs, and minimize human error, more and more hospitals are seeking intelligent solutions, among which drone delivery technology has emerged as a potential solution. As a flexible and efficient logistics tool, drones can achieve fast, safe, and accurate delivery, and have broad application prospects, especially in the medical field.

[0003] However, existing drone systems still face numerous challenges in practical applications. Many delivery drones frequently experience poor flight stability and insufficient environmental awareness during flight, especially in complex hospital environments such as narrow corridors and intricate ward layouts, which significantly complicate drone flight and delivery missions. Existing drones typically rely on basic flight control systems, lacking precise positioning and obstacle avoidance capabilities, which can easily lead to delivery errors or collisions. Furthermore, existing drug delivery systems and drone bodies either have complex assembly structures or lack stability. Utility Model Content

[0004] The purpose of this invention is to provide a smart ward delivery drone based on lidar and visual detection. The drug loading body and the drone body are simple and highly stable, which can improve the adaptability of the drone delivery system in medical application environments.

[0005] The technical solution to achieve the purpose of this utility model is as follows:

[0006] A smart ward delivery drone based on lidar and visual detection includes a drone body and a drug loading body. The drone body includes a frame and arms connected to the frame. Motors and wings are mounted on the arms. A main landing gear is mounted below the frame, and a secondary landing gear is mounted below the arms. The frame is connected to the drug loading body. A camera is mounted above the drug loading body, and an optical flow positioning laser rangefinder is mounted below it. A GPS positioning device and a lidar device are mounted on the drone body. The camera, optical flow positioning laser rangefinder, lidar, and GPS positioning device are connected to an onboard computer, which is connected to a flight controller to achieve overall control of the drone.

[0007] In a preferred embodiment, the frame includes a top plate and a bottom plate, the bottom plate is connected to the arm via an arm connector, and the top plate is connected above the arm connector.

[0008] In a preferred embodiment, the top plate of the rack is provided with a board loading section, which includes board heat dissipation holes, onboard computer loading holes, GPS hub holes, and silkscreen viewing holes, wherein the silkscreen viewing holes are arrayed elliptical holes.

[0009] In a preferred embodiment, an external mounting plate is provided on one side of the frame base plate. The external mounting plate is provided with heat dissipation holes, servo board mounting holes, and cable management holes. The cable management holes are hexagonal in design.

[0010] In a preferred embodiment, the drug loading body includes multiple boxes, each box having an inner arc shape, a pressure sensor embedded in the bottom of the box, and a drug observation window opened on the side wall of the box.

[0011] In a preferred embodiment, the 3D structure of the main frame and the auxiliary frame is filled with a hollow mesh, and the stability of the frame is achieved by utilizing the triangular hollow structure.

[0012] Compared with the prior art, the significant advantages of this utility model are:

[0013] The drone body and drug loading body of this invention provide excellent stability and structural durability during flight. The drug loading body contains multiple drug storage areas, enabling the delivery of medication to multiple patients simultaneously, thus solving the problem of low delivery efficiency per trip. The lidar and vision detection and control system overcomes the limitations of medical delivery drones in the complex environment of hospitals. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the drone;

[0015] Figure 2 This is a schematic diagram of the main body of the drone.

[0016] Figure 3 This is a schematic diagram of a drone-based drug delivery system.

[0017] Figure 4 This is a schematic diagram of the board loading section structure for a drone.

[0018] Figure 5 This is a schematic diagram of the structure of the intelligent obstacle avoidance and high-precision positioning system for unmanned aerial vehicles (UAVs) of this utility model.

[0019] Figure 6 This is a schematic diagram illustrating the workflow of the UAV intelligent obstacle avoidance and high-precision positioning system in the embodiment.

[0020] Figure 7 This is a schematic diagram of the microcontroller system structure in the embodiment;

[0021] Figure 8 This is a schematic diagram illustrating the fusion of the inertial navigation module and the satellite navigation module in this embodiment.

[0022] Figure 9 This is a schematic diagram of the structure of the vision sensor module in the embodiment;

[0023] Figure 10 This is a schematic diagram of the operation of the lidar module in the embodiment;

[0024] Figure 11 This is a schematic diagram of path generation in the path planning module of the embodiment;

[0025] Figure 12 This is a schematic diagram of the communication module in the embodiment;

[0026] Figure 13 This is a schematic diagram of the power module structure in the embodiment;

[0027] Figure 14 This is a schematic diagram of the drug loading module in the embodiment.

[0028] The components in the diagram are labeled as follows: 1. Frame base plate; 2. Frame top plate; 3. Arm connector; 4. Arm; 5. Motor mount; 6. Motor; 7. Wing; 9. Main landing gear; 10. Secondary landing gear; 11. Power distribution board; 12. Flight controller; 15. Optical flow board; 16. Housing; 17. External device mounting plate; 18. Silkscreen viewing hole; 19. GPS hub hole; 20. Onboard computer mounting hole; 21. Board cooling hole; 22. Hub hole; 23. Servo board mounting hole; 24. Cooling hole; 25. Battery board; 26. Power distribution board; 27. UAV body; 28. Drug loading device; 29. ​​Board loading section. Detailed Implementation

[0029] like Figure 1 As shown, the overall structure of the intelligent ward delivery drone based on lidar and visual detection consists of a drone body 27, a drug loading device 28, and a board loading section 29. The drone body 27 includes a frame and an arm 4 connected to the frame. The arm 4 is equipped with a motor 6 and a wing 7. A main landing gear 9 is located below the frame, and a secondary landing gear 10 is located below the arm 4. The frame is connected to the drug loading body 28. A camera is located above the drug loading body 28, and an optical flow positioning laser rangefinder 15 is located below it. The drone body 27 is equipped with a GPS positioning device and a lidar device. The camera, optical flow positioning laser rangefinder, lidar, and GPS positioning device are connected to an onboard computer, which is connected to a flight controller 12 to achieve overall control of the drone.

[0030] The drone body 27 consists of a motor 6, wings 7, four arms 4, a top frame plate 1, and a bottom frame plate 2. The main landing gear 9 and auxiliary landing gear 10 are located below the bottom frame plate 1 and below the motor mounts 5, respectively. The bottom frame plate 2 is connected to the arms 4 via arm connectors 3, and the top frame plate 1 is connected above the arm connectors 3. Drug loading devices 28 are located on both sides and the front of the drone body 27. A plate loading section 29 is located above the drone body 27. The main and auxiliary landing gears ensure the drone's stability during takeoff and landing when delivering drugs, as well as the structural robustness of the drone in the event of emergencies.

[0031] like Figure 2 As shown, the main body 27 of the drone consists of a motor 6, wings 7, four arms 4, a top frame 1, and a bottom frame 2. The main landing gear 9 and 10 are located below the bottom frame 1 and below the motor mounts 5, respectively. The power distribution board 11 and flight controller 12 are located below the top frame 2 and above the bottom frame 1.

[0032] The drone uses carbon fiber and metal materials as the overall structural materials, and the carbon fiber and steel are connected by screws and copper pillars.

[0033] The main landing gear (9) and auxiliary landing gear (10) of the drone are manufactured using 3D printing technology and produced from PLA material. The main landing gear is connected to the drone's frame base plate using M3 screws. The auxiliary landing gear is connected to the motor base using M2.5 screws. The 3D structure of the main and auxiliary landing gear uses a hollow mesh filling, and the triangular hollow structure achieves the stability of the frame.

[0034] like Figure 3 As shown, the drone's drug delivery device 28 includes two drug boxes shaped to fit the drone's own structural features, as well as sensor devices inside the drug boxes. Drug delivery utilizes cameras and laser pointers for target identification and task execution. The drug delivery device 28 is located on both sides and the front of the drone's main body 27. The box body 16 is located on the left and right sides of the drone's frame base plate 2 and frame top plate 1.

[0035] The box body 16 is manufactured using 3D printing technology and connected to the drone using M3 screws. The drug delivery box has an inner arc shape that conforms to the shape of the drone's frame base plate. The box body 16 uses a chamfering process and has a drug viewing window on the side arm.

[0036] A pressure sensor is embedded in the bottom of the box 16. The pressure sensor obtains the current state of the medicine in the box by acquiring the pressure information inside the box.

[0037] The peripheral mounting plate 17 is located on the front side of the drone, and has heat dissipation holes 24, servo board mounting holes 23, and cable management holes 22. The battery plate 25 is located on the bottom of the drone.

[0038] The peripheral mounting plate 17 features mounting holes for a camera (video camera) and a servo extension board. The servo extension board mounting holes are located behind the camera, ensuring that the two devices operate independently without interference. The peripheral mounting plate 17 also features 22 hexagonal cable management holes. The peripheral mounting plate 17 is manufactured using 3D printing technology with PLA material and a hollow-solid filling process.

[0039] like Figure 4 As shown, the UAV's board mounting section 29 consists of board heat dissipation holes 21, onboard computer mounting holes 20, GPS hub holes 19, and silkscreen viewing holes 18. An array of elliptical holes is used as the silkscreen viewing holes 18. Circular holes were designed to facilitate the routing of GPS module wiring and DuPont wires.

[0040] like Figure 5 As shown, the intelligent obstacle avoidance and high-precision positioning system for unmanned aerial vehicles of this utility model includes a microcontroller module, an inertial navigation module, a vision sensor module, a 3D reconstruction module, a path planning module, a communication module, and a power supply module.

[0041] like Figure 6 The diagram shows the workflow of the UAV intelligent obstacle avoidance and high-precision positioning system. After power-on, each module initializes. Upon takeoff, the inertial navigation module and visual sensor module begin collecting data in real time and transmitting the information to the microcontroller module for processing. The system achieves precise positioning through the fusion of inertial and satellite navigation data and uses the visual sensor to detect obstacles in the surrounding environment. If an obstacle is detected, the system generates an obstacle avoidance path in real time. The communication module transmits flight data to the ground control center, allowing ground control personnel to monitor and adjust parameters in real time.

[0042] like Figure 7 As shown, the microcontroller module employs a high-performance microcontroller and is connected to external memory, a watchdog reset circuit, a communication interface, and a debugging interface. The microcontroller communicates with the Nor Flash memory via the SPI protocol, providing stable storage space for the system. A large-capacity cache is provided through an external SRAM module, suitable for real-time image processing and navigation calculations. Simultaneously, it connects to the ground station via a USB-to-serial interface for data debugging and analysis. The system's LED indicators and button interfaces facilitate system debugging and status indication.

[0043] like Figure 8 As shown, the inertial navigation module and the satellite navigation module are used in combination. The inertial navigation module collects the acceleration and angular velocity data of the UAV in real time through MEMS inertial sensors, and fuses it with the satellite navigation system data through Kalman filtering algorithm to improve positioning accuracy and ensure stable positioning information even in environments where satellite signals are interfered with.

[0044] like Figure 9 As shown, the visual sensor module acquires image data of the drone's surrounding environment and uses image recognition algorithms to detect the position, size, and distance of obstacles. The visual data is transmitted to the microcontroller module for analysis, providing real-time information for obstacle avoidance and path planning. The visual sensor can also identify positioning markers on buildings and perform line following, assisting the LiDAR in completing its tasks.

[0045] like Figure 10 As shown, the lidar module uses multi-angle image data collected by the lidar sensor to generate a 3D model of the environment. This model enables spatial modeling of the environment, providing a basis for path planning. Real-time updates of the 3D model help UAVs fly safely in complex environments.

[0046] like Figure 11 As shown, the path planning module uses Dijkstra's dynamic path planning algorithm, combined with a real-time generated 3D environment model, to generate a safe flight path. During flight, the path planning module automatically adjusts the path based on the position of obstacles and changes in the environment to avoid collisions and maintain flight stability.

[0047] like Figure 12 As shown, the communication module includes a digital image transmission module, which is responsible for real-time communication between the UAV and the ground control center. The ground station can receive the UAV's flight status information through this module, and remotely set flight missions or adjust navigation parameters to achieve real-time monitoring and data transmission.

[0048] like Figure 13 As shown, the power module uses an AC-DC power conversion module and a DC-DC regulator to convert the main power supply voltage into a stable operating voltage, and uses an LDO regulator to output a low-noise 3.3V power supply to ensure the stable operation of the system.

[0049] like Figure 14 The diagram shows the workflow of the drug loading module. After the system is powered on, each module initializes. Upon startup, the sensor module begins collecting real-time status data from the drug container and transmits this information to the control module for processing. The system analyzes the sensor data against set parameters, monitors the drug loading process in real time, and controls the accurate loading of the drug according to a preset program. If an anomaly is detected, such as inaccurate drug loading or container malfunction, the system will automatically adjust the loading path or activate an alarm mechanism. The communication module transmits the loading data to the central control system, allowing staff to monitor and adjust loading parameters in real time to ensure the accuracy and safety of drug loading.

[0050] The above embodiments are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present utility model shall be considered equivalent substitutions and shall be included within the protection scope of the present utility model.

Claims

1. A smart ward delivery drone based on lidar and visual detection, comprising a drone body and a drug loading body, characterized in that, The main body of the drone includes a frame and arms connected to the frame. Motors and wings are installed on the arms. A main landing gear is installed below the frame, and a secondary landing gear is installed below the arms. The frame is connected to a drug loading body. A camera is installed above the drug loading body, and an optical flow positioning laser rangefinder is installed below it. A GPS positioning device and a lidar device are installed on the main body of the drone. The camera, optical flow positioning laser rangefinder, lidar, and GPS positioning device are connected to an onboard computer. The onboard computer is connected to a flight controller to realize the overall control of the drone.

2. The intelligent ward delivery drone based on lidar and visual detection according to claim 1, characterized in that, The frame includes a top plate and a bottom plate. The bottom plate is connected to the arm via an arm connector, and the top plate is connected above the arm connector.

3. The intelligent ward delivery drone based on lidar and visual detection according to claim 2, characterized in that, The top plate of the rack is provided with a board loading section, which is provided with board heat dissipation holes, onboard computer loading holes, GPS hub holes and silkscreen viewing holes, the silkscreen viewing holes being arrayed elliptical holes.

4. The intelligent ward delivery drone based on lidar and visual detection according to claim 2, characterized in that, An external mounting plate is also provided on one side of the frame base plate. The external mounting plate is provided with heat dissipation holes, servo board mounting holes and cable management holes. The cable management holes adopt a hexagonal design.

5. The intelligent ward delivery drone based on lidar and visual detection according to claim 2, characterized in that, The drug loading body includes multiple boxes, each box having an inner arc shape, a pressure sensor embedded in the bottom of the box, and a drug observation window opened on the side wall of the box.

6. The intelligent ward delivery drone based on lidar and visual detection according to claim 1, characterized in that, The 3D structure of the main frame and the auxiliary frame adopts a hollow mesh filling, and the stability of the frame is achieved by using a triangular hollow structure.

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