Multifunctional medical unmanned vehicle

Abstract

This utility model discloses a multifunctional unmanned medical vehicle, including a vehicle body, a robotic arm, a vision module, and an integrated control module. The robotic arm is mounted on the vehicle body and includes several mechanical joints and a gripper. The vision module is mounted on the vehicle body and includes several camera devices. The integrated control module is located at the bottom of the vehicle body and is communicatively connected to the robotic arm and the vision module. This utility model can realize multiple functions such as contactless disinfection, material delivery, and patient status monitoring in public medical places and isolation wards, improving the standardization, intelligence, and efficiency of medical and nursing auxiliary work and prevention and control management.

Description

Technical Field

[0001] This utility model relates to the field of medical robots, and in particular to a multifunctional unmanned medical vehicle. Background Technology

[0002] In public medical facilities and highly infectious disease wards, traditional epidemic prevention and medical support work relies primarily on manual labor. For example, the distribution of supplies within hospitals relies on manual trolleys, ward rounds require medical staff to check on each patient individually, and environmental disinfection is also carried out manually using disinfection equipment. Regarding logistics transportation, while hospital logistics systems include pneumatic transport systems and rail-based transport systems, these systems have numerous problems. Pneumatic transport systems can only transport small items, rail-based transport systems are expensive, have limited application, and lack flexibility.

[0003] Existing intelligent medical and healthcare auxiliary equipment and epidemic prevention equipment also have some shortcomings. The literature "A Review of Medical Robotics Technology" (2022) points out that existing logistics robots generally lack robotic arm grasping capabilities, requiring manual loading and unloading of supplies. Furthermore, some devices have limited functionality, only capable of performing single tasks such as disinfection or material delivery, failing to meet diverse epidemic prevention and healthcare needs; some devices lack flexibility, struggling to move freely and accurately in complex medical environments; others are not highly operable, requiring advanced user skills, increasing usage costs and difficulty. In addition, current wheeled robot tracking and positioning methods suffer from large cumulative errors and are unsuitable for repeated precise positioning or long-distance precise positioning. Utility Model Content

[0004] To overcome the shortcomings of the prior art, this utility model provides a multi-functional unmanned medical vehicle that can perform multiple functions such as contactless disinfection, material delivery, and patient status monitoring in public medical facilities and isolation wards, thereby improving the standardization, intelligence, and efficiency of medical and nursing support work and prevention and control management.

[0005] One embodiment of this utility model provides a multifunctional medical unmanned vehicle, including a vehicle body, characterized in that it further includes: a robotic arm, a vision module and an integrated control module;

[0006] The robotic arm is mounted on the vehicle body and includes several mechanical joints and a gripper;

[0007] The vision module is mounted on the vehicle body and includes several camera devices;

[0008] The integrated control module is located at the bottom of the vehicle body and is communicatively connected to the robotic arm and the vision module.

[0009] Furthermore, the robotic arm also includes: an omnidirectional servo motor, a high-precision camera, and several stepper motors;

[0010] The omnidirectional servo motor is located at the bottom of the robotic arm and is used to control the overall rotation of the robotic arm;

[0011] The high-precision camera is mounted on the top of the robotic arm and is communicatively connected to the integrated control module.

[0012] The plurality of stepper motors are respectively connected to the plurality of mechanical joints to control the movement of the mechanical joints.

[0013] Furthermore, the vision module is mounted on the vehicle body via a bracket and connected to the control module via a preset coaxial cable.

[0014] Furthermore, the plurality of camera devices in the vision module include at least: a thermal imaging camera and a visible light camera;

[0015] The thermal imaging camera is used to perform temperature measurement, and the visible light camera is used to collect information about the surrounding environment of the multifunctional medical unmanned vehicle.

[0016] Furthermore, the integrated control module is specifically a PCB module, which integrates several functional chips.

[0017] Preferably, the plurality of functional chips include: a wireless communication chip, a high-performance control chip, a positioning chip, a motor drive chip, and a steering chip;

[0018] The wireless communication chip is communicatively connected to the vision module and the robotic arm;

[0019] The wireless communication chip is also communicatively connected to the high-performance control chip, the motor drive chip, and the steering chip, respectively.

[0020] The high-performance control chip is communicatively connected to the motor drive chip and the steering chip.

[0021] Furthermore, the motor drive chip is also communicatively connected to the plurality of stepper motors to control the movement of the plurality of mechanical joints.

[0022] Furthermore, the vehicle body includes: a first driving wheel, a second driving wheel, a first driven wheel, a second driven wheel, a closed-loop control motor, a cantilever, and a floor plate;

[0023] The first drive wheel and the second drive wheel are connected to a preset hub motor; wherein, the preset hub motor is communicatively connected to the motor drive chip;

[0024] The first driven wheel and the second driven wheel are connected to the closed-loop control motor via the cantilever; wherein, the closed-loop control motor is communicatively connected to the motor drive chip;

[0025] The robotic arm and vision module are mounted on the base plate, and the integrated control module is located at the bottom of the base plate.

[0026] Furthermore, the vehicle body also includes a battery, which is disposed at the bottom of the base plate.

[0027] Furthermore, the integrated control module also includes a power management chip;

[0028] The power management chip is communicatively connected to the battery and is used to control the charging and discharging of the battery.

[0029] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0030] This invention develops an unmanned vehicle equipped with a multi-axis robotic arm and a multi-functional integrated control module, enabling contactless disinfection, material delivery, and patient status monitoring in public medical facilities and isolation wards. It can replace some nursing and logistical staff, reduce the burden on personnel and materials, reduce the risk of cross-infection, and thus improve the standardization, intelligence, and efficiency of medical and nursing support work and prevention and control management. Attached Figure Description

[0031] Figure 1 This is a structural schematic diagram of a multifunctional medical unmanned vehicle provided in one embodiment of the present invention.

[0032] Figure 2 This is a schematic diagram of the structure of an integrated control module provided by an embodiment of the present invention.

[0033] Figure 3 This is a rear view of a multifunctional medical unmanned vehicle provided in one embodiment of the present invention. Detailed Implementation

[0034] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this patent.

[0035] It will be understood by those skilled in the art that certain well-known structures and their descriptions may be omitted in the accompanying drawings.

[0036] The technical solution of this utility model will be further described below with reference to the accompanying drawings and embodiments.

[0037] Reference Figure 1This is a structural schematic diagram of a multifunctional medical unmanned vehicle provided in an embodiment of the present utility model, including a vehicle body, and also including: a robotic arm, a vision module 9 and an integrated control module;

[0038] The robotic arm is mounted on the vehicle body and includes several mechanical joints and a gripper 14;

[0039] The vision module 9 is mounted on the vehicle body and includes several camera devices;

[0040] The integrated control module 8 is located at the bottom of the vehicle body and is communicatively connected to the robotic arm and the vision module 9.

[0041] Furthermore, the robotic arm also includes: an omnidirectional servo motor 10, a high-precision camera 15, and several stepper motors;

[0042] The omnidirectional servo motor 10 is located at the bottom of the robotic arm and is used to control the overall rotation of the robotic arm;

[0043] The high-precision camera 15 is mounted on the top of the robotic arm and is communicatively connected to the integrated control module 8.

[0044] The plurality of stepper motors are respectively connected to the plurality of mechanical joints to control the movement of the mechanical joints.

[0045] In a preferred embodiment, the robotic arm completes the rotation action through the omnidirectional servo motor 10, and each of the mechanical joints on the robotic arm completes conventional actions such as extension, lifting, and lowering through stepper motors 11, 12, and 13.

[0046] In addition, a high-precision camera 15 is installed at the front end of the robotic arm, which, together with the integrated control module 8, identifies the status of the equipment and, together with the gripper 14, performs actions such as grasping, picking up, and putting down.

[0047] By equipping a robotic arm with a multifunctional medical unmanned vehicle as described in this invention, the vehicle can replace some nursing and logistical staff in performing simple, repetitive tasks such as material delivery and garbage collection, saving human resources and alleviating the workload of medical and nursing personnel. For example, the multifunctional medical unmanned vehicle can be used for drug delivery and other delivery tasks, or for garbage collection in wards or hospital corridors, saving on labor costs.

[0048] Furthermore, the vision module 9 is mounted on the vehicle body via a bracket 23 and is connected to the control module 8 via a preset coaxial cable.

[0049] Preferably, the plurality of camera devices in the vision module 9 includes at least: a thermal imaging camera and a visible light camera;

[0050] The thermal imaging camera is used to perform temperature measurement, and the visible light camera is used to collect information about the surrounding environment of the multifunctional medical unmanned vehicle.

[0051] In a preferred embodiment, the multifunctional medical unmanned vehicle of this invention collects information about the surrounding working environment through the visible light camera in the vision module 9, and uses this information to assist in controlling the vehicle's movement and obstacle avoidance. Mounting the vision module 9 on the bracket 23 provides the unmanned vehicle with a wider field of view.

[0052] The vision module 9 incorporates image processing-based line-following and step-counting algorithms. Specifically, it employs a marker detection method, acquiring images through a visible light camera, setting recognition blocks within the image display frame, and detecting image signals from specially designed guide lines to determine the autonomous vehicle's motion state and position. Marker lines are placed at regular intervals along the specially designed guide lines; after OpenMV binarization processing, their shapes can form various marker positions. The main controller of the processing module uses these marker position signals to achieve autonomous movement, braking, and positioning, solving the accuracy problem of traditional positioning methods.

[0053] The vision module 9 also includes a neural network recognition algorithm. Using the YOLO V8 Large neural network model, during rounds, the captured images can be recognized and analyzed to determine the patient's location and condition, and the results can be transmitted back to the client in real time, thereby assisting medical staff in their work.

[0054] In practical applications, the multifunctional medical unmanned vehicle of this invention can carry a disinfection spray device and rely on the vision module 9 to spray disinfection along a preset route. Replacing manual labor with unmanned vehicles for disinfection work not only improves work efficiency but also avoids exposing disinfection personnel to dangerous environments, protecting the health of medical staff.

[0055] In addition, in this preferred embodiment, the vision module 9 also includes a thermal imaging camera. The thermal imaging camera is mainly used for measuring the patient's temperature. After detecting the patient's body temperature, the information can be transmitted to the integrated control module 8 via a very thin coaxial cable, i.e., the preset coaxial cable, and then reported by the integrated control module 8 to the user terminal.

[0056] Furthermore, the integrated control module 8 is specifically a PCB module, which includes several functional chips for controlling the movement of the vehicle body based on the external information collected by the vision module 9, and for controlling the robotic arm to work based on the working environment information collected by the high-precision camera 15.

[0057] Preferably, the plurality of functional chips include: a wireless communication chip 22, a high-performance control chip 18, a positioning chip 17, a motor drive chip 19, and a steering chip 21;

[0058] The wireless communication chip 22 is used to establish a communication connection between the integrated control module 8, the vision module 9, and the robotic arm.

[0059] The wireless communication chip 22 is also communicatively connected to the high-performance control chip 18, the motor drive chip 19, and the steering chip 21, respectively.

[0060] The high-performance control chip 18 is used to control the motor drive chip 19 and the steering chip 21 to send movement commands based on the vehicle position information collected by the positioning chip 17, thereby controlling the multifunctional medical unmanned vehicle to perform driving and steering operations.

[0061] Preferably, the motor drive chip 19 is also communicatively connected to the plurality of stepper motors for controlling the movement of the plurality of mechanical joints.

[0062] In a preferred embodiment, the multifunctional medical unmanned vehicle of this invention achieves motion control, robotic arm control, data transmission, and control of other functional modules through the integrated control module 8. (Refer to...) Figure 2 This is a schematic diagram of the structure of an integrated control module provided in an embodiment of the present invention. Figure 2 As can be seen, several processing modules are integrated on a single PCB board. These processing modules work together according to their respective functions, ensuring the stable and coordinated operation of the entire multifunctional medical unmanned vehicle system.

[0063] In this preferred embodiment, the main controller of the processing module, i.e., the high-performance control chip 18, uses the SAK-TC264DA-40F200N chip, which is responsible for complex logic operation tasks; the main controller of the machine vision, i.e., the positioning chip 17, uses the K230 chip, which is used to run machine vision algorithms and neural networks; the main controller of the chassis motor, i.e., the motor drive chip 19 and the steering chip 17, uses the SAK-TC264DA-40F200N chip to achieve precise control of the brushless motor; the IoT terminal processor and the wireless communication chip 22 use the ESP32-S3, which is responsible for data transmission.

[0064] Furthermore, the vehicle body includes: a first driving wheel 3, a second driving wheel 4, a first driven wheel 1, a second driven wheel 2, a closed-loop control motor 5, a cantilever 6, and a base plate 16;

[0065] The first drive wheel 3 and the second drive wheel 4 are connected to a preset hub motor; wherein, the preset hub motor is communicatively connected to the motor drive chip 19;

[0066] The first driven wheel 1 and the second driven wheel 2 are connected to the closed-loop control motor 5 via the cantilever 6; wherein, the closed-loop control motor is communicatively connected to the motor drive chip 19;

[0067] The robotic arm and vision module 9 are mounted on the base plate 16, and the integrated control module 8 is mounted on the bottom of the base plate 16.

[0068] In a preferred embodiment, refer to Figure 3 This is a rear view of a multifunctional medical unmanned vehicle provided in one embodiment of the present invention. Figure 3 As can be seen, the multifunctional medical unmanned vehicle of this utility model uses the base plate 16 as a carrier and adopts a wheeled chassis to ensure the robot's passability and load-bearing capacity.

[0069] The vehicle body includes two drive wheels 3 and 4 that propel the multifunctional medical unmanned vehicle on the ground, and two driven wheels 1 and 2 that are responsible for steering. The two drive wheels are connected to a preset hub motor, which serves as the power source for the entire vehicle. The integrated control module 8 is located at the bottom of the base plate 16, and the two driven wheels are connected to a closed-loop control stepper motor 5 with closed-loop control via a cantilever 6.

[0070] Furthermore, the vehicle body also includes a battery 7, which is disposed at the bottom of the base plate 16.

[0071] Preferably, the integrated control module 8 further includes a power management chip 20;

[0072] The power management chip 20 is communicatively connected to the battery 7 and is used to control the charging and discharging of the battery 7.

[0073] In a preferred embodiment, refer to Figure 2 It can be seen that the bottom of the base plate 16 also includes a battery 7, which works in conjunction with the power management chip 20 in the integrated control module 8 to provide power to the multifunctional medical unmanned vehicle.

[0074] In summary, the multifunctional medical unmanned vehicle provided by this utility model has the following advantages compared with the prior art:

[0075] 1. Reduce labor costs: It can replace some nursing and logistics staff to complete simple and repetitive tasks, such as material distribution and garbage collection, saving human resources and relieving the workload of medical and nursing staff.

[0076] 2. Reduce the risk of cross-infection: The adoption of contactless services avoids direct contact between people, effectively reducing the risk of infectious disease transmission in medical institutions and isolation and control areas, and ensuring the health and safety of medical staff and patients.

[0077] 3. Improve work efficiency: Equipped with automation and intelligent functions, it can quickly and accurately execute various tasks. For example, unmanned vehicles can quickly go to designated locations according to APP instructions, which is more efficient than manual operation. At the same time, it improves the standardization and efficiency of medical and nursing auxiliary work and epidemic prevention and control management.

[0078] 4. Precise positioning and navigation: Through advanced line-following and step-counting algorithms and high-precision sensors, the unmanned vehicle can achieve precise positioning and navigation, accurately move along a customized trajectory line to the designated location, reduce errors, and improve the accuracy of work.

[0079] 5. Multifunctional integration: It integrates multiple functions, such as automatic spray disinfection, human body temperature measurement and status detection, material loading and transportation, garbage collection and transportation, monitoring and patrol, etc., which meet the diverse epidemic prevention and medical care needs of public medical places and isolation and control areas. It is more practical than single-function equipment.

[0080] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A multi-functional medical unmanned vehicle comprising a vehicle body, characterized in that, Also includes: Robotic arm, vision module (9) and integrated control module; The robotic arm is mounted on the vehicle body and includes several mechanical joints and a gripper (14). The vision module (9) is mounted on the vehicle body and includes several camera devices; The integrated control module (8) is located at the bottom of the vehicle body and is communicatively connected to the robotic arm and the vision module (9); wherein, the integrated control module (8) integrates several functional chips, including: a high-performance control chip (18), a positioning chip (17), a motor drive chip (19) and a steering chip (21), and the high-performance control chip (18) is communicatively connected to the motor drive chip (19) and the steering chip (21).

2. The multi-functional medical unmanned vehicle of claim 1, wherein, The robotic arm also includes: an omnidirectional servo motor (10), a high-precision camera (15), and several stepper motors; The omnidirectional servo motor (10) is located at the bottom of the robotic arm and is used to control the overall rotation of the robotic arm; The high-precision camera (15) is mounted on the top of the robotic arm and is communicatively connected to the integrated control module (8); The plurality of stepper motors are respectively connected to the plurality of mechanical joints to control the movement of the mechanical joints.

3. The multifunctional medical unmanned vehicle as described in claim 1, characterized in that, The vision module (9) is mounted on the vehicle body via a bracket (23) and connected to the control module (8) via a preset coaxial line.

4. The multifunctional medical unmanned vehicle as described in claim 1, characterized in that, The plurality of camera devices in the vision module (9) include at least: a thermal imaging camera and a visible light camera.

5. The multifunctional medical unmanned vehicle as described in claim 2, characterized in that, The integrated control module (8) is specifically a PCB module.

6. The multifunctional medical unmanned vehicle as described in claim 5, characterized in that, The plurality of functional chips also include: a wireless communication chip (22). The wireless communication chip (22) is communicatively connected to the vision module (9) and the robotic arm; The wireless communication chip (22) is also connected to the high-performance control chip (18), the motor drive chip (19) and the steering chip (21) respectively.

7. The multifunctional medical unmanned vehicle as described in claim 6, characterized in that, The motor drive chip (19) is also in communication connection with the plurality of stepper motors.

8. The multifunctional medical unmanned vehicle as described in claim 6, characterized in that, The vehicle body includes: a first driving wheel (3), a second driving wheel (4), a first driven wheel (1), a second driven wheel (2), a closed-loop control motor (5), a cantilever (6), and a base plate (16); The first drive wheel (3) and the second drive wheel (4) are connected to a preset hub motor; wherein the preset hub motor is communicatively connected to the motor drive chip (19); The first driven wheel (1) and the second driven wheel (2) are connected to the closed-loop control motor (5) via the cantilever (6); wherein the closed-loop control motor is communicatively connected to the motor drive chip (19); The robotic arm and vision module (9) are mounted on the base plate (16), and the integrated control module (8) is mounted on the bottom of the base plate (16).

9. The multifunctional medical unmanned vehicle as described in claim 8, characterized in that, The vehicle body also includes a battery (7), which is disposed at the bottom of the base plate (16).

10. The multifunctional medical unmanned vehicle as described in claim 9, characterized in that, The integrated control module (8) also includes a power management chip (20). The power management chip (20) is communicatively connected to the battery (7) and is used to control the charging and discharging of the battery (7).

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