CN109411069B - An intelligent hospital bed unit management system and method - Google Patents

An intelligent hospital bed unit management system and method Download PDF

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CN109411069B
CN109411069B CN201811375222.6A CN201811375222A CN109411069B CN 109411069 B CN109411069 B CN 109411069B CN 201811375222 A CN201811375222 A CN 201811375222A CN 109411069 B CN109411069 B CN 109411069B
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hospital bed
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laser
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CN109411069A (en
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谭雁红
陈丽婵
陈丹萍
廖珊
王博琛
邹艳秋
谢雪颜
梁海燕
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First Peoples Hospital of Foshan
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    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
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    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
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    • B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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    • G05—CONTROLLING; REGULATING
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    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract

本发明公开了一种智能病床单元管理系统及方法，包括病床床头设置的报警按钮以及设置于病房储物柜中的第一重力传感器，所述病床床底还设置有红外感应装置，并将所有所述病房的病床进行依次编号录入中心计算机数据库，智能储物装置机器人机体为储物箱结构，所述储物箱结构底部设置有第二重力传感器，所述储物箱边缘一侧设置有机械臂、另一侧设置有消毒水喷雾装置、下方通过传动装置连接履带，所述履带配置有刹车装置，所述履带底部还设置有吸尘装置，所述智能储物装置机器人还设置有存储模块、控制模块、无线模块以及雷达模块。整个流程由机器人配合中心计算机完成，省去了大量的工人成本低，井井有条效率高，符合现代医院科学管理的要求。

Figure 201811375222

The invention discloses an intelligent hospital bed unit management system and method, comprising an alarm button arranged at the head of a patient bed and a first gravity sensor arranged in a locker of a patient room. All the beds of the wards are sequentially numbered and entered into the central computer database. The robot body of the intelligent storage device is a storage box structure. The bottom of the storage box structure is provided with a second gravity sensor, and one side of the edge of the storage box is provided with a The robot arm, the other side is provided with a disinfectant spray device, the lower part is connected to the crawler through a transmission device, the crawler is equipped with a braking device, the bottom of the crawler is also provided with a dust suction device, and the intelligent storage device The robot is also provided with a storage device. modules, control modules, wireless modules, and radar modules. The whole process is completed by the robot with the central computer, which saves a lot of workers. The cost is low, the efficiency is well organized, and it meets the requirements of modern hospital scientific management.

Figure 201811375222

Description

Intelligent sickbed unit management system and method
Technical Field
The invention relates to an intelligent sickbed unit management system, in particular to an intelligent sickbed unit management system and an intelligent sickbed unit management method.
Background
With the increasing development of the modern society, the material demand of people is stronger. Some repetitive and tedious basic tasks on the one hand result in less people to do and on the other hand lead to a poor quality of service due to problems with the status of the workers themselves.
The patient unit comprises a sickbed, a bedside table, a patient chair and a storage cabinet, and is a living facility used by a patient during hospital stay.
A large number of patients are discharged and admitted every day, and after the patients are discharged, the patients need to be subjected to terminal disinfection treatment, and then clean bedding clothes are provided for receiving the newly admitted patients; during the hospitalization period of the patient, the unit of the patient needs to be arranged every day, and the polluted bedding and clothing needs to be replaced when needed. The above work is completed by nurses and workers or nursing staff.
Insufficient manpower of nurses is a problem generally faced by the current domestic hospitals, and the unit management of patients occupies a large amount of working hours of nurses, so that the nurses cannot provide services for the patients in time, and the satisfaction degree of the hospitals is influenced.
The adoption of a large number of workers/nursing staff as the unit management of patients increases the operation cost of the hospital and does not meet the requirements of scientific management of modern hospitals.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the related art. Therefore, the invention provides an intelligent sickbed unit management system and method.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an intelligent sickbed unit management system comprises an alarm button arranged at the head of a sickbed and a first gravity sensor arranged in a sickroom storage cabinet, wherein an infrared sensing device is further arranged at the bottom of the sickbed, and sickbeds in all sickrooms are sequentially numbered and recorded into a central computer database;
the intelligent storage device robot is characterized by further comprising an intelligent storage device robot, a robot body of the intelligent storage device robot is of a storage box structure, a second gravity sensor is arranged at the bottom of the storage box structure, a mechanical arm is arranged on one side of the edge of the storage box structure, a disinfecting water spraying device is arranged on the other side of the edge of the storage box structure, the lower side of the storage box structure is connected with a crawler through a transmission device, the crawler is provided with a brake device, a dust collection device is further arranged at the bottom of the crawler, and the intelligent storage device robot is further provided with a storage module, a control module, a wireless module and a radar module;
the alarm button, the first gravity sensor, the infrared sensing device and the wireless module are all in communication connection with the central computer.
Further, the wireless module is a GPRS module.
Further, the brake device is a brake pad.
Further, the radar module adopts a laser positioning device.
Further, laser positioner including set up in the laser emission device of intelligence storing device robot front end and encircle a set of laser receiving arrangement that laser emission device set up.
Further, the storage module stores a fixed path corresponding to the hospital bed number.
The invention also provides a management method of the intelligent sickbed unit, which comprises the following steps:
s1, firstly, judging the management requirement of the sickbed unit:
s11, pressing down a bed head alarm button of the sickbed when the patient is discharged, and judging that the sickbed has a sickbed unit management requirement at the moment;
s12, if the patient forgets to press the button, determining that the sickbed is required to be managed if the indication number of the first gravity sensor of the storage cabinet is lower than a first weight threshold value and the infrared sensing device of the sickbed displays no human body infrared information in one hour;
s2, the central computer sends a selection instruction to the robots through the wireless module, and randomly selects one of the robots marked as available to be driven to the patient bed corresponding to the management requirement of the patient bed unit according to a set path;
s3, when the robot acts, the laser emitting device emits laser and the laser is received by the ultrasonic receiving device after being reflected, then the robot control device calculates the propagation distance S according to the time difference T between the emission of the laser and the receiving of the return light and the propagation speed V of the laser, when the calculated distance is higher than the dangerous distance threshold value, the control module emits a braking instruction, and after the braking device receives the braking instruction, the braking device brakes;
s4, after the robot reaches a specified bed, the control module sends out an instruction to the dust collection device to remove dust, and the disinfectant water spraying device extrudes to disinfect, and then standard bedding and clothing changing operation is carried out;
s5, after the readings of the second gravity sensor are lower than a second weight threshold value and the actions of dust removal by the dust collection device, disinfection by extrusion of the disinfectant spraying device and standard clothes changing operation are finished, the control module sends out an instruction to instruct the robot to return according to a set path and brake and avoid obstacles in an S3 mode;
s6, after returning to the standby point, the staff cleans the robot dust collector and fills the sterilized water,
the robot then informs the central computer through the communication module, and the central computer then marks the robot as available in steps S3 to S5.
The invention has the beneficial effects that: the hospital bed unit replacement management is carried out in real time through the robot, the wells are regular, the manual treatment cost for hospital bed unit replacement is saved, the efficiency is high, and the requirements of modern hospital scientific management are met.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic view of the intelligent storage device robot of the invention.
FIG. 2 is a flow chart of a bedding and clothing processing method of the present invention.
Detailed Description
Referring to fig. 1, the intelligent sickbed unit management system comprises an alarm button arranged at the head of a sickbed and a first gravity sensor arranged in a sickroom storage cabinet, wherein an infrared sensing device is arranged at the bottom of the sickbed, and the sickbeds in all the sickrooms are sequentially numbered and recorded into a central computer database;
let new patient can call the robot at any time through alarm button and carry out sick bed unit and handle or just carry out corresponding sick bed unit and handle when the patient that is discharged from hospital leaves to use first weight sensor and the dual detection of infrared induction system to ensure that patient leaves the back automatic call robot and carry out sick bed unit and handle, simple, convenient, high-efficient.
The intelligent storage device robot is characterized by further comprising an intelligent storage device robot, a robot body of the intelligent storage device robot is a storage box structure 1, a second gravity sensor 2 is arranged at the bottom of the storage box structure 1, a mechanical arm 3 is arranged on one side of the edge of the storage box structure 1, a disinfection water spraying device 4 is arranged on the other side of the edge of the storage box structure 1, the lower portion of the storage box structure is connected with a crawler 5 through a transmission device, the crawler is provided with a brake device, a dust collection device is further arranged at the bottom of the crawler, and the intelligent storage device robot is further provided with a storage module, a control module, a wireless module and a radar module;
the alarm button, the first gravity sensor, the infrared sensing device and the wireless module are all in communication connection with the central computer.
In the embodiment, the wireless module adopts the GPRS module, so that the relatively low connection cost and the resource utilization rate are high in a GSM network, and the GPRS firstly introduces a packet switching transmission mode, so that the original GSM data transmission mode adopting a circuit switching mode is fundamentally changed, which is particularly important under the condition of scarce wireless resources. In circuit-switched mode, the user will have the radio channel on their own, whether or not data is being transmitted, throughout the connection. During a session, many applications tend to have substantial idle periods, such as Internet browsing, sending and receiving E-mail, etc., as described above. For packet switched mode, the user occupies resources only during the transmission or reception of data, which means that multiple users can efficiently share the same radio channel, thereby improving the utilization of resources. The charging of the GPRS user is mainly based on the data volume of communication, and the principle of 'obtaining and paying' is embodied. In practice, GPRS users may have connection times as long as several hours, but only a relatively low connection cost.
GPRS can provide transmission rates up to 115kbps (with a maximum of 171.2kbps, excluding FEC). This means that within a few years, GPRS users can browse on the internet as fast as ISDN users via laptops, while also making possible some mobile multimedia applications that are sensitive to transmission rates.
Access time short packet switched access time is reduced to less than 1 and GPRS is a new GSM data service that provides mobile users with wireless packet data access shares.
This embodiment brake equipment adopts the brake block, uses the brake block, and simple structure is efficient.
This embodiment radar module adopts laser positioner, and chooses for use aTINY little laser locator for use, laser positioner including set up in the laser emission device of intelligence storing device robot front end and encircle a set of laser receiving device that laser emission device set up.
When the device works, laser is emitted outwards through the rotating mirror surface mechanism, when a cooperative road sign formed by a retro-reflector is scanned, reflected light is processed by the photoelectric receiving device to serve as a detection signal, a data acquisition program is started to read code disc data (a target measurement angle value) of the rotating mechanism, then the code disc data is transmitted to an upper computer through communication to be processed, and the current position and direction of the sensor under a road sign coordinate system can be calculated according to the known position and detected information of the road sign, so that the aim of further navigation and positioning is fulfilled.
Laser ranging has the advantages of narrow light beam, good parallelism, small scattering, high resolution in the ranging direction and the like.
The infrared luminotron emits modulated signals, the infrared sensitive tube receives infrared modulation signals reflected by a target object, and the elimination of the interference of the environmental infrared light is ensured by signal modulation and a special infrared filter. Assuming that the output signal Vo represents the voltage output of the reflected light intensity, Vo is a function of the probe-to-workpiece distance:
where, p is the workpiece reflection coefficient. p is related to the surface color and roughness of the target. X is the distance between the probe and the workpiece. When the workpieces are the same kind of target objects with consistent p values, x corresponds to Vo one to one. x can be obtained by interpolating the proximity measurement experimental data of various targets. Therefore, the position of the robot from the target object can be measured through the infrared sensor, and the mobile robot can be navigated and positioned through other information processing methods.
Although infrared sensing positioning also has the advantages of high sensitivity, simple structure, low cost and the like, because the angular resolution is high and the distance resolution is low, the infrared sensing positioning is commonly used as a proximity sensor in a mobile robot to detect approaching or sudden movement obstacles, so that the robot can stop obstacles urgently.
The storage module stores a fixed path corresponding to the sickbed number, and the ROS robot system is used for setting the path of the robot and setting navigation target points, namely the beds. And storing a robot mechanical arm motion code, an automatic dust collector starting code and an automatic disinfectant spraying code in the storage module, and executing the operation by the control module.
Setting the empty weight of the first gravity sensor to Mkg, M +0.1kg is the first weight threshold M1, and setting the empty weight of the second gravity sensor to Nkg, N +0.1kg is the second weight threshold N1
The invention also provides an intelligent sickbed unit management method in combination with the fig. 2, which comprises the following steps:
s1, firstly, judging the management requirement of the sickbed unit:
s11, pressing down a bed head alarm button of the sickbed when the patient is discharged, and judging that the sickbed has a sickbed unit management requirement at the moment;
s12, if the patient forgets to press the button, if the indication number of the first gravity sensor of the storage cabinet is lower than a first weight threshold M1 in one hour and the infrared sensing device of the sickbed displays no human body infrared information, the patient is judged to have a sickbed unit management requirement, the infrared sensing device is placed in the center of the lower part of the sickbed, the sensing distance is set to be 2.5 meters, and the patient unit is ensured to be covered;
s2, the central computer sends a selection instruction to the robots through the wireless module, and randomly selects one of the robots marked as available to be driven to the patient bed corresponding to the management requirement of the patient bed unit according to a set path;
s3, when the robot acts, the laser emitting device emits laser and the laser is received by the ultrasonic receiving device after being reflected, then the robot control device calculates the propagation distance S according to the laser positioning device, when the calculated distance S is higher than a dangerous distance threshold value, wherein the dangerous distance threshold value can be manually set within the range of 0.5-3 meters, in the embodiment, 1.5 meters, the control module emits a braking instruction, and the braking device brakes after receiving the braking instruction;
s4, after the robot reaches a specified bed, the control module sends out an instruction to the dust collection device to remove dust, the disinfectant spraying device extrudes to disinfect, and then standard clothes changing operation is carried out;
s5, the readings of the second gravity sensor are lower than a second weight threshold value N1, the second threshold value N1 is the readings of the weight of the clothes, after the dust collection device is operated to remove dust, the disinfectant spraying device is extruded to sterilize, and then the standard clothes changing operation is carried out, the control module sends out an instruction to instruct the robot to return according to a set path, and meanwhile, the robot is braked and obstacle avoidance is carried out according to the S3 mode;
s6, after returning to the standby point, the staff cleans the robot dust collector and loads the sterilized water, then the robot informs the central computer through the communication module, and then the central computer marks the robot in the steps S3 to S5 as a usable state.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (6)

1.一种智能病床单元管理方法，其特征在于，利用智能病床单元管理系统；其中，智能病床单元管理系统包括：包括病床床头设置的报警按钮以及设置于病房储物柜中的第一重力传感器，所述病床床底还设置有红外感应装置，并将所有所述病房的病床进行依次编号录入中心计算机数据库；1. An intelligent hospital bed unit management method, characterized in that, an intelligent hospital bed unit management system is used; wherein, the intelligent hospital bed unit management system comprises: an alarm button arranged at the head of a hospital bed and a first gravity device arranged in a ward locker A sensor, an infrared sensing device is also provided at the bottom of the bed, and all the beds in the ward are sequentially numbered and entered into the central computer database; 还包括智能储物装置机器人，所述智能储物装置机器人机体为储物箱结构，所述储物箱结构底部设置有第二重力传感器，所述储物箱结构边缘一侧设置有机械臂、另一侧设置有消毒水喷雾装置、下方通过传动装置连接履带，所述履带配置有刹车装置，所述履带底部还设置有吸尘装置，所述智能储物装置机器人还设置有存储模块、控制模块、无线模块以及雷达模块；It also includes an intelligent storage device robot, the robot body of the intelligent storage device is a storage box structure, the bottom of the storage box structure is provided with a second gravity sensor, and one side of the edge of the storage box structure is provided with a mechanical arm, The other side is provided with a disinfectant spray device, and the lower part is connected to the crawler through a transmission device. The crawler is equipped with a braking device, and the bottom of the crawler is also provided with a dust suction device. The intelligent storage device robot is also provided with a storage module, control modules, wireless modules and radar modules; 所述报警按钮、所述第一重力传感器、所述红外感应装置以及所述无线模块均与所述中心计算机通信连接；The alarm button, the first gravity sensor, the infrared sensing device and the wireless module are all connected in communication with the central computer; 还包括：Also includes: S1、首先进行病床单元管理需求判定：S1. First, determine the management requirements of the hospital bed unit: S11、在病人出院的时候按下病床床头报警按钮，此时判定为有病床单元管理需求；S11. When the patient is discharged from the hospital, press the alarm button on the bedside of the bed, and it is determined that there is a need for bed unit management; S12、若病人忘记按下按钮，设定若一小时储物柜第一重力传感器示数低于第一重量阈值且病床红外感应装置显示无人体红外信息则判定为有病床单元管理需求；S12. If the patient forgets to press the button, it is set that if the reading of the first gravity sensor of the locker for one hour is lower than the first weight threshold and the infrared sensing device of the hospital bed shows no human body infrared information, it is determined that there is a need for the management of the hospital bed unit; S2、中心计算机通过无线模块向机器人发出选择指令，随机从标记为可用的机器人中选出一个按照设定路径赶往对应有病床单元管理需求的病人病床；S2. The central computer sends a selection instruction to the robot through the wireless module, and randomly selects one of the robots marked as available to rush to the patient bed corresponding to the management needs of the bed unit according to the set path; S3、在机器人行动时，激光发射装置发出激光并在反射后由超声波接收装置接收，之后由机器人控制装置根据激光发出及回光接收时间差T与激光传播速度V，计算出传播距离S，当计算的距离高于危险距离阈值，则控制模块发出刹车指令，刹车装置接收到刹车指令后，刹车装置刹车；S3. When the robot moves, the laser emitting device emits laser and is received by the ultrasonic receiving device after reflection, and then the robot control device calculates the propagation distance S according to the time difference T between the laser emission and the return light receiving and the laser propagation speed V. When calculating If the distance is higher than the dangerous distance threshold, the control module will issue a braking command, and after the braking device receives the braking command, the braking device will brake; S4、机器人到达指定床位之后，控制模块发出指令吸尘装置进行除尘、消毒水喷雾装置挤压进行消毒，之后进行标准换被服操作；S4. After the robot arrives at the designated bed, the control module sends an instruction to the vacuuming device for dust removal, the disinfection water spray device squeezes for disinfection, and then performs the standard quilt changing operation; S5、第二重力感应器示数低于第二重量阈值且运行完吸尘装置除尘、消毒水喷雾装置挤压进行消毒以及进行标准换被服操作的动作之后，控制模块发出指令命令机器人按设定路径返程，同时按照S3方式进行刹车避障；S5. After the reading of the second gravity sensor is lower than the second weight threshold, and after the dust removal by the vacuuming device, the squeezing of the disinfection water spray device for disinfection, and the standard quilt changing operation are completed, the control module sends an instruction to command the robot to press the setting When returning from the path, brake and avoid obstacles according to the S3 method; S6、返回待命点后，工作人员清理机器人吸尘装置并装填消毒水，之后机器人通过通信模块告知中心计算机，之后中心计算机将步骤S3至S5所述机器人标记为可用状态。S6. After returning to the standby point, the staff cleans the robot vacuuming device and fills the disinfection water, and then the robot informs the central computer through the communication module, and then the central computer marks the robot in steps S3 to S5 as available. 2.根据权利要求1所述的一种智能病床单元管理方法，其特征在于：所述无线模块为GPRS模块。2 . The intelligent hospital bed unit management method according to claim 1 , wherein the wireless module is a GPRS module. 3 . 3.根据权利要求1所述的一种智能病床单元管理方法，其特征在于：所述刹车装置为刹车片。3 . The intelligent hospital bed unit management method according to claim 1 , wherein the braking device is a brake pad. 4 . 4.根据权利要求1所述的一种智能病床单元管理方法，其特征在于：所述雷达模块采用激光定位装置。4 . The method for managing an intelligent hospital bed unit according to claim 1 , wherein the radar module adopts a laser positioning device. 5 . 5.根据权利要求4所述的一种智能病床单元管理方法，其特征在于：所述激光定位装置包括设置于所述智能储物装置机器人前端的激光发射装置以及环绕所述激光发射装置设置的一组激光接收装置。5 . The method for managing an intelligent hospital bed unit according to claim 4 , wherein the laser positioning device comprises a laser emitting device arranged at the front end of the robot of the intelligent storage device and a laser emitting device arranged around the laser emitting device. 6 . A set of laser receivers. 6.根据权利要求1所述的一种智能病床单元管理方法，其特征在于：所述存储模块中存储有对应病床号的固定路径。6 . The method for managing an intelligent hospital bed unit according to claim 1 , wherein the storage module stores a fixed path corresponding to the bed number. 7 .
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