CN113990438B - Vaccination system based on cooperative robot - Google Patents
Vaccination system based on cooperative robot Download PDFInfo
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- CN113990438B CN113990438B CN202111273924.5A CN202111273924A CN113990438B CN 113990438 B CN113990438 B CN 113990438B CN 202111273924 A CN202111273924 A CN 202111273924A CN 113990438 B CN113990438 B CN 113990438B
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- 238000002255 vaccination Methods 0.000 title claims abstract description 44
- 229960005486 vaccine Drugs 0.000 claims abstract description 100
- 230000009471 action Effects 0.000 claims abstract description 27
- 238000011081 inoculation Methods 0.000 claims abstract description 25
- 238000000605 extraction Methods 0.000 claims abstract description 14
- 238000004458 analytical method Methods 0.000 claims description 18
- 238000010191 image analysis Methods 0.000 claims description 11
- 230000001502 supplementing effect Effects 0.000 claims description 6
- 238000011084 recovery Methods 0.000 claims description 4
- 238000004064 recycling Methods 0.000 abstract description 6
- 230000011664 signaling Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 17
- 239000003814 drug Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 206010016256 fatigue Diseases 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 229940079593 drug Drugs 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 208000028571 Occupational disease Diseases 0.000 description 1
- 206010036790 Productive cough Diseases 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
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- 238000013528 artificial neural network Methods 0.000 description 1
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- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 239000002504 physiological saline solution Substances 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 210000003802 sputum Anatomy 0.000 description 1
- 208000024794 sputum Diseases 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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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
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/10—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to drugs or medications, e.g. for ensuring correct administration to patients
- G16H20/17—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to drugs or medications, e.g. for ensuring correct administration to patients delivered via infusion or injection
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- G—PHYSICS
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- 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
- G16H40/20—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 for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
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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
- G16H40/60—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 for the operation of medical equipment or devices
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Abstract
The invention relates to the technical field of vaccination, in particular to a collaborative robot-based vaccination system, which comprises: the identity acquisition module is used for acquiring identity information of the inoculating personnel, inquiring the inoculating history of the inoculating personnel and determining a target vaccine; the action strategy module is used for sending a first control instruction to the robot, controlling the robot to move to the storage area and grabbing the target vaccine; the identity binding module is used for obtaining the binding of the bar code information of the target vaccine and the identity information of the inoculating personnel; the action strategy module is also used for sending a second control instruction to the robot to control the robot to deliver the target vaccine to an inoculation area where the medical staff is located; the action strategy module is also used for receiving an extraction completion signal sent by medical staff, sending a third control instruction to the robot after receiving the extraction completion signal, and controlling the robot to move the empty vaccine bottle to the recycling area.
Description
Technical Field
The invention relates to the technical field of vaccination, in particular to a collaborative robot-based vaccination system.
Background
In the aspect of vaccination, in the traditional vaccination flow, at least three medical staff are needed, the medical staff 1 takes the identity card of the vaccination staff to input information, and the vaccination staff goes to the vaccination platform to conduct queuing vaccination. The medical staff 2 checks the information of the inoculating staff again, takes out the target vaccine which needs to be inoculated by the inoculating staff after confirming the information, scans the bar code information of the target vaccine through the code scanning gun, binds and records the bar code information with the information of the inoculating staff. Finally, the medical staff 3 performs vaccination work.
In the traditional vaccination process, there are problems that the medical staff 2 needs to confirm, bind and confirm the information of the vaccinators and deliver the target vaccine to the medical staff 3, the procedures to be completed are multiple, the tasks are heavy, the vaccination speed is inevitably slow, thus the vaccinators are crowded, and even medical infection can occur.
Moreover, medical staff can repeatedly work with high intensity for a long time, irrecoverable damage can be caused to the body of the medical staff, various complications and occupational diseases are caused, and once medical accidents occur, the society and the self can be seriously affected.
With the development and progress of the technical level of medical collaborative robots, the medical collaborative robots are increasingly fit with the use requirements of daily hospital environments in the aspect that collaborative medical staff complete daily work, and the medical collaborative robots can face various complicated situations nowadays. Such as sputum aspiration robots, catheterization robots in terms of therapy; a venipuncture robot and a dispensing robot in nursing; a throat swab sampling robot in the inspection aspect, and the like.
Therefore, in the field of vaccination, a medical cooperative robot is introduced to assist medical staff in vaccination, so that the working efficiency of vaccination is improved, and the working strength of the medical staff is reduced.
Disclosure of Invention
The technical problem solved by the invention is to provide a vaccination system based on a cooperative robot, which can effectively help medical staff to complete vaccination work, thereby improving vaccination efficiency and reducing working strength of the medical staff.
The basic scheme provided by the invention is as follows: the vaccination system based on the cooperative robot comprises a control end and a robot, wherein the control end comprises an identity acquisition module, an image analysis module, an action strategy module and an identity binding module;
the identity acquisition module is used for acquiring identity information of the inoculating personnel, inquiring the inoculating history of the inoculating personnel and determining a target vaccine;
the action strategy module is used for sending a first control instruction to the robot, wherein the first control instruction is used for controlling the robot to move to a storage area of the target vaccine and grabbing the target vaccine;
the identity binding module is used for obtaining the binding of the bar code information of the target vaccine and the identity information of the inoculating personnel;
The action strategy module is further used for sending a second control instruction to the robot, wherein the second control instruction is used for controlling the robot to deliver the target vaccine to an inoculation area where the medical staff is located;
The action strategy module is also used for receiving an extraction completion signal sent by medical staff, and sending a third control instruction to the robot after receiving the extraction completion signal, wherein the third control instruction is used for controlling the robot to move the empty vaccine bottle to the recycling area.
According to the scheme, identity information of the vaccinators is acquired through system identification, the vaccinating histories of the vaccinators are queried, and target vaccines which are required to be vaccinated by the vaccinators are determined according to the vaccinating histories. And after the determination, the target vaccine is taken out by the robot, bar code information of the target vaccine is acquired by the robot and bound with information of the vaccinators, and the target vaccine is delivered to the front of the medical staff for the medical staff to extract. By adopting the technical means of the scheme, only one medical staff responsible for vaccination is needed during vaccination.
Compared with the prior art, only one medical staff and one robot are needed, and the robot completes the work of information acquisition, identity binding, vaccine transmission and medicine bottle recovery, so that labor force is greatly saved, more medical staff can perform inoculation work under the configuration of the same number of medical staff, and the efficiency of vaccination is improved. Meanwhile, medical staff only need to complete simple vaccination work, and the working intensity of the medical staff is reduced. And the robot is used for acquiring and binding information, so that the machine can not feel tired due to repeated and tedious work for a long time, the error rate of vaccine information binding is reduced, and the inoculation accuracy is improved.
Further, the control end further comprises an image analysis module, which is used for acquiring images nearby the robot through the machine vision of the robot and identifying and analyzing the images;
The image analysis module comprises a bottle body analysis module which is used for acquiring an image of the vaccine bottle body and detecting whether the bottle body is normal or not;
And the identity binding module binds the bar code information of the vaccine with the identity information of the inoculating personnel after detecting that the bottle body is normal.
When the robot grabs the target vaccine, firstly, the bottle body of the target vaccine is checked, if the vaccine bottle is damaged or opened, the vaccine will fail, and whether the vaccine is normal or not is checked, so that the failed vaccine is not used is ensured.
Further, the image analysis module further comprises a height analysis module, wherein the height analysis module is used for identifying the height characteristics of medical staff and determining a comfortable interval;
The action strategy module comprises a height adjustment module, wherein the height adjustment module is used for adjusting the second control instruction, so that the height of the target vaccine is in a comfortable interval when the target vaccine is delivered to the front of medical staff.
Through discernment medical personnel's height characteristic, change the robot and deliver the target vaccine to the height before medical personnel, make medical personnel can extract the vaccine with comparatively comfortable gesture to the robot adapts to medical personnel, and not adapt to the robot by medical personnel, guarantees that medical personnel guarantees the comfortable of work in long-time work, can alleviate medical personnel's tired out, can improve medical personnel's work efficiency again.
Further, the height analysis module identifies the height of the shoulders of the medical staff during analysis, and takes the height of the shoulders of the medical staff 10cm to 30cm below as a comfortable interval.
The position of 10cm to 30cm below the shoulder, medical staff can draw only by slightly lifting the hands, the hands are not required to be lifted too high, and the medical staff does not need to bend down, so that the medical staff can draw comfortably.
Further, the control end further comprises a personnel recording module, wherein the personnel recording module is used for recording the identification information of each medical personnel and binding the identification information of the medical personnel with the comfortable interval of the medical personnel;
the height adjusting module directly calls the comfort zone bound with the medical staff according to the identification information of the medical staff.
The quantity of medical personnel is a plurality of, and every medical personnel's height all can be different, and medical personnel changes the class, needs to adjust again comfortable interval, consequently record every medical personnel's identification information, confirm every medical personnel's comfortable interval according to identification information, after medical personnel changes class, just can confirm the comfortable interval of the medical personnel of current class according to identification information, directly call and change, need not to recalculate.
Further, the control end further comprises a personnel scheduling module, wherein the personnel scheduling module comprises a quantity acquisition module and a personnel supplementing module;
the quantity acquisition module is used for acquiring the quantity of the vaccinators which are input with the identity information and are not bound with the target vaccine information, and marking the vaccinators as the number of the vaccinators to be vaccinated;
and the personnel supplementing module is used for calling other medical staff if the increasing frequency of the personnel to be inoculated exceeds a preset threshold value.
If the identity information is input but not bound with the target vaccine information, the medical staff is indicated that the last vaccinating staff has not been vaccinated. If the increasing frequency of the to-be-inoculated personnel exceeds the preset threshold, the situation that the number of the current medical personnel is insufficient and the inoculation requirement cannot be met is indicated, so that more medical personnel are called for inoculation. Because only one medical staff is needed in one inoculation process, more medical staff can perform inoculation work under the same quantity configuration of the medical staff, and other medical staff cannot be called for inoculation in the prior art, so that the number of people to be inoculated is increased when one medical staff is inoculated, and other medical staff can be called for inoculation when the number of people to be inoculated is increased, so that the vaccination efficiency is improved, and aggregation of the people to be inoculated is prevented.
Further, the control end also comprises a working hour recording module;
the working time recording module is used for recording the working time of each medical staff;
the action strategy module further comprises a speed adjusting module, wherein the speed adjusting module is used for changing the running speed of the robot for executing the first control instruction according to the working time of the medical staff, and the longer the working time of the medical staff is, the slower the running speed of the robot for executing the first control instruction is.
The longer the working time of medical personnel is, the easier the medical personnel feel tired, the running speed of the robot is reduced along with the increase of the working time of the medical personnel by setting, after the medical personnel performs long-time work, the frequency of vaccination is reduced, so that after the medical personnel completes vaccination of one vaccinator, the medical personnel has more time to rest, thereby being beneficial to the medical personnel to relieve fatigue and reducing the working strength of the medical personnel.
The invention also discloses a collaborative robot-based vaccination method, which uses the collaborative robot-based vaccination system, and comprises the following steps:
an identity acquisition step: acquiring identity information of an inoculating person, inquiring the inoculating history of the inoculating person, and determining a target vaccine;
The action strategy step comprises the following steps:
s1-1: after determining the target vaccine, controlling the robot to move to a storage area of the target vaccine, and grabbing the target vaccine;
the method also comprises the step of detecting the bottle body: after grabbing the target vaccine, acquiring an image of a bottle body of the target vaccine, and detecting whether the bottle body is normal;
the method comprises the steps of identity binding: after the bottle body is detected to be normal, acquiring bar code information of a target vaccine, and binding the bar code information with identity information of an inoculating person;
The action policy step further comprises:
S1-2: after the bar code information of the target vaccine is bound with the identity information of the vaccinator, controlling the robot to deliver the target vaccine to the vaccinating area where the medical staff is located;
S1-3: and receiving an extraction completion signal sent by medical staff, and controlling the robot to move the empty vaccine bottle to the recycling area after receiving the extraction completion signal.
Further, the method also comprises the following steps:
Height analysis: acquiring images of medical staff, acquiring the shoulder height of the medical staff, and taking the position 10cm to 30cm below the shoulder height of the medical staff as a comfortable interval;
The step S1-2 is performed to maintain the height of the target vaccine within a comfort zone when the target vaccine is delivered to the health care provider.
Further, the method also comprises the following steps:
Personnel scheduling: the method comprises the following steps:
S2-1: acquiring the number of vaccinators which are input with the identity information and are not bound with the target vaccine information, and marking the number as the number of people to be vaccinated;
S2-2: when the increase frequency of the number of people to be vaccinated exceeds a preset threshold value, calling other medical staff;
And (3) working hour recording: recording the working time of each medical staff;
The action policy step further comprises the steps of:
S1-4: the running speed of the robot for executing the step S1-1 is changed according to the working time of the medical staff, and the longer the working time of the medical staff is, the slower the running speed of the robot for executing the step S1-1 is.
Drawings
Fig. 1 is a schematic diagram of an embodiment of a collaborative robot-based vaccination system of the present invention.
Detailed Description
The following is a further detailed description of the embodiments:
An example is substantially as shown in figure 1: a vaccination system based on a cooperative robot comprises a control end and a robot, wherein the control end comprises an identity acquisition module, an identity binding module, an action strategy module, an image analysis module, a personnel recording module, a personnel scheduling module and a man-hour recording module.
And the identity acquisition module is used for acquiring the identity information of the inoculating personnel. And inquiring the inoculation history of the inoculating personnel to determine the target vaccine to be inoculated by the inoculating personnel. Specifically, the identity card of the inoculating personnel is read through the card reader, the identity information of the inoculating personnel is obtained, the historical inoculation information of the inoculating personnel is inquired, and the target vaccine which needs to be inoculated by the inoculating personnel at the time is determined according to the historical inoculation information.
And the action strategy module is used for sending a first control instruction to the robot after determining the target vaccine, controlling the robot to move to a medicine cooling area of the target vaccine, sending a door opening signal to the refrigerator through the built-in IO, and grabbing the target vaccine after the door is opened. Specifically, the required target vaccine is sent to the TM cooperative robot through the Ethernet, and the TM cooperative robot moves to a designated refrigerated cabinet to grasp the target vaccine after receiving the target vaccine.
The TM cooperative robot is provided with an external camera, after capturing the target vaccine, before clamping the target vaccine to the external camera, shooting the bottle body of the target vaccine, wherein the image analysis module comprises a bottle body analysis module, after acquiring the image of the bottle body of the target vaccine, the bottle body analysis module detects whether the bottle body of the target vaccine has flaws such as breakage and opening through a trained neural network system, if so, the bottle body of the target vaccine is replaced, if not, the identity binding module acquires bar code information on the bottle of the target vaccine, and binds the bar code information with identity information of an inoculating person.
After the information binding is completed, the action strategy module sends a second control instruction to the TM cooperative robot, and the TM cooperative robot delivers the target vaccine to an inoculation area where the medical staff is located, and waits for the medical staff to extract the vaccine in the bottle. After the extraction is finished, the medical staff sends an extraction finishing signal, and the medical staff can send the extraction finishing signal in a manner of setting a foot switch or a button, and the action strategy module sends a third control instruction to the TM cooperative robot, so that the TM cooperative robot moves the empty vaccine bottle to a recycling area for stacking and recycling.
Compared with the traditional vaccination flow, after the technical scheme of the invention is adopted, only one medical staff responsible for vaccine injection and one TM cooperative robot are needed, and the TM cooperative robot is used for completing identity scanning, information collection, drug transfer and drug recovery, so that the medical staff only needs to complete vaccine injection.
In the aspect of inoculation efficiency, the TM cooperative robot is used for completing the work of personnel information confirmation, vaccine distribution, vaccine confirmation, vaccine taking and placing, medicine recovery and the like, so that personnel configuration is reduced, an automatic mode is adopted among all processes, time consumption among the processes is reduced, and the inoculation efficiency is improved.
In the traditional scheme, three medical staff are needed, and because of more staff configuration, the problem of non-uniform information transmission is easy to generate, so that the situation that medical staff takes wrong vaccine is caused, and the situation that the medical staff injects physiological saline to an inoculator for many times appears internationally.
Meanwhile, the applicant also performs economic analysis on the traditional scheme and the scheme of the invention, three medical staff are required for vaccination of the traditional scheme, the average wage of each medical staff is about 36.5 yuan/hour, the three medical staff are required to be 109.5 yuan/hour, the monthly expense is about 21000 yuan, and the annual expense is 252000 yuan. After the TM cooperative robot is added, only one doctor is needed, labor force is greatly liberated, meanwhile, cost is reduced, the selling price of one cooperative robot is about 16 ten thousand, the estimated cooperative robot service life is 5 years, the converted time cost is 4 yuan/hour, the total time cost of the man-machine cooperation scheme is 40.5 yuan/hour, two saved doctors can also perform other tasks, such as inoculation tasks or patient care, shift work can be performed, and labor time is saved. Assuming that the average inoculation time per inoculator in both the traditional and present protocol was 1 minute, the traditional protocol was able to inoculate 720 per day, with the number of inoculations per day calculated as 12 hours of operation. If two medical staff saved in the human-computer cooperation scheme select to inoculate, three medical staff can inoculate 2160 dose according to the same time calculation, and 1440 doses are more than in the traditional scheme. For the inoculation of 1440 doses, the time required for the traditional protocol was 72 hours and for the human-computer collaboration protocol was 24 hours, and the specific economic analysis is shown in Table 1:
TABLE 1 traditional scheme and collaborative robotic scheme economic analysis
As can be seen from Table 1, by adopting the technical scheme of the invention, 158688 yuan can be saved in one year, the principal of the cooperative robot can be recovered in one year, two medical staff saved in the man-machine cooperation scheme can continue to inoculate, and 1440 doses can be inoculated by the same manpower in the same time.
The image analysis module further comprises a height analysis module, wherein the height analysis module is used for identifying height characteristics of medical staff and determining a comfortable interval. Specifically, an image of a medical staff is acquired through an external camera of the TM robot, the height of the shoulder of the medical staff is first identified, and the position of the shoulder of the medical staff, which is 10cm to 30cm down, is used as a comfortable area. The action strategy module comprises a height adjustment module, wherein the height adjustment module enables the position of the height of the target vaccine to be located in the comfort zone when the TM robot delivers the target vaccine to the medical staff according to the given comfort zone. Thereby make medical personnel can guarantee that medical personnel can carry out the bacterin extraction with more comfortablely in long-time work, reduce medical personnel's working strength, alleviate medical personnel's working pressure.
And the personnel record module records the identification information of each medical personnel and binds the identification information of the medical personnel with the comfort zone of the medical personnel. Specifically, the identification information may be an IC card, face recognition, fingerprint recognition, or the like. When the height adjustment module acquires the identification information of the medical staff, the comfort zone bound with the height adjustment module is directly called. Through recording every medical personnel's comfortable interval, transfer medical personnel's comfortable interval according to identification information, after medical personnel shifts, can adjust TM cooperation robot rapidly and deliver the height of target vaccine, adapt to medical personnel fast, also avoided repeatedly calculating medical personnel's comfortable interval.
And the personnel scheduling module comprises a quantity acquisition module and a personnel supplementing module.
The quantity acquisition module is used for acquiring the quantity of the vaccinators which are input with the identity information and are not bound with the target vaccine information, and marking the vaccinators as the number of the vaccinators to be vaccinated;
and the personnel supplementing module is used for calling other medical staff if the increasing frequency of the personnel to be inoculated exceeds a preset threshold value.
If the identity information is input but not bound with the target vaccine information, the fact that the medical staff does not finish the vaccination of the last vaccinator is indicated, and the robot stays in the vaccinating area. If the increasing frequency of the people to be inoculated exceeds the preset threshold, the current medical staff is insufficient and cannot meet the inoculation requirement, so that more medical staff are called to inoculate, and particularly in the embodiment, if the number of the people to be inoculated increases by more than one minute per 5 people, other medical staff are called. Because only one medical staff is needed in one inoculation flow, more medical staff can perform inoculation work under the same configuration of the number of the medical staff, and other medical staff cannot be called for inoculation in the prior art, so that the number of people to be inoculated is increased.
The working hour recording module is used for recording the working time of each medical staff, and particularly recording the working time of the medical staff when the identification information of the medical staff is acquired. The action strategy module further comprises a speed adjusting module, wherein the speed adjusting module changes the running speed of the robot according to the working time of the medical staff, and the running speed of the robot is slower when the working time of the medical staff is longer. The longer the medical staff working time is, the tired out is also become, so that the running speed of the robot for executing the first control instruction is reduced along with the increase of the working time of the medical staff, the medical staff can reduce the frequency of vaccination after working for a long time, and the medical staff has more time rest after completing one-time vaccination.
In addition, in order to improve the safety and practicability of the TM cooperative robot, the invention also adopts a safety module composed of a vision system, an anti-collision system, an emergency stop, a warning device, an alarm function component and the like, and the vision system can accurately position objects for grabbing; the anti-collision system can avoid the damage to the robot and the personnel, the emergency stop can be realized when accidents happen, the warning device can play a role in warning and reminding, and good protection effects are brought to the robot and the medical staff, so that the anti-collision system is in the prior art and is not described in excessive detail.
The invention also discloses a collaborative robot-based vaccination method, which uses the collaborative robot-based vaccination system, and comprises the following steps:
an identity acquisition step: acquiring identity information of an inoculating person, inquiring the inoculating history of the inoculating person, and determining a target vaccine;
The action strategy step comprises the following steps:
s1-1: after determining the target vaccine, controlling the robot to move to a storage area of the target vaccine, and grabbing the target vaccine;
the method also comprises the step of detecting the bottle body: after grabbing the target vaccine, acquiring an image of a bottle body of the target vaccine, and detecting whether the bottle body is normal;
the method comprises the steps of identity binding: after the bottle body is detected to be normal, acquiring bar code information of a target vaccine, and binding the bar code information with identity information of an inoculating person;
The action policy step further comprises:
S1-2: after the bar code information of the target vaccine is bound with the identity information of the vaccinator, controlling the robot to deliver the target vaccine to the vaccinating area where the medical staff is located;
S1-3: and receiving an extraction completion signal sent by medical staff, and controlling the robot to move the empty vaccine bottle to the recycling area after receiving the extraction completion signal.
The method also comprises the following steps:
Height analysis: acquiring images of medical staff, acquiring the shoulder height of the medical staff, and taking the position 10cm to 30cm below the shoulder height of the medical staff as a comfortable interval;
The step S1-2 is performed to maintain the height of the target vaccine within a comfort zone when the target vaccine is delivered to the health care provider.
The method also comprises the following steps:
Personnel scheduling: the method comprises the following steps:
S2-1: acquiring the number of vaccinators which are input with the identity information and are not bound with the target vaccine information, and marking the number as the number of people to be vaccinated;
S2-2: when the increase frequency of the number of people to be vaccinated exceeds a preset threshold value, calling other medical staff;
And (3) working hour recording: recording the working time of each medical staff;
The action policy step further comprises the steps of:
S1-4: the running speed of the robot for executing the step S1-1 is changed according to the working time of the medical staff, and the longer the working time of the medical staff is, the slower the running speed of the robot for executing the step S1-1 is.
The foregoing is merely exemplary of the present application, and specific structures and features well known in the art will not be described in detail herein, so that those skilled in the art will be aware of all the prior art to which the present application pertains, and will be able to ascertain the general knowledge of the technical field in the application or prior art, and will not be able to ascertain the general knowledge of the technical field in the prior art, without using the prior art, to practice the present application, with the aid of the present application, to ascertain the general knowledge of the same general knowledge of the technical field in general purpose. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present application, and these should also be considered as the scope of the present application, which does not affect the effect of the implementation of the present application and the utility of the patent. The protection scope of the present application is subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (4)
1. A collaborative robot-based vaccination system, characterized by: the system comprises a control end and a robot, wherein the control end comprises an identity acquisition module, an image analysis module, an action strategy module and an identity binding module;
the identity acquisition module is used for acquiring identity information of the inoculating personnel, inquiring the inoculating history of the inoculating personnel and determining a target vaccine;
the action strategy module is used for sending a first control instruction to the robot, wherein the first control instruction is used for controlling the robot to move to a storage area of the target vaccine and grabbing the target vaccine;
the identity binding module is used for obtaining the binding of the bar code information of the target vaccine and the identity information of the inoculating personnel;
The action strategy module is further used for sending a second control instruction to the robot, wherein the second control instruction is used for controlling the robot to deliver the target vaccine to an inoculation area where the medical staff is located;
the action strategy module is also used for receiving an extraction completion signal sent by medical staff, and sending a third control instruction to the robot after receiving the extraction completion signal, wherein the third control instruction is used for controlling the robot to move the empty vaccine bottle to the recovery area;
The control end also comprises an image analysis module which is used for acquiring images nearby the robot through the machine vision of the robot and identifying and analyzing the images;
The image analysis module comprises a bottle body analysis module which is used for acquiring an image of the vaccine bottle body and detecting whether the bottle body is normal or not;
the identity binding module binds the bar code information of the vaccine with the identity information of the inoculating personnel after detecting that the bottle body is normal;
the control end further comprises a personnel scheduling module, wherein the personnel scheduling module comprises a quantity acquisition module and a personnel supplementing module;
the quantity acquisition module is used for acquiring the quantity of the vaccinators which are input with the identity information and are not bound with the target vaccine information, and marking the vaccinators as the number of the vaccinators to be vaccinated;
The personnel supplementing module is used for calling other medical staff if the increasing frequency of the personnel to be inoculated exceeds a preset threshold value;
the control end also comprises a working hour recording module;
the working time recording module is used for recording the working time of each medical staff;
The action strategy module further comprises a speed adjusting module, wherein the speed adjusting module is used for changing the running speed of the robot for executing the first control instruction according to the working time of the medical staff, and the running speed of the robot for executing the first control instruction is slower when the working time of the medical staff is longer.
2. A collaborative robot based vaccination system according to claim 1, wherein: the image analysis module further comprises a height analysis module, wherein the height analysis module is used for identifying height characteristics of medical staff and determining a comfortable interval;
The action strategy module comprises a height adjustment module, wherein the height adjustment module is used for adjusting the second control instruction, so that the height of the target vaccine is in a comfortable interval when the target vaccine is delivered to the front of medical staff.
3. A collaborative robot based vaccination system according to claim 2, wherein: and when the height analysis module is used for identifying, the height of the shoulders of the medical staff is identified, and the comfort zone is 10cm to 30cm below the height of the shoulders of the medical staff.
4. A collaborative robot based vaccination system according to claim 3, wherein: the control end further comprises a personnel recording module, wherein the personnel recording module is used for recording the identification information of each medical personnel and binding the identification information of the medical personnel with the comfortable interval of the medical personnel;
the height adjusting module directly calls the comfort zone bound with the medical staff according to the identification information of the medical staff.
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