CN117533724A - Intelligent logistics system for hospital track - Google Patents
Intelligent logistics system for hospital track Download PDFInfo
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- CN117533724A CN117533724A CN202311831072.6A CN202311831072A CN117533724A CN 117533724 A CN117533724 A CN 117533724A CN 202311831072 A CN202311831072 A CN 202311831072A CN 117533724 A CN117533724 A CN 117533724A
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- 238000004659 sterilization and disinfection Methods 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 11
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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Abstract
The invention discloses an intelligent logistics system of a hospital track, belonging to the technical field of hospital logistics; the system comprises an upper computer, a plurality of regional controllers which are communicated with the upper computer through Ethernet and a rail transit system which is communicated with the regional controllers through a CAN network, wherein the rail transit system comprises a rail system and a logistics vehicle arranged in the rail system; the upper computer generates a scheduling instruction and sends the scheduling instruction to the regional controller through Ethernet communication; the regional controller receives the scheduling instruction sent by the upper computer and forwards the scheduling instruction to the corresponding logistics vehicle for execution; the track system comprises a track, a track transfer device arranged in the track, an empty garage connected with the track, a maintenance station and a receiving and transmitting station. The invention provides an intelligent logistics system for a hospital track, which is used for networking a rapid TCP network and a bottom CAN, so that the data flow rate of a dispatching layer and the compatibility of bottom equipment are improved.
Description
Technical Field
The invention relates to the technical field of hospital logistics, in particular to an intelligent logistics system for a hospital track.
Background
The intelligent logistics system of the hospital track is a system specially designed for transporting materials in medical institutions. The high-efficiency, safe and accurate transportation of materials among various departments in the hospital is realized by paving the track in the hospital and arranging the logistics vehicles. The intelligent logistics system of the hospital track is generally composed of the following main components:
1. and (3) a track: rails are laid in key areas in hospitals, such as operating rooms, pharmacies, wards and the like, so that a logistics path is formed;
2. logistics vehicle: a specially designed small electric vehicle is transported through a track; these vehicles are often equipped with various sensors and devices to enable automated operation and accurate positioning;
3. and (3) a control system: the intelligent logistics system of the hospital track is provided with a control system for monitoring and controlling the running of the logistics vehicle; the system can acquire the position information, the running state and the transportation task of the vehicle in real time, and schedule and optimize the vehicle according to the requirements;
4. sensor and communication device: various sensors, such as RFID (radio frequency identification) tags and scanning devices, are installed in the system for identifying and tracking materials; meanwhile, the communication device is used for real-time data transmission and instruction interaction between the vehicle and the control system.
At present, an intelligent logistics system of a hospital track plays an important role in the field of medical logistics. The introduction of the intelligent logistics system of the hospital track can greatly improve the material transportation efficiency and the management level of medical institutions, reduce the waste of human resources and ensure the safety of patients and medical staff and the continuity of medical services.
However, conventional hospital rail intelligence logistics systems have some limitations and disadvantages. For example, limitations in the communication protocol may result in insufficient system real-time and reliability, resulting in delays in scheduling and information transmission. In addition, the control flow of the system is complex, a certain delay exists between the generation and execution of the scheduling command, and the efficiency and accuracy of logistics transportation are affected.
Disclosure of Invention
The invention provides an intelligent logistics system for a hospital track, which aims to improve the compatibility of data flow rate of a dispatching layer and bottom equipment.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the intelligent logistics system comprises an upper computer, a plurality of regional controllers which are communicated with the upper computer through Ethernet, and a rail transit system which is communicated with the regional controllers through a CAN network, wherein the rail transit system comprises a rail system and a logistics vehicle arranged in the rail system;
the upper computer generates a scheduling instruction and sends the scheduling instruction to the regional controller through Ethernet communication;
the regional controller receives the scheduling instruction sent by the upper computer and forwards the scheduling instruction to the corresponding logistics vehicle for execution;
the logistics vehicle comprises a logistics vehicle, a logistics vehicle control board and a control system, wherein the logistics vehicle control board is arranged on the logistics vehicle and comprises a CAN communication module and an MCU (micro controller unit) singlechip, the MCU singlechip is communicated with the regional controller through the CAN communication module and receives an operation instruction of the regional controller on the logistics vehicle;
the track system comprises a track, a track transfer device arranged in the track, an empty garage connected with the track, a maintenance station and a receiving and transmitting station;
the transfer device receives a transfer instruction sent by the area controller through CAN communication so as to control the running path of the logistics vehicle;
the empty garage is communicated with the regional controller and the logistics vehicle control board through a CAN network so as to coordinate the parking operation of the logistics vehicle;
the maintenance site and the regional controller communicate through a CAN network to receive maintenance instructions sent by the regional controller;
the receiving and transmitting station communicates with the regional controller through a CAN network to receive goods receiving and transmitting instructions sent by the regional controller.
Further, a direct current brushless motor and a direct current brushless motor control module are arranged on the logistics vehicle, and the direct current brushless motor control module is connected with the MCU singlechip; the brushless DC motor control module controls the rotating speed and the rotating direction of the brushless DC motor by using PWM signals.
Further, an RFID card reader is arranged on the logistics vehicle, an RFID tag is arranged on the track, and the RFID card reader is used for reading the RFID tag on the track so as to acquire the position information of the logistics vehicle.
Further, the RFID card reader is connected with the MCU singlechip to send the position information of commodity circulation car to the MCU singlechip, the MCU singlechip is through CAN communication with the position information of commodity circulation car is sent to the regional controller, the regional controller is through ethernet communication with the position information of commodity circulation car is sent to the host computer.
Further, a status indicator lamp, a fault diagnosis module and a sensor module are arranged on the logistics vehicle, the fault diagnosis module receives monitoring information of the logistics vehicle measured by the sensor module and performs diagnosis analysis on the monitoring information to obtain a diagnosis result, and the status indicator lamp changes colors according to a diagnosis result signal sent by the fault diagnosis module.
Further, the upper computer and the regional controller exchange data by using a MOUBUS-TCP protocol; the upper computer sends a MODBUS-TCP instruction to the regional controller so as to request the data of the regional controller; after receiving the MODBUS-TCP instruction, the area controller executes corresponding operation according to the content of the MODBUS-TCP instruction and returns data or response information to the upper computer.
Further, an ultraviolet disinfection lamp is arranged in a carriage of the logistics vehicle and is connected with the MCU singlechip; the regional controller receives the disinfection instruction sent by the upper computer through Ethernet communication, and forwards the disinfection instruction to the MCU singlechip through CAN communication, and the MCU singlechip controls the ultraviolet disinfection lamp to disinfect the carriage inside of the logistics vehicle.
Further, a digital display is arranged outside the logistics vehicle, the digital display is connected with the MCU singlechip, and the MCU singlechip sends a fault code of the logistics vehicle to the digital display when the logistics vehicle is abnormal; the digital display is used for displaying the serial number of the logistics vehicle when the logistics vehicle is in a normal state or displaying the fault code of the logistics vehicle when the logistics vehicle is in an abnormal state.
Further, the track system further comprises a fire window arranged in the track, and the fire window is communicated with the hospital fire-fighting system through a cable signal line so as to receive a fire-fighting instruction sent by the hospital fire-fighting system and conduct opening and closing operation according to the fire-fighting instruction.
Further, the track comprises a plurality of sections of transportation tracks and an annular buffer track which is arranged between the two sections of transportation tracks and is connected with the transportation tracks; the regional controller receives the logistics vehicle priority information sent by the upper computer through Ethernet communication, and judges the priority sequence of logistics vehicles entering the annular buffer track according to the logistics vehicle priority information; the regional controller sends a passing instruction to the logistics vehicle with the highest priority in the annular buffer track, controls the logistics vehicle with the highest priority to enter the next section of transportation track preferentially, and sends an annular running instruction to the logistics vehicle with the non-highest priority in the annular buffer track, and controls the logistics vehicle with the non-highest priority to perform annular movement around the annular buffer track.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
1. improve commodity circulation car power stability: the sliding wire power supply mode is adopted, so that the logistics vehicle can be ensured not to break and break power when moving at a high speed, the power supply stability is ensured, and the situation that the logistics vehicle is limited to run due to insufficient electric quantity is avoided;
2. the multiprotocol networking ensures the real-time performance and reliability of control: by adopting a multi-protocol networking technology, a proper communication protocol is selected according to different communication requirements, so that the real-time performance and the reliability of system control are ensured, and the stability and the operation efficiency of the system are improved;
3. realize high-efficient transmission and reliable communication of data: the upper computer is used as a control center of the intelligent logistics system of the whole hospital track and is responsible for generating a scheduling command, monitoring the running state and displaying information, and the upper computer is communicated with the regional controller through a high-speed Ethernet to realize high-efficiency transmission and reliable communication of data;
4. the regional controller realizes distributed control: the regional controller is used for controlling the logistics vehicles in different regions according to regional division, receiving the scheduling instruction sent by the upper computer and forwarding the scheduling instruction to the corresponding logistics vehicle for execution, and communicating with other equipment through the CAN communication network, so that distributed control is realized, and the flexibility and the expandability of the system are improved;
5. and the data communication efficiency is improved: the driving board card adopted by the logistics vehicle not only carries out driving control of a motor, but also comprises all information acquisition and control signal processing circuits of the logistics vehicle, wherein the control signals comprise ultraviolet disinfection lamp control, position RFID card reader communication, trolley state indication lamp control, trolley display data communication and trolley switch lock control; compared with the prior art that a driver of the motor has no data integration capability, the special driving board card of the technical scheme can reduce communication nodes and improve data communication efficiency, so that overall dispatching efficiency is improved;
6. the article transport efficiency is improved: the annular buffer track is arranged in the hospital track system, the priority annular control is realized, the transport efficiency of the articles can be improved, and the running sequence of the track system is effectively managed.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a system block diagram of a hospital track intelligent logistics system of the present invention;
fig. 2 is a schematic diagram of connection between an area controller and an upper computer in the intelligent logistics system of the hospital track;
FIG. 3 is a schematic diagram of the connection of a logistics vehicle and an area controller in the intelligent logistics system of the hospital track;
FIG. 4 is a schematic diagram of the operation of the annular buffer track in the intelligent logistics system of hospital track according to the present invention;
FIG. 5 is a schematic view of the structure of the rail system in the intelligent logistics system of hospital rail according to the present invention with a circular buffer rail;
FIG. 6 is a schematic view of the structure of the intelligent logistics system of hospital track without annular buffer track;
the figure indicates: 1. a logistics vehicle I; 2. a logistics vehicle II; 3. a logistics vehicle III; 4. a logistics vehicle IV; 5. a fifth logistics vehicle; 6. a logistics vehicle six; 7. a logistics vehicle seven; 8. a logistics vehicle eight; 9. a transport rail; 901. a first transport rail; 902. a second transport rail; 10. an annular buffer track; 11. a transceiver station; 12. a fire window; 13. and (5) an empty garage.
Detailed Description
For a better understanding of the objects, structures and functions of the present invention, the technical solution of the present invention will be described in further detail with reference to the drawings and the specific preferred embodiments.
In the description of the present invention, it should be understood that the terms "left", "right", "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and "first", "second", etc. do not indicate the importance of the components, and thus are not to be construed as limiting the present invention. The specific dimensions used in the examples are for illustration of the technical solution only and do not limit the scope of protection of the invention. It will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Unless specifically stated or limited otherwise, the terms "mounted," "configured," "connected," "secured," and the like should be construed broadly, as they may be either fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
The following are English full names and Chinese descriptions corresponding to English abbreviations appearing in the technical scheme of the invention:
1. CAN, known as Controller Area Network, is a common real-time communication protocol that is used primarily in automotive electronics and industrial control systems. The CAN communication protocol allows multiple devices to communicate on the same bus and enables high-speed, reliable information transmission.
2. The MOUBUS-TCP is called Modbus TCP/IP, is an application layer protocol based on the TCP/IP protocol, and is widely applied to the field of industrial automation. The method can realize application scenes such as distributed control, monitoring, sensing, measurement and the like by transmitting data through the Ethernet. The mobus-TCP protocol defines a standard communication scheme including data structures, data transfer addresses, exception handling, and asynchronous communications, etc. to enable the transfer and exchange of information between different devices and systems.
3. The generic name of RFID is Radio Frequency Identification, radio frequency identification. It is a technique for data transmission and identification by radio waves for identifying and tracking a tag or marked object. The RFID technology comprises a tag (comprising a chip and an antenna), a reader-writer and a background management system, and realizes non-contact data exchange and identity recognition by radio frequency signal communication.
4. The MCU in MCU singlechip is generally called Microcontroller Unit, which is a small computer system integrating the functions of processor core, memory, input/output interface, clock and the like. The singlechip is commonly used in an embedded system and has the advantages of low cost, low power consumption, small volume, easy programming and the like.
Example 1:
as shown in fig. 1-3, the present invention provides a technical solution: the intelligent logistics system comprises an upper computer (a central dispatching system), a plurality of regional controllers which are communicated with the upper computer through Ethernet, and a rail transit system which is communicated with the regional controllers through a CAN network, wherein the rail transit system comprises a rail system and a logistics vehicle arranged in the rail system; the area controllers are arranged in a plurality and are divided according to areas; the power supply of the logistics vehicle is a guarantee of a system, and the logistics vehicle is ensured not to break and power off when moving at a high speed by adopting slide wire power supply and communication; the sliding wire power supply mode has the advantages of good power supply stability, high power transmission efficiency, small occupied area, low power consumption and the like; by the power supply mode, power can be continuously supplied to the trolley, so that the trolley is not limited by electric quantity when moving at a high speed; by adopting the multi-protocol networking technology, the network networking can be more reasonably performed, and the real-time performance and the reliability of the control of the system are ensured;
the upper computer generates a scheduling instruction and sends the scheduling instruction to the regional controller through Ethernet communication; the upper computer is used as a control center of the intelligent logistics system of the whole hospital track and is responsible for generating a scheduling command, monitoring the running state and displaying information; the upper computer and the regional controller are communicated through a high-speed Ethernet so as to realize high-efficiency transmission and reliable communication of data; the upper computer can be developed by adopting programming languages such as C#, java and the like, displays the system state by using a GUI interface, and provides an input interface of a control instruction;
the regional controller receives the scheduling instruction sent by the upper computer and forwards the scheduling instruction to the corresponding logistics vehicle for execution; the regional controller is a hardware module for controlling the logistics vehicles in different regions, and the main task of the regional controller is to receive a scheduling command from an upper computer and forward the scheduling command to the corresponding logistics vehicle for execution; the area controllers can be arranged in a plurality of areas and are divided according to the areas so as to realize distributed control in a large-scale system; the regional controller CAN be developed by using a singlechip or an embedded processor and is communicated with other equipment through a CAN communication network;
the logistics vehicle comprises a logistics vehicle, a logistics vehicle control board and a control system, wherein the logistics vehicle control board is arranged on the logistics vehicle and comprises a CAN communication module and an MCU (micro controller unit) singlechip, the MCU singlechip is communicated with the regional controller through the CAN communication module and receives an operation instruction of the regional controller on the logistics vehicle; the logistics vehicle control board is a main control module on each logistics vehicle and is responsible for receiving control commands from the regional controller and controlling the movement and operation of the logistics vehicles; the logistics vehicle control board consists of an MCU singlechip, a CAN communication module, a DC brushless motor control module, a sensor and the like; in the running process of the logistics vehicle, the MCU singlechip receives commands such as speed, direction, stop and the like sent by the regional controller through the CAN communication protocol and controls the direct current brushless motor control module to correspondingly control the motor; meanwhile, the logistics vehicle control board also needs to adopt a sensor (such as an RFID card reader) to read the position information of the vehicle in real time and feed back the information to the area controller;
the track system comprises a track, a track transfer device arranged in the track, an empty garage connected with the track, a maintenance station and a receiving and transmitting station;
the transfer device receives a transfer instruction sent by the area controller through CAN communication so as to control the running path of the logistics vehicle; the track transfer device consists of a motor, a sensor, an actuator, a control circuit and the like; in the running process of the logistics vehicle, the rail converter can control the running direction and the running path of the logistics vehicle according to the input of the control signal, so that the running path of the logistics vehicle is switched and changed; the transfer device CAN receive a control command sent by the regional controller through CAN communication and send a corresponding control signal to the logistics car control board;
the empty garage is communicated with the regional controller and the logistics vehicle control board through a CAN network so as to coordinate the parking operation of the logistics vehicle; when the vehicle is not scheduled, the empty garage can receive a parking instruction sent by the regional controller and control the logistics vehicle to enter a corresponding parking position according to the instruction; the empty garage receives and transmits data through CAN communication, and communicates with the regional controller and the logistics vehicle control board and coordinates the parking operation of the vehicle; by communicating with the area controller CAN, the empty garage CAN report the state of the empty garage to the controller in real time, such as the information of the number, the position, the availability and the like of empty vehicles; therefore, the regional controller can accurately know the state of the empty garage and perform scheduling and distribution work according to the requirement; for example, when a certain area lacks empty, the controller CAN detect the existence of empty vehicles in the empty vehicle warehouse through the CAN communication system and allocate the empty vehicles to a required area;
the maintenance station is a station for batch maintenance of the logistics vehicles and is used for carrying out manual maintenance on the logistics vehicles; the maintenance site and the regional controller communicate through a CAN network to receive maintenance instructions sent by the regional controller; the maintenance station is provided with related tools and equipment for carrying out inspection, maintenance and maintenance on the trolley;
the receiving and transmitting station communicates with the regional controller through a CAN network to receive goods receiving and transmitting instructions sent by the regional controller; the receiving and dispatching station is also called a nurse workstation and is an operation station for receiving and dispatching goods and is mainly used for processing the in-out and distribution of medical materials; the receiving and transmitting station and the regional controller are communicated through the CAN network, so that task instructions sent by the regional controller CAN be received, and goods CAN be received and transmitted and managed according to the instructions; the rail receiving and transmitting station is used for receiving and transmitting the logistics vehicle through the operation screen; adjacent stations are connected through rails.
The information control flow of the intelligent logistics system of the hospital track provided by the embodiment is as follows: firstly, a station acquires receiving and transmitting information; secondly, the upper computer generates scheduling information; then, the RFID of the trolley reads the position information; finally, the scheduling system calculates and transmits the control command in real time.
In this embodiment, the ethernet communication and the CAN communication are used in cooperation, which has the following advantages:
1. flexibility and compatibility: ethernet is a universal network communication protocol, widely used in the internet and various computer networks, and has flexibility and strong compatibility. CAN (Controller Area Network) is a proprietary communication protocol for local area network communication, suitable for applications such as real-time control and sensor data exchange. And meanwhile, the Ethernet and CAN communication are adopted, so that the system is compatible with a plurality of different equipment and network environments, and greater flexibility is provided.
2. Bandwidth and speed: ethernet communications offer higher bandwidth and speed, and are suitable for large data transmission and high-speed real-time communications requirements. The CAN communication has slower speed but higher reliability, and is suitable for applications such as real-time control and sensor data exchange. Meanwhile, the Ethernet and CAN communication are adopted, so that different communication requirements CAN be met, and the advantages of high-speed data transmission and real-time control are provided.
3. Network topology and extensibility: the Ethernet communication supports communication of wide area network and local area network, can construct complex network topology structure, and expands and connects in different physical and logical layers. CAN communication is suitable for local area network and point-to-point communication, and is suitable for communication requirements of small range and simple configuration. Meanwhile, by adopting Ethernet and CAN communication, a proper network topology and expansion mode CAN be selected according to the requirements of the system, and better flexibility and expandability are provided.
In this embodiment, the scheduling is performed by dividing into three levels of priority, so that the scheduling flexibility and the scheduling efficiency can be improved. In the technical scheme of the embodiment, the fast TCP network and the bottom CAN network are networked, so that the data flow rate of the scheduling layer and the compatibility of bottom equipment are improved.
In summary, the beneficial effects of the embodiment are as follows:
1. improve commodity circulation car power stability: the sliding wire power supply mode is adopted, so that the logistics vehicle can be ensured not to break and break power when moving at a high speed, the power supply stability is ensured, and the situation that the logistics vehicle is limited to run due to insufficient electric quantity is avoided;
2. the multiprotocol networking ensures the real-time performance and reliability of control: by adopting a multi-protocol networking technology, a proper communication protocol is selected according to different communication requirements, so that the real-time performance and the reliability of system control are ensured, and the stability and the operation efficiency of the system are improved;
3. realize high-efficient transmission and reliable communication of data: the upper computer is used as a control center of the intelligent logistics system of the whole hospital track and is responsible for generating a scheduling command, monitoring the running state and displaying information, and the upper computer is communicated with the regional controller through a high-speed Ethernet to realize high-efficiency transmission and reliable communication of data;
4. the regional controller realizes distributed control: the regional controller is used for controlling the logistics vehicles in different regions according to regional division, receiving the scheduling instruction sent by the upper computer and forwarding the scheduling instruction to the corresponding logistics vehicle for execution, and communicating with other equipment through the CAN communication network, so that distributed control is realized, and the flexibility and the expandability of the system are improved;
5. flexible control and switching of track systems: the track converter is used as a key component of the track system, and can control the running path of the logistics vehicle according to the track conversion instruction sent by the area controller, so as to realize flexible control of the track system and switching and conversion of the path;
6. empty garage coordination and scheduling function: the empty garage is communicated with the regional controller and the logistics vehicle control board through the CAN network, coordinates the parking operation of the logistics vehicle, receives a parking instruction, controls the logistics vehicle to enter a corresponding parking position according to the instruction, reports information such as the state and the availability of the empty garage to the controller in real time, and is convenient for the scheduling and the distribution work of the regional controller;
7. the functions of the maintenance site and the transceiver site are perfect: the maintenance station and the receiving and transmitting station are used as stations for carrying out maintenance and goods receiving and transmitting operations on the logistics vehicle, are communicated with the regional controller through the CAN network, receive maintenance instructions and goods receiving and transmitting instructions, are provided with related tools and equipment, and provide maintenance and goods receiving and transmitting functions.
Example 2:
on the basis of embodiment 1, referring to fig. 3, the logistics vehicle is provided with a brushless dc motor and a brushless dc motor control module, and the brushless dc motor control module is connected with the MCU; the direct current brushless motor control module controls the rotating speed and the rotating direction of the direct current brushless motor by using PWM signals; the logistics vehicle adopts the direct current brushless motor to drive, and driving motor and drive possess small light in weight's characteristics, can lighten the size and the weight of dolly chassis, promotes dolly effective volume and carrying capacity.
Further, an RFID card reader is arranged on the logistics vehicle, an RFID tag is arranged on the track, and the RFID card reader is used for reading the RFID tag on the track so as to acquire the position information of the logistics vehicle.
Further, the RFID card reader is connected with the MCU singlechip to send the position information of commodity circulation car to the MCU singlechip, the MCU singlechip is through CAN communication with the position information of commodity circulation car is sent to the regional controller, the regional controller is through ethernet communication with the position information of commodity circulation car is sent to the host computer.
Further, a status indicator lamp, a fault diagnosis module and a sensor module are arranged on the logistics vehicle, the fault diagnosis module receives monitoring information of the logistics vehicle measured by the sensor module and performs diagnosis analysis on the monitoring information to obtain a diagnosis result, and the status indicator lamp changes colors according to a diagnosis result signal sent by the fault diagnosis module; wherein, status indicator lamp is red and represents the trouble, status indicator lamp is green and represents normal operating.
Further, an ultraviolet disinfection lamp is arranged in a carriage of the logistics vehicle and is connected with the MCU singlechip; the regional controller receives the disinfection instruction sent by the upper computer through Ethernet communication, and forwards the disinfection instruction to the MCU singlechip through CAN communication, and the MCU singlechip controls the ultraviolet disinfection lamp to disinfect the carriage inside of the logistics vehicle.
Further, a digital display is arranged outside the logistics vehicle, the digital display is connected with the MCU singlechip, and the MCU singlechip sends a fault code of the logistics vehicle to the digital display when the logistics vehicle is abnormal; the digital display is used for displaying the serial number of the logistics vehicle when the logistics vehicle is in a normal state or displaying the fault code of the logistics vehicle when the logistics vehicle is in an abnormal state.
Further, the track system further comprises a fire window arranged in the track, and the fire window is communicated with the hospital fire-fighting system through a cable signal line so as to receive a fire-fighting instruction sent by the hospital fire-fighting system and conduct opening and closing operation according to the fire-fighting instruction.
Further, a collision switch is arranged on one side of the running direction of the logistics vehicle, and the collision switch is used for controlling the logistics vehicle to stop when the logistics vehicle collides with the front vehicle;
further, the logistics vehicle communicates with the system through the vehicle-mounted board card and the driving control board and executes a control command of the upper computer; the drive board card that commodity circulation car adopted except carrying out motor drive control, still contains collection and control signal processing circuit (ultraviolet ray disinfection lamp control, position RFID card reader communication, dolly status indicator lamp control, dolly display data communication, dolly switch lock control) of all information of commodity circulation car. Compared with the prior art that a driver of the motor has no data integration capability, the special driving board card of the technical scheme can reduce nodes for communication, improve data communication efficiency and improve overall dispatching efficiency.
Example 3:
based on the embodiment 1, the upper computer and the regional controller exchange data by using a MOUBUS-TCP protocol; the upper computer sends a MODBUS-TCP instruction to the regional controller so as to request the data of the regional controller; after receiving the MODBUS-TCP instruction, the area controller executes corresponding operation according to the content of the MODBUS-TCP instruction and returns data or response information to the upper computer.
In this embodiment, the communication between the upper computer and the regional controller is performed through ethernet, and the TCP/IP protocol is a network protocol cluster above ethernet, and is used to control the transmission and routing of data in the network. The MODBUS-TCP is an application layer protocol based on a TCP/IP protocol, and is a communication protocol commonly used in industrial automation; and the upper computer and the regional controller exchange data by using a MODBUS-TCP protocol.
Example 4:
on the basis of embodiment 1, referring to fig. 4-5, the track comprises several sections of transportation track and an annular buffer track arranged between and connected to the two sections of transportation track; the regional controller receives the logistics vehicle priority information sent by the upper computer through Ethernet communication, and judges the priority sequence of logistics vehicles entering the annular buffer track according to the logistics vehicle priority information; the regional controller sends a passing instruction to the logistics vehicle with the highest priority in the annular buffer track, controls the logistics vehicle with the highest priority to enter the next section of transportation track preferentially, and sends an annular running instruction to the logistics vehicle with the non-highest priority in the annular buffer track, and controls the logistics vehicle with the non-highest priority to perform annular movement around the annular buffer track.
As shown in fig. 4, in the process of conveying from a to B, when the processing capacity of the second conveying track 902 is insufficient to process the second logistics vehicle 2, the third logistics vehicle 3 and the fourth logistics vehicle 4 in the path, the second logistics vehicle 2, the third logistics vehicle 3 and the fourth logistics vehicle 4 are in a waiting state; when a logistics vehicle 1 with the highest priority level needs to be sent to B immediately, the system controls a logistics vehicle 2, a logistics vehicle 3, a logistics vehicle 4, a logistics vehicle 5, a logistics vehicle 6 and a logistics vehicle 7 to perform annular running, controls the logistics vehicle 1 to enter annular flow, and preferentially enters the second transportation rail 902 when approaching to the entrance of the second transportation rail 902, and then processes the logistics vehicle 2, the logistics vehicle 3, the logistics vehicle 4, the logistics vehicle 5, the logistics vehicle 6 and the logistics vehicle 7 in the loop.
As shown in fig. 5, fig. 5 is a schematic structural diagram of a rail system in the intelligent logistics system of hospital rail according to the present invention, in which an annular buffer rail 10 is provided, and fig. 5 also shows that a plurality of transceiver stations 11, a plurality of fire windows 12 and a plurality of empty car libraries 13 are provided on a transportation rail 9; the annular buffer track 10 is a double annular track, and the double annular track is composed of two annular tracks.
As shown in fig. 6, fig. 6 is a schematic structural view of a rail system in the intelligent logistics system of hospital rail without the annular buffer rail 10. By comparing fig. 5 with fig. 6, it can be found that the present invention sets a double ring track in a hospital track system and realizes priority ring control, so that the transport efficiency of the articles can be improved, and the running sequence of the track system can be effectively managed. In a hospital, different priorities can be set according to factors such as emergency degree, article attribute and the like of different areas. For example, areas where medicines are urgently needed have higher priority, thereby ensuring that emergency medicines are delivered in a timely manner.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (10)
1. An intelligent logistics system of hospital track, its characterized in that: the system comprises an upper computer, a plurality of regional controllers which are communicated with the upper computer through Ethernet and a rail transit system which is communicated with the regional controllers through a CAN network, wherein the rail transit system comprises a rail system and a logistics vehicle arranged in the rail system;
the upper computer generates a scheduling instruction and sends the scheduling instruction to the regional controller through Ethernet communication;
the regional controller receives the scheduling instruction sent by the upper computer and forwards the scheduling instruction to the corresponding logistics vehicle for execution;
the logistics vehicle comprises a logistics vehicle, a logistics vehicle control board and a control system, wherein the logistics vehicle control board is arranged on the logistics vehicle and comprises a CAN communication module and an MCU (micro controller unit) singlechip, the MCU singlechip is communicated with the regional controller through the CAN communication module and receives an operation instruction of the regional controller on the logistics vehicle;
the track system comprises a track, a track transfer device arranged in the track, an empty garage connected with the track, a maintenance station and a receiving and transmitting station;
the transfer device receives a transfer instruction sent by the area controller through CAN communication so as to control the running path of the logistics vehicle;
the empty garage is communicated with the regional controller and the logistics vehicle control board through a CAN network so as to coordinate the parking operation of the logistics vehicle;
the maintenance site and the regional controller communicate through a CAN network to receive maintenance instructions sent by the regional controller;
the receiving and transmitting station communicates with the regional controller through a CAN network to receive goods receiving and transmitting instructions sent by the regional controller.
2. The intelligent logistics system of the hospital track according to claim 1, wherein the logistics vehicle is provided with a direct current brushless motor and a direct current brushless motor control module, and the direct current brushless motor control module is connected with the MCU singlechip; the brushless DC motor control module controls the rotating speed and the rotating direction of the brushless DC motor by using PWM signals.
3. The hospital track intelligent logistics system of claim 1, wherein the logistics vehicle is provided with an RFID reader, the track is provided with an RFID tag, and the RFID reader is used for reading the RFID tag on the track to obtain the position information of the logistics vehicle.
4. The intelligent logistics system of the hospital track according to claim 3, wherein the RFID card reader is connected with the MCU singlechip to send the position information of the logistics car to the MCU singlechip, the MCU singlechip sends the position information of the logistics car to the area controller through CAN communication, and the area controller sends the position information of the logistics car to the upper computer through Ethernet communication.
5. The intelligent logistics system of the hospital track according to claim 1, wherein a status indicator light, a fault diagnosis module and a sensor module are arranged on the logistics car, the fault diagnosis module receives monitoring information of the logistics car measured by the sensor module and performs diagnosis analysis on the monitoring information to obtain a diagnosis result, and the status indicator light changes colors according to a diagnosis result signal sent by the fault diagnosis module.
6. The hospital rail intelligence logistics system of claim 1, wherein said host computer and said zone controller utilize a MOUBUS-TCP protocol for data exchange; the upper computer sends a MODBUS-TCP instruction to the regional controller so as to request the data of the regional controller; after receiving the MODBUS-TCP instruction, the area controller executes corresponding operation according to the content of the MODBUS-TCP instruction and returns data or response information to the upper computer.
7. The intelligent logistics system of the hospital track according to claim 1, wherein an ultraviolet disinfection lamp is arranged in a carriage of the logistics vehicle and is connected with the MCU; the regional controller receives the disinfection instruction sent by the upper computer through Ethernet communication, and forwards the disinfection instruction to the MCU singlechip through CAN communication, and the MCU singlechip controls the ultraviolet disinfection lamp to disinfect the carriage inside of the logistics vehicle.
8. The intelligent logistics system of the hospital track according to claim 1, wherein a digital display is arranged outside the logistics vehicle, the digital display is connected with the MCU singlechip, and the MCU singlechip sends a fault code of the logistics vehicle to the digital display when the logistics vehicle is abnormal; the digital display is used for displaying the serial number of the logistics vehicle when the logistics vehicle is in a normal state or displaying the fault code of the logistics vehicle when the logistics vehicle is in an abnormal state.
9. The hospital rail intelligent logistics system of claim 1, further comprising a fire window mounted in the rail, the fire window in communication with a hospital fire system via a cable signal line to receive a fire command sent by the hospital fire system and to perform an opening and closing operation in accordance with the fire command.
10. The hospital rail intelligent logistics system of claim 1, wherein the rail comprises a plurality of sections of transportation rail and an annular buffer rail disposed between and connected to two sections of the transportation rail; the regional controller receives the logistics vehicle priority information sent by the upper computer through Ethernet communication, and judges the priority sequence of logistics vehicles entering the annular buffer track according to the logistics vehicle priority information; the regional controller sends a passing instruction to the logistics vehicle with the highest priority in the annular buffer track, controls the logistics vehicle with the highest priority to enter the next section of transportation track preferentially, and sends an annular running instruction to the logistics vehicle with the non-highest priority in the annular buffer track, and controls the logistics vehicle with the non-highest priority to perform annular movement around the annular buffer track.
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