CN206348660U - The robot autonomous navigation system of hospital guide positioned based on bluetooth - Google Patents
The robot autonomous navigation system of hospital guide positioned based on bluetooth Download PDFInfo
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- CN206348660U CN206348660U CN201621253906.5U CN201621253906U CN206348660U CN 206348660 U CN206348660 U CN 206348660U CN 201621253906 U CN201621253906 U CN 201621253906U CN 206348660 U CN206348660 U CN 206348660U
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Abstract
The utility model discloses a kind of robot autonomous navigation system of hospital guide positioned based on bluetooth, including server, hospital guide robot, Bluetooth signal emitter, the hospital guide robot further comprises servo drive motor, walking mechanism, infrared obstacle avoidance module, bluetooth locating module, patient is guided position corresponding to the clinic information by walking mechanism according to default track route, infrared obstacle avoidance module carries out judging the barrier on the track route, bluetooth locating module is searched for and receives the Bluetooth signal of the Bluetooth signal emitter automatically, hospital guide robot obtains the positional information of corresponding Bluetooth signal emitter from server according to the Bluetooth signal and calculates the real-time position information of hospital guide robot；Compared with traditional indoor navigation system, it is more accurate not only to position, and reduces hardware cost, improves operating efficiency.
Description
Technical field
The utility model is related to communication technical field, particularly a kind of robot autonomous navigation of hospital guide positioned based on bluetooth
System.
Background technology
Current medical resource is resource very in short supply at home, and especially in city, large hospital, Grade A hospital are always
It is overstaffed, the branch that wherein these crowded crowds more concentrate again is in patient area.Due to the universal scale of present hospital all
It is larger, and have many hospitals to be extended always with the increase of patient, so integrated planning layout is not quite reasonable.
To sum up, interrogation, also concentrate in the crowd of patient area the problems such as register, ask the way.The universal staff of hospital match somebody with somebody
It is standby not enough, so big repetition sex chromosome mosaicism all quite compares puzzlement again for interrogation, these simple but workloads such as ask the way.
Current widespread practice is equipped with a small amount of staff and serviced, and one, which carrys out staff, is too busy to do it, and two
Patient assessment is easily caused to lead lowly.Another way be it is relatively common put up substantial amounts of word and icon in hospital, will
FAQs actively is put on display out, but due to differences such as educational level, experience, understandabilities, it is small that such a way can only solve one
Subproblem.Also there are Partial Hospitals to begin to use intelligent navigation equipment to provide service for patient, such as determined using mobile device wifi
Recycling etc. when position is navigated, provides hardware navigation device end for every patient.
Prior art mainly has following defect and deficiency：
1st, hospital's input cost of human resources is higher, and easily causes managerial confusion；
2nd, patient assessment leads lowly, wastes medical resource and patient's time, or even delay treatment；
3rd, wifi location technologies error is big；
4th, using a large amount of particular navigation equipment, it is difficult to easily cause equipment control, easy to lose etc..
Utility model content
The utility model is to solve the above problems, there is provided a kind of robot autonomous navigation system of hospital guide positioned based on bluetooth
System, can be to self-service hospital guide of patient's offer in hospital, independent navigation function.
To achieve the above object, the technical solution adopted in the utility model is：
A kind of robot autonomous navigation system of hospital guide positioned based on bluetooth, it includes server, hospital guide robot, bluetooth
Sender unit, wherein, the Bluetooth signal emitter includes more than one and is arranged in each position of hospital,
The hospital guide robot further comprises：
Servo drive motor, hoofing part power is provided to hospital guide robot；
Walking mechanism, it guides patient to waiting to go to a doctor according to default track route under the driving of servo drive motor
Clinic；
Infrared obstacle avoidance module, its infrared signal detected according to infrared sensor is controlled the walking mechanism to barrier
Thing is hindered to be avoided；
Bluetooth locating module, it searches for and receives the Bluetooth signal of the Bluetooth signal emitter automatically；
Hospital guide robot believes according to the Bluetooth signal from the position that server obtains corresponding Bluetooth signal emitter
Breath, and according to the real-time position information of positional information measure hospital guide robot.
It is preferred that, still further comprise：
Face recognition module, is suffered from for carrying out recognition of face to patient, and being analyzed according to face recognition result progress
Person's information；
Registration module, what patient information or patient for being obtained according to face identification unit analysis were inputted registers
Information obtains treating the information of medical clinic.
It is preferred that, still further comprise：
Navigation map module, it carries out pre-setting navigation way according to the position of each clinic in hospital, and utilizes institute
State navigation way generation navigation map；
Routing module, it is carried out according to the position for treating medical clinic from the navigation way pre-set
Corresponding navigation way is selected, the track route of the hospital guide robot is obtained.
It is preferred that, the infrared obstacle avoidance module further comprises：
Infrared sensor, for detecting barrier, and sends infrared signal；
Avoidance calculator, it according to the infrared signal calculate the positions and dimensions of the barrier；
Avoidance obstacle device, it sends control signal according to the positions and dimensions of the barrier to the walking mechanism, institute
State walking mechanism and the barrier that laterally detours is carried out according to the control signal, and returned originally after the barrier is bypassed
Track route.
It is preferred that, the bluetooth locating module further comprises：
Bluetooth detection unit, for searching for and receiving the Bluetooth signal that the Bluetooth signal emitter is sent；
Bluetooth pairing unit, believes according to the MAC Address that the Bluetooth signal obtain the Bluetooth signal emitter
Breath or Bluetooth identification information；
Positioning unit, according to the mac address information or Bluetooth identification information of the Bluetooth signal emitter from server
The positional information of corresponding Bluetooth signal emitter is obtained, and obtains according to the positional information real time position of hospital guide robot
Information.
It is preferred that, the positioning unit obtains the real-time of hospital guide robot according to the positional information of the Bluetooth transmission device
Positional information, the intensity for the Bluetooth signal launched yet further still according to the Bluetooth transmission device, is entered using signal attenuation model
Row calculates the distance between hospital guide robot and the Bluetooth transmission device transmitting information, is finally filled further according to the Bluetooth transmission
The positional information put and the range information calculate the real-time position information for obtaining hospital guide robot.
The beneficial effects of the utility model are：
1st, relative to the indoor locating system positioned using mobile device and wifi, bluetooth alignment system of the present utility model
It is more accurate, meter level can be arrived, the error of wifi positioning is generally between 3-15 meters；
2nd, the utility model need to only be positioned to each Bluetooth signal emitter, without gathering substantial amounts of position data
To build location information data storehouse；
2nd, relative to special navigation equipment is used, the utility model eliminates the work of management large number quipments, reduces hard
Part cost, and improve operating efficiency.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding to of the present utility model, constitutes one of the present utility model
Point, schematic description and description of the present utility model is used to explain the utility model, does not constitute to of the present utility model
It is improper to limit.In the accompanying drawings：
Fig. 1 is a kind of frame structure signal of robot autonomous navigation system of hospital guide positioned based on bluetooth of the utility model
Figure；
Fig. 2 is a kind of circuit theory schematic diagram of the hospital guide robot positioned based on bluetooth of the utility model.
Embodiment
In order that technical problem to be solved in the utility model, technical scheme and beneficial effect are clearer, clear, with
The utility model is further elaborated lower combination drawings and Examples.It should be appreciated that specific reality described herein
Example is applied only to explain the utility model, is not used to limit the utility model.
As depicted in figs. 1 and 2, a kind of robot autonomous navigation system of hospital guide positioned based on bluetooth of the present utility model,
It includes server, hospital guide robot, Bluetooth signal emitter, wherein, the Bluetooth signal emitter include one with
Each position of hospital is gone up and is arranged in, the hospital guide robot further comprises：
Servo drive motor, hoofing part power is provided to hospital guide robot；
Walking mechanism, it guides patient to waiting to go to a doctor according to default track route under the driving of servo drive motor
Clinic；
Infrared obstacle avoidance module, its infrared signal detected according to infrared sensor is controlled the walking mechanism to barrier
Thing is hindered to be avoided；
Bluetooth locating module, it searches for and receives the Bluetooth signal of the Bluetooth signal emitter automatically；
Hospital guide robot believes according to the Bluetooth signal from the position that server obtains corresponding Bluetooth signal emitter
Breath, and according to the real-time position information of positional information measure hospital guide robot.
In the present embodiment, hospital guide robot further has the user interactive modules such as display screen, microphone, loudspeaker.Lead
Examine robot and provide navigation hint information to patient, be to patient's play cuing voice, for example, in walking process by loudspeaker
In, if detecting barrier, remind user to carry out avoiding obstacles；If running into turn on track route, user is reminded to enter
Row is turned left or turned right；If reaching the position for treating medical gop information, user is reminded to arrive at.
In the present embodiment, still further comprise：
Face recognition module, is suffered from for carrying out recognition of face to patient, and being analyzed according to face recognition result progress
Person's information；
Registration module, what patient information or patient for being obtained according to face identification unit analysis were inputted registers
Information obtains treating the information of medical clinic.
Navigation map module, it carries out pre-setting navigation way according to the position of each clinic in hospital, and utilizes institute
State navigation way generation navigation map；
Routing module, it is carried out according to the position for treating medical clinic from the navigation way pre-set
Corresponding navigation way is selected, the track route of the hospital guide robot is obtained.
Wherein, patient can also carry out word input or phonetic entry patient information or extension by display screen or microphone
Number information.
The infrared obstacle avoidance module further comprises：
Infrared sensor, for detecting barrier, and sends infrared signal；
Avoidance calculator, it according to the infrared signal calculate the positions and dimensions of the barrier；
Avoidance obstacle device, it sends control signal according to the positions and dimensions of the barrier to the walking mechanism, institute
State walking mechanism and the barrier that laterally detours is carried out according to the control signal, and returned originally after the barrier is bypassed
Track route.
The bluetooth locating module further comprises：
Bluetooth detection unit, for searching for and receiving the Bluetooth signal that the Bluetooth signal emitter is sent；
Bluetooth pairing unit, believes according to the MAC Address that the Bluetooth signal obtain the Bluetooth signal emitter
Breath or Bluetooth identification information；
Positioning unit, according to the mac address information or Bluetooth identification information of the Bluetooth signal emitter from server
The positional information of corresponding Bluetooth signal emitter is obtained, and obtains according to the positional information real time position of hospital guide robot
Information.In the present embodiment, the positioning unit obtains the reality of hospital guide robot according to the positional information of the Bluetooth transmission device
When positional information, yet further still according to the Bluetooth transmission device launch Bluetooth signal intensity, utilize signal attenuation model
Carry out calculating the distance between hospital guide robot and the Bluetooth transmission device transmitting information, finally further according to the Bluetooth transmission
The positional information of device and the range information calculate the real-time position information for obtaining hospital guide robot.
In the present embodiment, the Bluetooth signal emitter is arranged in each corner of hospital internal, is preferably located on
At corner or each crossing, and in advance in the installation site of server typing each Bluetooth signal emitter and corresponding
Bluetooth identification information or MAC Address so that each Bluetooth signal emitter has unique corresponding positional information.
The use process of the autonomous navigation system of hospital guide robot of the present utility model approximately as：
1st, patient enters after hospital, carries out interrogation by hospital guide robot first, the operation such as register；
2nd, determine the state of an illness and complete after registering, patient may choose whether to need hospital guide robot to be navigated；
3rd, after patient have selected navigation Service, hospital guide robot starts navigation feature, starts navigation Service；
4th, robot is connected using the bluetooth module carried with the Bluetooth signal emitter progress signal arranged in hospital,
Determine positional information and route；
5th, servo drive motor driving walking mechanism makes hospital guide robot setting in motion, and infrared inductor avoids robot
Bump against pedestrian or building；
6th, in navigation procedure, screen can point out navigation map all the time, and loudspeaker can play navigation hint information, for one
The injured inconvenient operation touch-screen of a little patients for being inconvenient to operate, such as hand, leg disease seating wheelchair are inconvenient to operate patient, text
Change level or the inconvenient manually operated patient of visual problems, can also be sent to robot by microphone in navigation procedure and referred to
Order；
7th, navigation terminates, and patient is arrived at after purpose clinic, and hospital guide robot then voluntarily returns to the origin position pre-set
Continue as next bit patient service.
Preferred embodiment of the present utility model has shown and described in described above, it should be understood that the utility model not limits to
In form disclosed herein, the exclusion to other embodiment is not to be taken as, and available for various other combinations, modification and ring
Border, and can be modified in this paper utility model contemplated scopes by the technology or knowledge of above-mentioned teaching or association area.
, then all should be in the utility model and the change and change that those skilled in the art are carried out do not depart from spirit and scope of the present utility model
In the protection domain of appended claims.
Claims (6)
1. a kind of robot autonomous navigation system of hospital guide positioned based on bluetooth, it is characterised in that including server, hospital guide's machine
People, Bluetooth signal emitter, wherein, the Bluetooth signal emitter includes more than one and is arranged in each of hospital
Individual position, the hospital guide robot further comprises：
Servo drive motor, hoofing part power is provided to hospital guide robot；
Walking mechanism, it guides patient to treating medical examine according to default track route under the driving of servo drive motor
Room；
Infrared obstacle avoidance module, its infrared signal detected according to infrared sensor is controlled the walking mechanism to barrier
Avoided；
Bluetooth locating module, it searches for and receives the Bluetooth signal of the Bluetooth signal emitter automatically；
Hospital guide robot obtains the positional information of corresponding Bluetooth signal emitter according to the Bluetooth signal from server, and
The real-time position information of hospital guide robot is determined according to the positional information.
2. a kind of robot autonomous navigation system of hospital guide positioned based on bluetooth according to claim 1, it is characterised in that
Still further comprise：
Face recognition module, patient's letter is obtained for carrying out recognition of face to patient, and being analyzed according to face recognition result progress
Breath；
Registration module, for analyzing the information of registering that obtained patient information or patient input according to the face identification unit
Obtain treating the information of medical clinic.
3. a kind of robot autonomous navigation system of hospital guide positioned based on bluetooth according to claim 1, it is characterised in that
Still further comprise：
Navigation map module, it carries out pre-setting navigation way according to the position of each clinic in hospital, and is led described in
Navigate Route Generation navigation map；
Routing module, it is selected according to the position for treating medical clinic from the navigation way pre-set
Corresponding navigation way, obtains the track route of the hospital guide robot.
4. a kind of robot autonomous navigation system of hospital guide positioned based on bluetooth according to claim 1, it is characterised in that
The infrared obstacle avoidance module further comprises：
Infrared sensor, for detecting barrier, and sends infrared signal；
Avoidance calculator, it according to the infrared signal calculate the positions and dimensions of the barrier；
Avoidance obstacle device, it sends control signal, the row according to the positions and dimensions of the barrier to the walking mechanism
Walk mechanism to be carried out laterally detouring the barrier according to the control signal, and return to after the barrier is bypassed original walking
Route.
5. a kind of robot autonomous navigation system of hospital guide positioned based on bluetooth according to claim 1, it is characterised in that
The bluetooth locating module further comprises：
Bluetooth detection unit, for searching for and receiving the Bluetooth signal that the Bluetooth signal emitter is sent；
Bluetooth pairing unit, according to the Bluetooth signal obtain the Bluetooth signal emitter mac address information or
Bluetooth identification information；
Positioning unit, is obtained according to the mac address information or Bluetooth identification information of the Bluetooth signal emitter from server
The positional information of corresponding Bluetooth signal emitter, and according to the positional information obtain hospital guide robot real time position believe
Breath.
6. a kind of robot autonomous navigation system of hospital guide positioned based on bluetooth according to claim 5, it is characterised in that：
The positioning unit obtains the real-time position information of hospital guide robot according to the positional information of the Bluetooth transmission device, also enters one
The intensity for the Bluetooth signal launched according to the Bluetooth transmission device is walked, carries out calculating hospital guide robot using signal attenuation model
With the distance between the Bluetooth transmission device transmitting information, the finally positional information further according to the Bluetooth transmission device and institute
State range information and calculate the real-time position information for obtaining hospital guide robot.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109935310A (en) * | 2019-03-08 | 2019-06-25 | 弗徕威智能机器人科技（上海）有限公司 | A kind of robot guidance system and method applied to medical institutions |
| CN111694360A (en) * | 2020-06-22 | 2020-09-22 | 珠海格力电器股份有限公司 | Method and device for determining position of sweeping robot and sweeping robot |
| CN112089395A (en) * | 2020-10-20 | 2020-12-18 | 中国医学科学院生物医学工程研究所 | Device for moving capsule type endoscope |
| CN113055466A (en) * | 2021-03-10 | 2021-06-29 | 徐州医科大学 | Mobile medical service equipment based on Internet of things technology |
-
2016
- 2016-11-16 CN CN201621253906.5U patent/CN206348660U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109935310A (en) * | 2019-03-08 | 2019-06-25 | 弗徕威智能机器人科技（上海）有限公司 | A kind of robot guidance system and method applied to medical institutions |
| CN111694360A (en) * | 2020-06-22 | 2020-09-22 | 珠海格力电器股份有限公司 | Method and device for determining position of sweeping robot and sweeping robot |
| CN112089395A (en) * | 2020-10-20 | 2020-12-18 | 中国医学科学院生物医学工程研究所 | Device for moving capsule type endoscope |
| CN112089395B (en) * | 2020-10-20 | 2024-08-23 | 中国医学科学院生物医学工程研究所 | Device for moving capsule type endoscope |
| CN113055466A (en) * | 2021-03-10 | 2021-06-29 | 徐州医科大学 | Mobile medical service equipment based on Internet of things technology |
| CN113055466B (en) * | 2021-03-10 | 2022-08-09 | 徐州医科大学 | Mobile medical service equipment based on Internet of things technology |
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