Design And Implementation Of Medical Distribution Robot

In recent years,the outbreak and spread of the New Coronavirus in China and abroad has posed a great challenge to hospital staff in outbreak prevention and control.Our country does not promote close human contact during an epidemic,yet health care workers still need to provide patients with medical supplies when necessary,increasing their risk of contracting the disease.In addition,the gradual advancement of modern technology in medicine has increased the demand for various medical devices,which has significantly increased the pressure on hospital logistics.In this context,it is of great importance to promote the automated distribution and management of medical supplies and improve the level of hospital automation.Based on the hospital’s automatic demand for material distribution,aiming at the practical problems of manual distribution and management adopted by domestic hospitals,such as medical staff being vulnerable to infection and high logistics pressure,this paper designs a medical distribution robot,which realizes the basic functions of unmanned distribution and management of medical materials.The specific research contents of this paper are as follows:1.The needs for material distribution and management in hospitals are analyzed,and the general technical plan is designed.Based on the requirement analysis of the delivery robot,all the functional requirements of the system are classified into three modules: robot,user and order.The total technical solution and workflow of the system is designed at the top level based on the modularization of requirements,providing a feasible technical route for the specific implementation of the robot.2.The Hardware platform for distribution robot system is built.The hardware of the system is divided into two parts: the AGV chassis and the chassis top loading,in order to achieve the isolation between the navigation of the distribution robot and other functions,and the technical selection of each hardware module of AGV chassis and chassis upper part was carried out.In terms of the robot body top-loading hardware,the logic control unit was split into an interactive control core and a hardware master control core,which realized the sub-management control of interactive and noninteractive hardware.3.The software programs of medical distribution systems are designed and implemented,including robot embedded software,hospital server software and the client interaction software.For the embedded software,the workflow of the core hardware modules and the communication protocols between the logic control units are designed.The server software adopts the modular design method,and completes the design of database form and network interface in each business module;for the problem that modules cannot communicate directly with each other,this paper designs a routing scheme for business modules.The client software adopts the component design method.According to the communication requirements of the system,this paper build the network and serial communication components;the improved MVVM architecture is used in order to eliminate the coupling between the software business layer and multiple data sources;the client-side cache consistency scheme is designed,improving the system responsiveness while avoiding problems caused by cache inconsistencies.4.The path planning algorithms for distribution robots are designed and implemented.In terms of global path planning,this paper optimizes the traditional A~* algorithm for the two disadvantages of large path fluctuation and lack of safe distance threshold;in terms of local path planning,this project addresses the problem that the traditional Dynamic Window Approach algorithm has poor obstacle avoidance efficiency when the obstacle in the hospital is a pedestrian,and uses a social force model to improve the effectiveness of the algorithm for dynamic obstacle avoidance.5.The medical delivery robot system in a simulated hospital scenario are completed.The system is tested in four aspects: delivery robot top-loading hardware,system software front-end and backend interfacing,robot path planning algorithm,system non-functional requirements.The test results illustrate that the medical delivery robot system designed in this paper can accomplish the expected functions,has good feasibility and reliability,and has good application prospects.