The present invention is Application No. 201510036027.0, filing date January 24 in 2015 day,The divisional application of the patent of bright entitled " a kind of for ward collecting method ".
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of for ward collecting method, will prisonProtect instrument readings collecting device and patient detection equipment is transplanted to move flexibly and canAccomplish on the robot architecture that all the period of time guards, and occurring that unusual condition carries out the same of local warningTime, realize remote alarms by wireless communication technology.
According to an aspect of the present invention, it is provided that a kind of for ward collecting method, the method bagInclude the following step: 1) a kind of robot system for ward data acquisition, described robot are providedSystem includes location equipment, motor driving apparatus, data acquisition equipment, data handling equipment and master controlDevice processed, described data acquisition equipment gathers Instruments Image and each patient of each Medical Instruments in wardPersonnel's image, described data handling equipment is connected with described data acquisition equipment, based on described instrumentImage determines the reading of corresponding instrument, determines the health of corresponding patient according to described personnel's image,Described master controller divides with described location equipment, described motor driving apparatus and described data handling equipmentDo not connect, the described machine determined according to the multiple data collection point positions prestored and described location equipmentThe current location of people, determines that described robot system goes to the data acquisition of the plurality of data collection pointPath, sends motor drive signal according to described data acquisition path to described motor driving apparatus, alsoFor determining whether to send according to the described corresponding reading of instrument and the health of described patient respectivelyCorresponding alarm signal；And 2) use described robot to carry out data acquisition.
More specifically, described in the robot system of ward data acquisition, also include: staticMemorizer, for having prestored the image template of various Medical Instruments, the pointer of various Medical InstrumentsThreshold value and the various medical characteristics threshold values of patient, be additionally operable to prestore instrument upper limit gray threshold, instrumentDevice lower limit gray threshold, personnel's upper limit gray threshold and personnel's lower limit gray threshold, described various medical treatmentCharacteristic threshold value includes colour of skin threshold value and attitude degree lack of standardization threshold value, described instrument upper limit gray threshold and instituteState instrument lower limit gray threshold for by the instrument in image and background separation, described personnel's upper limit gray scaleThreshold value and described personnel's lower limit gray threshold are for by the personnel in image and background separation；Supply of electric powerEquipment, for providing each electrical equipment in addition to power supply equipment for described robot systemSupply of electric power；Wireless Telecom Equipment, sets up two-way communication chain for the nurse's monitor supervision platform with far-endRoad connects, to receive the control instruction that described nurse's monitor supervision platform sends；Control motor, for unidirectional currentMachine, is connected with described motor driving apparatus, adjusts the operation number of self based on described motor drive signalAccording to；Described location equipment, by being preset in ground tour line in detection ward, determines described machineThe current location of people's system；Described data acquisition equipment is CCD The Cloud Terrace high-definition camera, and camera lens turnsAngle is 0-240 degree, and the image resolution ratio of collection is 1920 × 1080；Described data handling equipment includesImage processing unit in advance, instrument readings analytic unit and patient status analytic unit, described image is firstPhase processing unit, described instrument readings analytic unit and described patient status analytic unit are respectively adopted solelyVertical fpga chip realizes, and described image processing unit in advance is connected with described data acquisition equipment,Described Instruments Image or described personnel's image are performed successively edge enhancement process, wavelet filtering process andGray processing processes, and to generate instrument gray level image or personnel's gray level image, described instrument readings is analyzed singleFirst it is connected respectively with described static memory and described image processing unit in advance, by described instrument gray scaleIn image, gray value is between described instrument upper limit gray threshold and described instrument lower limit gray thresholdPixel identification also forms instrument subimage, by the figure of described instrument subimage Yu described various Medical InstrumentsMate one by one as template to obtain image template corresponding to described instrument subimage and corresponding kind, baseIn described instrument subimage and the comparative result of the image template of described correspondence, it is thus achieved that described instrument subgraphAs reading corresponding to pointer position, described patient status analytic unit and described static memory andDescribed image processing unit in advance connects respectively, by gray value in described personnel's gray level image described peoplePixel identification between member's upper limit gray threshold and described personnel's lower limit gray threshold member'sImage, identifies the various medical characteristics of personnel in described personnel's subimage；Described master controller and instituteState static memory, described instrument readings analytic unit and described patient status analytic unit to connect respectivelyConnect, by corresponding with described instrument subimage for the reading corresponding to described instrument subimage pointer positionThe pointer threshold ratio of kind relatively, when the pointer threshold value of the kind corresponding beyond described instrument subimage,Kind that output instrument subimage is corresponding output instrument reading alarm signal, by described personnel's subimageIn various medical characteristics and the various medical characteristics threshold values of described patient of personnel the most right by kindRatio, when there is a kind of medical characteristics of patient, the doctor of the personnel in described personnel's subimage of its correspondenceWhen treating the medical characteristics threshold value that feature exceeds its correspondence, export the medical characteristics kind of patient and export bodyBody situation abnormal alarm signal；Wherein, described Wireless Telecom Equipment is also connected with described master controller,The kind corresponding for the instrument subimage that described master controller is exported and instrument readings alarm signalBeing wirelessly sent to described nurse's monitor supervision platform, the medical treatment of the patient for being exported by described master controller is specialLevy kind and health abnormal alarm signal is wirelessly sent to described nurse's monitor supervision platform.
More specifically, described in the robot system of ward data acquisition, system of described robotSystem also includes: display device, is connected with described master controller, for display in real time and described main controlThe kind that the instrument subimage of device output is corresponding distinguishes the most corresponding prompting literary composition with instrument readings alarm signalWord information, is additionally operable to show in real time medical characteristics kind and the body of the patient exported with described master controllerThe prompt text information that body situation abnormal alarm signal is the most corresponding.
More specifically, described in the robot system of ward data acquisition, system of described robotSystem also includes: voice playing equipment, is connected with described master controller, for real-time play and described masterThe kind that the instrument subimage of controller output is corresponding distinguishes the most corresponding language with instrument readings alarm signalSound prompting file, is additionally operable to the medical characteristics kind of real-time play and the patient of described master controller outputThe voice prompted file the most corresponding with health abnormal alarm signal.
More specifically, described in the robot system of ward data acquisition, by described data acquisitionCollection equipment and described data handling equipment are integrated on one piece of circuit board.
More specifically, described in the robot system of ward data acquisition, described display deviceFor liquid crystal display.
More specifically, described in the robot system of ward data acquisition, described speech playEquipment is two-way speaker.
Detailed description of the invention
Enforcement to the robot system for ward data acquisition of the present invention below with reference to accompanying drawingsScheme is described in detail.
Needing the general state of an illness of patient nursed to ward heavier, their health needs by real timeMonitoring, such as colour of skin situation of change and body posture situation, meanwhile, need some monitors are installedThe physiological index of patient is acquired.
Hospital is in order to complete patient inspection and two tasks of monitor digital independent, generallyBe take nurse to make an inspection tour for a long time, method that the doctor in charge periodically checks, but the doctor in charge can be pacifiedTask is examined in discharge, and nurse can not accomplish monitoring free of discontinuities in 24 hours, therefore, complete still without realizingThe patient care of period, patient still can be absorbed in, in some period, the difficult situation that nobody correlates, thisProblem, instant hospital puts into the most manpowers, also cannot obtain actual solution.
In order to depart from this predicament, some hospitals make an effort from equipment, such as, build more patientThe hardware platform that nurse is mutual, for when patient feels uncomfortable, timely nurse call comes to protectReason, although this mode plays certain positive role, but, for severe case, due to cannotTake care of oneself, still cannot perform the action mutual with nurse.
For above-mentioned deficiency, the present invention has built a kind of robot system for ward data acquisition,High-precision image acquisition and identification technology is used to complete patient inspection and monitor numberAccording to reading these two tasks, use wireless communication technology to ensure that robot system and nurse guard platformTwo-way communication, use each that make an inspection tour that line technology guarantees that robot system accurately moves in ward to adoptJi Shuojudianchu, thus in the way of robot device's automatic monitoring, alleviate the task amount of medical personnel,Improve patient monitoring quality and efficiency.
Fig. 1 is according to the robot system for ward data acquisition shown in embodiment of the present inventionBlock diagram, described robot system includes: location equipment 1, motor driving apparatus 2, dataCollecting device 4, data handling equipment 5 and master controller 3, described master controller 3 and described locationEquipment 1, described motor driving apparatus 2, described data acquisition equipment 4 and described data handling equipment 5Connecting respectively, described data acquisition equipment 4 and described data handling equipment 5 connect.
Wherein, described data acquisition equipment 4 Instruments Image of each Medical Instruments in gathering wardWith personnel's image of each patient, described data handling equipment 5 determines correspondence based on described Instruments ImageThe reading of instrument, determines the health of corresponding patient, described master controller according to described personnel's imageThe 3 described robots determined according to the multiple data collection point positions prestored and described location equipment work asFront position, determines that described robot system goes to the data acquisition path of the plurality of data collection point,Send motor drive signal according to described data acquisition path to described motor driving apparatus 2, be additionally operable toDetermine whether to send accordingly according to the described corresponding reading of instrument and the health of described patient respectivelyAlarm signal.
Then, continue the concrete structure for the robot system of ward data acquisition of the present invention is enteredRow further instruction.
Described robot system also includes: static memory, is used for having prestored various Medical InstrumentsThe various medical characteristics threshold values of image template, the pointer threshold value of various Medical Instruments and patient, also useIn prestore instrument upper limit gray threshold, instrument lower limit gray threshold, personnel's upper limit gray threshold andPersonnel's lower limit gray threshold, described various medical characteristics threshold values include colour of skin threshold value and attitude degree lack of standardizationThreshold value, described instrument upper limit gray threshold and described instrument lower limit gray threshold are for by the instrument in imageDevice and background separation, described personnel's upper limit gray threshold and described personnel's lower limit gray threshold will be for schemingPersonnel in Xiang and background separation.
Described robot system also includes: power supply equipment, for providing for described robot systemThe supply of electric power of each electrical equipment in addition to power supply equipment.
Described robot system also includes: Wireless Telecom Equipment, for the nurse's monitor supervision platform with far-endSet up bidirectional communication link to connect, to receive the control instruction that described nurse's monitor supervision platform sends.
Described robot system also includes: control motor, for direct current generator, drives with described motor and setsStandby 2 connect, and adjust the service data of self based on described motor drive signal.
Described location equipment 1, by being preset in ground tour line in detection ward, determines described machineThe current location of device people's system.
Described data acquisition equipment 4 is CCD The Cloud Terrace high-definition camera, and camera lens corner is 0-240 degree,The image resolution ratio gathered is 1920 × 1080.
As in figure 2 it is shown, described data handling equipment 5 includes that image processing unit 51 in advance, instrument are readNumber analytic units 52 and patient status analytic unit 53, described image processing unit 51 in advance, describedInstrument readings analytic unit 52 and described patient status analytic unit 53 are respectively adopted independent FPGAChip realizes.
Described image processing unit 51 in advance is connected with described data acquisition equipment 4, to described instrumentImage or described personnel's image perform at edge enhancement process, wavelet filtering process and gray processing successivelyReason, to generate instrument gray level image or personnel's gray level image, described instrument readings analytic unit 52 withDescribed static memory and described image processing unit 51 in advance connects respectively, by described instrument gray scaleIn image, gray value is between described instrument upper limit gray threshold and described instrument lower limit gray thresholdPixel identification also forms instrument subimage, by the figure of described instrument subimage Yu described various Medical InstrumentsMate one by one as template to obtain image template corresponding to described instrument subimage and corresponding kind, baseIn described instrument subimage and the comparative result of the image template of described correspondence, it is thus achieved that described instrument subgraphAs the reading corresponding to pointer position.
Described patient status analytic unit 53 processes list in advance with described static memory and described imageUnit 51 connects, respectively by gray value in described personnel's gray level image at described personnel's upper limit gray thresholdAnd the pixel identification between described personnel's lower limit gray threshold member's subimage, identify described peopleThe various medical characteristics of the personnel in member's subimage.
Described master controller 3 and described static memory, described instrument readings analytic unit 52 and instituteState patient status analytic unit 53 to connect respectively, corresponding to described instrument subimage pointer positionThe reading kind corresponding with described instrument subimage pointer threshold ratio relatively, beyond described instrumentDuring the pointer threshold value of the kind that image is corresponding, kind output instrument that output instrument subimage is corresponding are readNumber alarm signals, each by the various medical characteristics of the personnel in described personnel's subimage and described patientKind of medical characteristics threshold value is contrasted one by one by kind, when there is a kind of medical characteristics of patient, its correspondenceWhen the medical characteristics of the personnel in described personnel's subimage exceeds the medical characteristics threshold value of its correspondence, outputThe medical characteristics kind of patient also exports health abnormal alarm signal.
Wherein, described Wireless Telecom Equipment is also connected with described master controller 3, for by described master controlThe kind corresponding to instrument subimage of device 3 processed output and instrument readings alarm signal are wirelessly sent to describedNurse's monitor supervision platform, for the medical characteristics kind of patient exported by described master controller 3 and healthSituation abnormal alarm signal is wirelessly sent to described nurse's monitor supervision platform.
Wherein, described robot system can also include: display device, and with described main control, 3 connect,The kind corresponding with the instrument subimage of described master controller 3 output for display in real time and instrument readingsThe prompt text information that alarm signal is respectively corresponding, is additionally operable to show in real time defeated with described master controller 3The prompt text that the medical characteristics kind of the patient gone out is the most corresponding with health abnormal alarm signalInformation；Described robot system can also include: voice playing equipment, with described master controller 3 evenConnect, the kind corresponding with the instrument subimage that described master controller 3 exports for real-time play and instrumentThe voice prompted file that reading alarm signal is the most corresponding, is additionally operable to real-time play and described master controllerThe voice of the medical characteristics kind of the patient of 3 outputs and health abnormal alarm signal correspondence respectively carriesShow file；Can select described data acquisition equipment 4 and described data handling equipment 5 are integrated in oneOn block circuit board, described display device is chosen as liquid crystal display, and described voice playing equipment is chosen asTwo-way speaker.
It addition, ward is hospital provides nursing and the field for the treatment of for the patient that disease condition is the most seriousInstitute, is generally located near hospital outpatient department, and the most serious seriously ill patient also can be arranged into weightTo strengthen monitoring and nursing in disease ICU, ensure the therapeutic quality to patient and effect.
Intensive care unit, also known as intensive care unit, is called for short ICU.The monitoring of critical illness with treatment isOne clinical speciality of rising in recent years, objective is to provide technology for life-threatening acute severe patientWith high-quality medical services, i.e. the patient to severe crisis carries out the monitoring of physiological function, life props upHolding, prevent and treat complication, facilitate and speed up the rehabilitation course of patient, this is that the one after continuous recovery is higherThe medical services of level, are the inexorable trends of social modernization and development of medical sciences.In recent years, withThe continuous progressive of high and new technology, multiple detection and a holding equipment are widely used in clinic, ICU wardUniversal and specification, people are the most perfect to the understanding of life physiological function, and it is right to this improvesThe support of exhaustion organ and protective capability, make the salvage success rate of critical severe disease significantly improve, many dangerThe patient of emergency and severe disease proper intensive care with give meticulous treatment under, spent the moment the most difficult in life, andGradually move towards rehabilitation.Meanwhile, also drive and promote progress and the development of other clinical specialities.
It addition, image recognition, refer to utilize computer that image is processed, analyze and understand, withIdentify the target of various different mode and the technology to picture.During general industry uses, use industrial cameraShooting picture, then recycling software does further identifying processing according to picture ash jump.
Image recognition is probably based on the principal character of image.Each image has its feature,As letter A has point, P has a circle and there is individual acute angle etc. at the center of Y.Eye during image recognition is movedResearch show, sight line always concentrates in the principal character of image, namely concentrates on image outlineThe place that curvature maximum or contour direction change suddenly, the quantity of information in these places is maximum.And eyesScanning route forward to another feature from a feature the most successively.As can be seen here, at imageDuring identification, perceptual mechanism must get rid of the redundant information of input, extracts crucial information out.PeopleInformation procession ability in class image identification system, to the identification different levels to be passed through of complicated imageCan realize.For familiar figure, owing to having grasped its principal character, will be him as oneUnit identifies, and not it is further noted that his details.This entirety being made up of the unit material isolatedUnit is called chunk, and each chunk is the most perceived.In the identification of written material, peopleIt is possible not only to unit one chunks of composition such as the stroke of a Chinese character or radicals, and can be often existThe word occurred together or phrase block unit in groups is identified.
Use the robot system for ward data acquisition of the present invention, for existing ward nursing mouldFormula covers period narrow range, needs the technical problem of a large amount of artificial work, introduces image targetedlyGather and the patient in ward and the related data of instrument are acquired by image recognition technology and accurate spyLevy identification, and alarm mechanism is provided when data exception, substitute with machine monitors pattern traditional artificialMonitoring mode, improves the intelligent level of ward nursing.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-mentioned enforcementExample is not limited to the present invention.For any those of ordinary skill in the art, without departing fromUnder technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above to the technology of the present inventionScheme makes many possible variations and modification, or is revised as the Equivalent embodiments of equivalent variations.Therefore,Every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention is to above exampleAny simple modification, equivalent variations and the modification done, all still falls within technical solution of the present invention protectionIn the range of.