CN104714548A - Laser line patrol system of medical sickbed transport cart and laser line patrol method thereof - Google Patents

Abstract

The invention discloses a laser line patrol system of a medical sickbed transport cart and a laser line patrol method thereof. The laser line patrol system comprises a first laser line patrol plate, a second laser line patrol plate, a third laser line patrol plate, a fourth laser line patrol plate, a power supply module, a vertical laser line patrol strip, a horizontal laser line patrol strip, a communication transport module and an upper computer control system. Each laser line patrol plate comprises a single chip microcomputer, a crystal oscillator device, a first power filter, a second power filter, a reset device, a first laser emitting module, a first receiving module, a second laser emitting module and a second receiving module. By means of the laser line patrol method, in the sickbed transport process, motion is more flexible, locating is more accurate, patients can be safely and efficiently transferred, manpower is saved, and the intelligent level of hospitals is improved.

Description

A kind of laser inspection system of medical sickbed transport vehicle and laser patrolling method thereof

Technical field

The present invention relates to medical sickbed transport vehicle field, be specifically related to a kind of laser inspection system and laser patrolling method thereof of medical sickbed transport vehicle.

Background technology

Hospitals at Present many employings manual type promotes sick bed and realizes the carrying of patient from care bed to CT, between PET and MRI, realizes the image co-registration without position chanP.In addition, the radiation injury brought by CT, also becomes the very big puzzlement of medical personnel, 2010, invention designer Yang Jian avenges a kind of Medical movable electric elevating bed of design, is applicable to transhipment between care bed to CT and lifting etc., achieves a breakthrough of new technical field.But its transhipment between ward still adopts people to push away the mode of sick bed, design work that a kind of laser inspection system of medical sickbed transport vehicle and laser patrolling method thereof replace people just aobvious particularly important.

Summary of the invention

In order to overcome the above problems, the invention provides a kind of laser inspection system and laser patrolling method thereof of medical sickbed transport vehicle, Laser Time Sharing scan round is adopted to light line walking technology, in transport sick bed process, walking is more flexible, and location is more accurate, realizes patient safety, efficiently shifts, save manpower, improve the intelligent level of hospital.

Technical scheme provided by the invention is as follows:

A laser inspection system for medical sickbed transport vehicle, comprising:

First laser line walking plate, second laser line walking plate, 3rd laser line walking plate and the 4th laser line walking plate, first laser line walking plate is positioned at the front portion of sill on the left of medical sickbed transport vehicle, second laser line walking plate is positioned at the rear portion of sill on the left of medical sickbed transport vehicle, 3rd laser line walking plate is positioned at the middle part of sill on the left of medical sickbed transport vehicle, 4th laser line walking plate is positioned at the middle part of sill on the right side of medical sickbed transport vehicle, first to fourth laser line walking plate includes single-chip microcomputer, crystal oscillator device, first power-supply filter and second source wave filter, resetting means, first laser emitting module, first receiver module, second laser emitting module and the second receiver module, first power-supply filter is connected to single-chip microcomputer, second source wave filter is connected to crystal oscillator device, crystal oscillator device and resetting means are connected to single-chip microcomputer, single-chip microcomputer and the first laser emitting module, first receiver module, second laser emitting module is connected with the second receiver module,

Supply module, is connected with the first power-supply filter of first to fourth laser line walking plate, second source wave filter and resetting means;

Vertical line walking bar and horizontal line walking bar, also parallel with the line between the first laser line walking plate and the second laser line walking plate on the ground of vertical line walking bar sill on the left of medical sickbed transport vehicle, horizontal line walking bar and the mutual square crossing of vertical line walking bar;

Communications module, is connected with the single-chip microcomputer of first to fourth laser line walking plate respectively;

Upper computer control system, with communications model calling.

In the embodiment of the laser inspection system of a kind of medical sickbed transport vehicle disclosed by the invention, first laser emitting module of first to fourth laser line walking plate and the second laser emitting module include and drive modulating device, laser tube brightness control module and the first to the 7th laser tube, drive modulating device to be all connected with supply module, single-chip microcomputer and the first to the 7th laser tube with laser tube brightness control module.

In the embodiment of the laser inspection system of a kind of medical sickbed transport vehicle disclosed by the invention, wherein arbitrary first laser emitting module of laser line walking plate of first to fourth laser line walking plate or first of the second laser emitting module are distributed in circumferentially same to the 7th laser tube.

In the embodiment of the laser inspection system of a kind of medical sickbed transport vehicle disclosed by the invention, first laser emitting module of the first laser line walking plate or the second laser line walking plate or between the first laser tube center of the second laser emitting module and the second laser tube center, between second laser tube center and the 3rd laser tube center, between 3rd laser tube center and the 4th laser tube center, between 4th laser tube center and the 5th laser tube center, between 5th laser tube center and the 6th laser tube center, level interval between 6th laser tube center and the 7th laser tube center is 4mm, level interval between 7th laser tube center of the first laser emitting module of the first laser line walking plate or the second laser line walking plate and the first laser tube center of the second laser emitting module is 10mm, first laser emitting module of the 3rd laser line walking plate or the 4th laser line walking plate or between the first laser tube center of the second laser emitting module and the second laser tube center, between second laser tube center and the 3rd laser tube center, between 3rd laser tube center and the 4th laser tube center, between 4th laser tube center and the 5th laser tube center, between 5th laser tube center and the 6th laser tube center, vertical interval between 6th laser tube center and the 7th laser tube center is 4mm, vertical interval between 7th laser tube center of the first laser emitting module of the 3rd laser line walking plate or the 4th laser line walking plate and the first laser tube center of the second laser emitting module is 10mm.

In the embodiment of the laser inspection system of a kind of medical sickbed transport vehicle disclosed by the invention, the distance on the first laser emitting module of first to fourth laser line walking plate or the first to the 7th laser tube distance ground of the second laser emitting module is 3 ~ 6cm.

In the embodiment of the laser inspection system of a kind of medical sickbed transport vehicle disclosed by the invention, the diameter of the first laser emitting module of first to fourth laser line walking plate or the first to the 7th laser tube of the second laser emitting module hot spot is on the ground 0.5mm.

In the embodiment of the laser inspection system of a kind of medical sickbed transport vehicle disclosed by the invention, first receiver module and second receiver module of first to fourth laser line walking plate include lens and receiving tube, lens are positioned at the front of receiving tube, and receiving tube is connected with single-chip microcomputer.

In the embodiment of the laser inspection system of a kind of medical sickbed transport vehicle disclosed by the invention, the first to the 7th laser tube that the lens of the first receiver module of first to fourth laser line walking plate and receiving tube are positioned at the first laser emitting module surrounds on the center of circumference, and the first to the 7th laser tube that the lens of the second receiver module of first to fourth laser line walking plate and receiving tube are positioned at the second laser emitting module surrounds on the center of circumference.

In the embodiment of the laser inspection system of a kind of medical sickbed transport vehicle disclosed by the invention, the both sides of vertical line walking bar and horizontal line walking bar are provided with black-tape, the centre of vertical line walking bar and horizontal line walking bar is bright orange colour band, and the width of vertical line walking bar and horizontal line walking bar is 4cm.

A kind of laser patrolling method of medical sickbed transport vehicle disclosed in the present invention also, comprises the following steps:

Step one: when medical sickbed transport vehicle moves forwards or backwards along vertical line walking bar, first laser line walking plate and the second laser line walking plate start and carry out laser line walking, when medical sickbed transport vehicle moves to the left or to the right along horizontal line walking bar, the 3rd laser line walking plate and the 4th laser line walking plate start and carry out laser line walking;

Step 2: supply module unification is that first to fourth laser line walking plate is powered, the single-chip microcomputer that supply module is first to fourth laser line walking plate by the first power-supply filter power, by second source wave filter the be crystal oscillator device of first to fourth laser line walking plate is powered, supply module is directly the resetting means of first to fourth laser line walking plate, and the driving modulating device of the first laser emitting module and the second laser emitting module and laser tube brightness control module are powered;

Step 3: the crystal oscillator device of first to fourth laser line walking plate maintains the operation of its single-chip microcomputer, when single-chip microcomputer causes confusion state, by resetting means, single-chip microcomputer is resetted, upper computer control system lights the first to the 7th laser tube of the first laser emitting module and the first to the 7th laser tube of the second laser emitting module by sending 14 the passage timesharing scan rounds of address control single chip computer timesharing gating, now, drive modulating device to light laser tube and carry out modulation and Current amplifier driving, the brightness of laser tube brightness control module to each laser tube regulates,

Step 4: subsequently, there is hot spot in the timesharing circulation on vertical line walking article or ground of the first to the 7th laser tube of the first laser emitting module of the first or second laser line walking plate and the first to the 7th laser tube of the second laser emitting module, hot spot appears in the timesharing circulation on horizontal line walking article or ground of the first to the 7th laser tube of the first laser emitting module of the 3rd or the 4th laser line walking plate and the first to the 7th laser tube of the second laser emitting module;

Step 5: the hot spot on vertical line walking bar or horizontal line walking bar is reflected by vertical line walking bar or horizontal line walking bar respectively, and received pipe receives after lens, first to the 7th laser tube of the first laser emitting module of the first to fourth laser line walking plate hot spot on vertical line walking article or horizontal line walking article is received by the receiving tube of the first receiver module, and the first to the 7th laser tube of the second laser emitting module of first to fourth laser line walking plate hot spot on vertical line walking article or horizontal line walking article is received by the receiving tube of the second receiver module;

Step 6: after the first laser emitting module of first to fourth laser line walking plate and the first to the 7th laser tube timesharing scan round of the second laser emitting module are lighted, the facula information received is converted into electrical signal transfer to single-chip microcomputer by the receiving tube of the first receiver module and the second receiver module;

Step 7: first to fourth laser line walking plate is corresponding first to fourth address respectively, after upper computer control system often sends one of them address in first to fourth address, the laser tube emissions of laser line walking plate corresponding to this address returns to upper computer control system with the information of reception by the single-chip microcomputer corresponding with it and communications module, and the same time only has a laser line walking plate back information to upper computer control system;

Step 8: upper computer control system, according to the back information of each laser line walking plate, judges whether medical sickbed transport vehicle departs from vertical line walking bar or horizontal line walking bar, and deviate from how many;

Step 9: when medical sickbed transport vehicle departs from vertical line walking bar or horizontal line walking bar center, whenever offseting 4mm or skew is greater than 4mm, upper computer control system will control motor steering direction and be adjusted to vertical line walking bar or the horizontal RC position of line walking bar.

Beneficial effect

The present invention has the following advantages relative to prior art:

(1) utilize laser line walking technology, positioning precision is high, is affected by the external environment little, adopts four blocks of laser line walking plates, vertically line walking bar and horizontal line walking bar can solve medical sickbed transport vehicle laser tracking, disposes also fairly simple;

(2) laser line walking plate utilizes Single-chip Controlling 14 laser tube timesharing circulations to light, be divided into two groups of receptions, 7 laser tubes are around 1 receiving tube, the signal returned after realizing getting to line walking bar to laser tube emissions laser receives respectively and controls, this compact layout and structure can not influence each other again, can realize the monitoring of real-time tracking in addition;

(3) utilize driving modulating device to light laser tube to modulate, prevent the interference of ambient light;

(4) utilize the brightness of laser tube brightness control module to each laser tube to regulate, thus overcome due to each laser tube light after the difference of brightness affect return signal receiving sensitivity problem;

(5) utilize receiving tube and lens to receive return signal, lens can increase the sensitivity of receiving tube, and the scope that accepts is increased;

(6) upper computer control system controls four pieces of laser line walking plate timesharing scan rounds by transmission first to fourth address and lights laser tube and receive return path signal, can avoid mutual cross influence like this;

(7) when single-chip microcomputer is chaotic, can be resetted to single-chip microcomputer by resetting means.

Accompanying drawing explanation

Fig. 1 is the structural drawing of the single-chip microcomputer of supply module and first to fourth laser line walking plate;

Fig. 2 is the structural drawing of each several part of supply module and the first laser line walking plate;

Fig. 3 is that the first laser tube of the first laser emitting module of the first laser line walking plate and the first receiver module of the first laser line walking plate carry out laser and light and the structure accepted and process schematic;

Fig. 4 is the single-chip microcomputer of first to fourth laser line walking plate and the structural drawing of upper computer control system;

Fig. 5 is the layout of the laser tube of the first laser line walking plate, receiving tube and lens;

Fig. 6 is first to fourth laser line walking plate and vertically line walking bar and the horizontal line walking bar layout of medical sickbed transport vehicle;

Fig. 7 is the hot spot distribution schematic diagram after a timesharing scan round of the laser tube of the first laser line walking plate;

Embodiment

For summary of the invention of the present invention, Characteristic can be understood further, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:

Fig. 6 is first to fourth laser line walking plate and vertically line walking bar and the horizontal line walking bar layout of medical sickbed transport vehicle, and as shown in Figure 6, a kind of laser inspection system of medical sickbed transport vehicle, comprising:

First laser line walking plate (38), second laser line walking plate (39), 3rd laser line walking plate (40) and the 4th laser line walking plate (41), first laser line walking plate (38) is positioned at the front portion of medical sickbed transport vehicle (37) left side sill, second laser line walking plate (39) is positioned at the rear portion of medical sickbed transport vehicle (37) left side sill, 3rd laser line walking plate (40) is positioned at the middle part of medical sickbed transport vehicle (37) left side sill, 4th laser line walking plate (41) is positioned at the middle part of medical sickbed transport vehicle (37) right side sill, first to fourth laser line walking plate (38, 39, 40 and 41) single-chip microcomputer is included, crystal oscillator device, first power-supply filter and second source wave filter, resetting means, first laser emitting module, first receiver module, second laser emitting module and the second receiver module, first power-supply filter is connected to single-chip microcomputer, second source wave filter is connected to crystal oscillator device, crystal oscillator device and resetting means are connected to single-chip microcomputer, single-chip microcomputer and the first laser emitting module, first receiver module, second laser emitting module is connected with the second receiver module, Fig. 2 is the structural drawing of each several part of supply module and the first laser line walking plate, as shown in Figure 2, for the first laser line walking plate, the problems referred to above are described, first laser line walking plate comprises single-chip microcomputer (02), crystal oscillator device (06), first power-supply filter (12) and second source wave filter (56), resetting means (07), first laser emitting module (08), first receiver module (10), second laser emitting module (09) and the second receiver module (11), first power-supply filter (12) is connected to single-chip microcomputer (02), second source wave filter (56) is connected to crystal oscillator device (06), crystal oscillator device (06) and resetting means (07) are connected to single-chip microcomputer (02), single-chip microcomputer (02) and the first laser emitting module (08), first receiver module (10), second laser emitting module (09) is connected with the second receiver module (11),

Supply module (01), be connected with the first power-supply filter of first to fourth laser line walking plate, second source wave filter and resetting means, as shown in Figure 2, for the first laser line walking plate, the problems referred to above are described, first power-supply filter (12) of supply module (01) and the first laser line walking plate (38), second source wave filter (56) and resetting means (07) are connected;

Vertical line walking bar (16) and horizontal line walking bar (36), as shown in Figure 6, parallel with the line between the first laser line walking plate (38) and the second laser line walking plate (39) on the ground that vertical line walking bar (16) is positioned at medical sickbed transport vehicle (37) left side sill, the mutual square crossing of horizontal line walking bar (36) and vertical line walking bar (16);

Communications module (19), is connected with the single-chip microcomputer (02,03,04 and 05) of first to fourth laser line walking plate respectively, and Fig. 4 is the single-chip microcomputer of first to fourth laser line walking plate and the structural drawing of upper computer control system, as shown in Figure 4;

Upper computer control system (20), is connected with communications module (19), as shown in Figure 4.

In the embodiment of the laser inspection system of a kind of medical sickbed transport vehicle disclosed by the invention, first laser emitting module and second laser emitting module of first to fourth laser line walking plate include driving modulating device, laser tube brightness control module and the first to the 7th laser tube, drive modulating device and laser tube brightness control module all and supply module, single-chip microcomputer and the first to the 7th laser tube connect, Fig. 3 is that the first laser tube of the first laser emitting module of the first laser line walking plate and the first receiver module of the first laser line walking plate carry out laser and light and the structure accepted and process schematic, as shown in Figure 3, for the first laser line walking plate, the problems referred to above are described, first laser emitting module (08) of the first laser line walking plate (38) comprises driving modulating device (13), laser tube brightness control module (14) and the first to the 7th laser tube, the first laser tube (15) is illustrate only in Fig. 3, the first to the 7th laser tube (15 is shown in Fig. 5, 21, 22, 23, 24, 25 and 26), wherein drive modulating device (13) and laser tube brightness control module (14) all with supply module (01), single-chip microcomputer (02) and the first to the 7th laser tube connect, the first laser tube (15) is illustrate only in Fig. 3.

In the embodiment of the laser inspection system of a kind of medical sickbed transport vehicle disclosed by the invention, wherein arbitrary first laser emitting module of laser line walking plate of first to fourth laser line walking plate or first of the second laser emitting module are distributed in circumferentially same to the 7th laser tube, Fig. 5 is the laser tube of the first laser line walking plate, the layout of receiving tube and lens, as shown in Figure 5, for the first laser line walking plate, first to the 7th laser tube (15 of the first laser emitting module, 21, 22, 23, 24, 25 and 26) be distributed in circumferentially same, or second first to the 7th laser tube (27 of laser emitting module, 28, 29, 30, 31, 32 and 33) be distributed in circumferentially same.

In the embodiment of the laser inspection system of a kind of medical sickbed transport vehicle disclosed by the invention, first laser emitting module of the first laser line walking plate or the second laser line walking plate or between the first laser tube center of the second laser emitting module and the second laser tube center, between second laser tube center and the 3rd laser tube center, between 3rd laser tube center and the 4th laser tube center, between 4th laser tube center and the 5th laser tube center, between 5th laser tube center and the 6th laser tube center, level interval between 6th laser tube center and the 7th laser tube center is 4mm, level interval between 7th laser tube center of the first laser emitting module of the first laser line walking plate or the second laser line walking plate and the first laser tube center of the second laser emitting module is 10mm, first laser emitting module of the 3rd laser line walking plate or the 4th laser line walking plate or between the first laser tube center of the second laser emitting module and the second laser tube center, between second laser tube center and the 3rd laser tube center, between 3rd laser tube center and the 4th laser tube center, between 4th laser tube center and the 5th laser tube center, between 5th laser tube center and the 6th laser tube center, vertical interval between 6th laser tube center and the 7th laser tube center is 4mm, vertical interval between 7th laser tube center of the first laser emitting module of the 3rd laser line walking plate or the 4th laser line walking plate and the first laser tube center of the second laser emitting module is 10mm.

As shown in Figure 5, for the first laser line walking plate, the problems referred to above are described, first laser emitting module (08) of the first laser line walking plate (38) or between the first laser tube (15 or 27) center of the second laser emitting module (09) and the second laser tube (21 or 28) center, between second laser tube (21 or 28) center and the 3rd laser tube (22 or 29) center, between 3rd laser tube (22 or 29) center and the 4th laser tube (23 or 30) center, between 4th laser tube (23 or 30) center and the 5th laser tube (24 or 31) center, between 5th laser tube (24 or 31) center and the 6th laser tube (25 or 32) center, level interval between 6th laser tube (25 or 32) center and the 7th laser tube (26 or 33) center is d1, d1 is 4mm, level interval between 7th laser tube (26) center of first laser emitting module (08) of the first laser line walking plate (38) and the first laser tube (27) center of the second laser emitting module (09) is d2, d2 is 10mm.

In the embodiment of the laser inspection system of a kind of medical sickbed transport vehicle disclosed by the invention, the distance on the first laser emitting module of first to fourth laser line walking plate or the first to the 7th laser tube distance ground of the second laser emitting module is 3 ~ 6cm.

In the embodiment of the laser inspection system of a kind of medical sickbed transport vehicle disclosed by the invention, the diameter of the first laser emitting module of first to fourth laser line walking plate or the first to the 7th laser tube of the second laser emitting module hot spot is on the ground 0.5mm.

In the embodiment of the laser inspection system of a kind of medical sickbed transport vehicle disclosed by the invention, first receiver module and second receiver module of first to fourth laser line walking plate include lens and receiving tube, lens are positioned at the front of receiving tube, receiving tube is connected with single-chip microcomputer, as shown in Figure 3, first receiver module (10) of the first laser line walking plate (38) comprises lens (17) and receiving tube (18), and receiving tube (18) is connected with single-chip microcomputer (02).

In the embodiment of the laser inspection system of a kind of medical sickbed transport vehicle disclosed by the invention, the first to the 7th laser tube that the lens of the first receiver module of first to fourth laser line walking plate and receiving tube are positioned at the first laser emitting module surrounds on the center of circumference, the first to the 7th laser tube that the lens of the second receiver module of first to fourth laser line walking plate and receiving tube are positioned at the second laser emitting module surrounds on the center of circumference, as shown in Figure 5, the lens (17) of first receiver module (10) of the first laser line walking plate (38) and receiving tube (18) are positioned at the first to the 7th laser tube (15 of the first laser emitting module (08), 21, 22, 23, 24, 25 and 26) surround on the center of circumference, the lens (34) of second receiver module (11) of the first laser line walking plate (38) and receiving tube (35) are positioned at the first to the 7th laser tube (27 of the second laser emitting module (09), 28, 29, 30, 31, 32 and 33) surround on the center of circumference.

In the embodiment of the laser inspection system of a kind of medical sickbed transport vehicle disclosed by the invention, the both sides of vertical line walking bar and horizontal line walking bar are provided with black-tape, the centre of vertical line walking bar and horizontal line walking bar is bright orange colour band, and the width of vertical line walking bar and horizontal line walking bar is 4cm.

A kind of laser patrolling method of medical sickbed transport vehicle disclosed in the present invention also, comprises the following steps:

Step one: when medical sickbed transport vehicle (37) moves forwards or backwards along vertical line walking bar (16), first laser line walking plate (38) and the second laser line walking plate (39) start and carry out laser line walking, when medical sickbed transport vehicle (37) moves to the left or to the right along horizontal line walking bar (36), the 3rd laser line walking plate (40) and the 4th laser line walking plate (41) start and carry out laser line walking;

Step 2: supply module unification is that first to fourth laser line walking plate is powered, the single-chip microcomputer that supply module is first to fourth laser line walking plate by the first power-supply filter is powered, the crystal oscillator device being first to fourth laser line walking plate by second source wave filter is powered, supply module is directly the resetting means of first to fourth laser line walking plate, the driving modulating device of the first laser emitting module and the second laser emitting module and laser tube brightness control module, and first the receiving tube of laser emitting module and the second laser emitting module power, Fig. 1 is the structural drawing of the single-chip microcomputer of supply module and first to fourth laser line walking plate, as shown in Figure 1, supply module (01) is by the first power-supply filter (12, 57, 58 and 59) be the single-chip microcomputer (02 of first to fourth laser line walking plate, 03, 04 and 05) power, as shown in Figures 2 and 3, for the first laser line walking plate (38), supply module (01) is crystal oscillator device (06) power supply by second source wave filter (56), supply module (01) is directly resetting means (07), and first laser emitting module (08) and the second laser emitting module (09) driving modulating device (13) and laser tube brightness control module (14) power supply,

Step 3: the crystal oscillator device of first to fourth laser line walking plate maintains the operation of its single-chip microcomputer, when single-chip microcomputer causes confusion state, by resetting means, single-chip microcomputer is resetted, upper computer control system lights the first to the 7th laser tube of the first laser emitting module and the first to the 7th laser tube of the second laser emitting module by sending 14 the passage timesharing scan rounds of address control single chip computer timesharing gating, now, drive modulating device to light laser tube and carry out modulation and Current amplifier driving, the brightness of laser tube brightness control module to each laser tube regulates, as shown in Figures 2 and 3, for the first laser line walking plate, crystal oscillator device (06) maintains the operation of its single-chip microcomputer (02), when single-chip microcomputer (02) causes confusion state, by resetting means (07), single-chip microcomputer (02) is resetted, single-chip microcomputer (02) lights the first to the 7th laser tube of the first laser emitting module (08) and the first to the 7th laser tube of the second laser emitting module (09) by 14 the passage timesharing scan rounds of timesharing gating, now, drive modulating device (13) to light laser tube and carry out modulation and Current amplifier driving, laser tube brightness control module (14) brightness to each laser tube regulates, wherein only show first laser tube (15) of the first laser emitting module (08) in Fig. 3,

Step 4: subsequently, there is hot spot in the timesharing circulation on vertical line walking article or ground of the first to the 7th laser tube of the first laser emitting module of the first or second laser line walking plate and the first to the 7th laser tube of the second laser emitting module, there is hot spot in the timesharing circulation on horizontal line walking article or ground of the first to the 7th laser tube of the first laser emitting module of the 3rd or the 4th laser line walking plate and the first to the 7th laser tube of the second laser emitting module, Fig. 7 is the hot spot distribution schematic diagram after a timesharing scan round of the laser tube of the first laser line walking plate, as shown in Figure 7, for the first laser line walking plate, the first to the 7th laser tube (15 of first laser emitting module (08) of the first laser line walking plate (38), 21, 22, 23, 24, 25 and 26) and the first of the second laser emitting module to the 7th laser tube (27, 28, 29, 30, 31, 32 and 33) there is hot spot (42 in timesharing circulation on vertical line walking bar (16) or ground, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54 and 55),

Step 5: the hot spot on vertical line walking bar or horizontal line walking bar is reflected by vertical line walking bar or horizontal line walking bar respectively, and received pipe receives after lens, first to the 7th laser tube of the first laser emitting module of the first to fourth laser line walking plate hot spot on vertical line walking article or horizontal line walking article is received by the receiving tube of the first receiver module, first to the 7th laser tube of the second laser emitting module of the first to fourth laser line walking plate hot spot on vertical line walking article or horizontal line walking article is received, as Fig. 3 by the receiving tube of the second receiver module, shown in Fig. 5 and Fig. 7, for the first laser line walking plate, at the hot spot (45 of vertical line walking bar (16), 46, 47, 48, 49, 50, 51 and 52) by vertical line walking bar (16) reflection, and received pipe (18) receives after lens (17), the first to the 7th laser tube (15 of first laser emitting module (08) of the first laser line walking plate (38), 21, 22, 23, 24, 25 and 26) hot spot (45 on vertical line walking bar (16), 46, 47 and 48) received by the receiving tube of the first receiver module (10) (18), the first to the 7th laser tube (27 of second laser emitting module (09) of the first laser line walking plate (38), 28, 29, 30, 31, 32 and 33) hot spot (49 on vertical line walking bar (16), 50, 51 and 52) received by the receiving tube of the second receiver module (11) (35),

Step 6: after the first laser emitting module of first to fourth laser line walking plate and the first to the 7th laser tube timesharing scan round of the second laser emitting module are lighted, the facula information received is converted into electrical signal transfer to single-chip microcomputer by the receiving tube of the first receiver module and the second receiver module, as Fig. 3 to 5, described in 7, for the first laser line walking plate, when first laser emitting module (08) of the first laser line walking plate (38) and the first to the 7th laser tube (15 of the second laser emitting module (09), 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32 and 33) after timesharing scan round is lighted, the hot spot (45 that the receiving tube (18 and 35) of the first receiver module (10) and the second receiver module (11) will receive, 46, 47, 48, 49, 50, 51 and 52) convert information is that electrical signal transfer is to single-chip microcomputer (02),

Step 7: first to fourth laser line walking plate is corresponding first to fourth address respectively, after upper computer control system often sends one of them address in first to fourth address, the laser tube emissions of laser line walking plate corresponding to this address returns to upper computer control system with the information of reception by the single-chip microcomputer corresponding with it and communications module, and the same time only has a laser line walking plate back information to upper computer control system;

Step 8: upper computer control system is according to the back information of each laser line walking plate, judge whether medical sickbed transport vehicle departs from vertical line walking bar or horizontal line walking bar, and deviate from how many, as shown in Figure 7, for the first laser line walking plate, first laser emitting module (08) of the first laser line walking plate (38) and the first to the 7th laser tube (15 of the second laser emitting module (08), 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32 and 33), after timesharing scan round is lighted, the facula information receiving passback when upper computer control system is found to be hot spot (45, 46, 47, 48, 49, 50, 51 and 52), then judge that medical sickbed transport vehicle does not depart from vertical line walking bar, if hot spot (44, 45, 46, 47, 48, 49, 50 and 51), then judge that medical sickbed transport vehicle departs from vertical line walking bar 4mm left, if hot spot (46, 47, 48, 49, 50, 51, 52 and 53), then judge that medical sickbed transport vehicle departs from vertical line walking bar 4mm to the right,

Step 9: when medical sickbed transport vehicle departs from vertical line walking bar or horizontal line walking bar center, whenever offseting 4mm or skew is greater than 4mm, upper computer control system will control motor steering direction and be adjusted to vertical line walking bar or the horizontal RC position of line walking bar.

Last it is noted that obviously, above-described embodiment is only for example of the present invention is clearly described, and the restriction not to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.And thus the apparent change of amplifying out or variation be still among the protection domain of this explanation.

Claims (10)

1. a laser inspection system for medical sickbed transport vehicle, comprising:

First laser line walking plate, second laser line walking plate, 3rd laser line walking plate and the 4th laser line walking plate, described first laser line walking plate is positioned at the front portion of sill on the left of medical sickbed transport vehicle, described second laser line walking plate is positioned at the rear portion of sill on the left of medical sickbed transport vehicle, described 3rd laser line walking plate is positioned at the middle part of sill on the left of medical sickbed transport vehicle, described 4th laser line walking plate is positioned at the middle part of sill on the right side of medical sickbed transport vehicle, described first to fourth laser line walking plate includes single-chip microcomputer, crystal oscillator device, first power-supply filter and second source wave filter, resetting means, first laser emitting module, first receiver module, second laser emitting module and the second receiver module, described first power-supply filter is connected to described single-chip microcomputer, described second source wave filter is connected to described crystal oscillator device, described crystal oscillator device and described resetting means are connected to described single-chip microcomputer, described single-chip microcomputer and described first laser emitting module, described first receiver module, described second laser emitting module is connected with described second receiver module,

Supply module, is connected with the first power-supply filter of described first to fourth laser line walking plate, second source wave filter and resetting means;

Vertical line walking bar and horizontal line walking bar, also parallel with the line between described first laser line walking plate and described second laser line walking plate on the ground of described vertical line walking bar sill on the left of medical sickbed transport vehicle, described horizontal line walking bar and the mutual square crossing of described vertical line walking bar;

Communications module, is connected with the single-chip microcomputer of described first to fourth laser line walking plate respectively;

Upper computer control system, with described communications model calling.

2. the laser inspection system of a kind of medical sickbed transport vehicle as claimed in claim 1, it is characterized in that: the first laser emitting module of described first to fourth laser line walking plate and the second laser emitting module include and drive modulating device, laser tube brightness control module and the first to the 7th laser tube, and described driving modulating device and described laser tube brightness control module are all connected with described supply module, described single-chip microcomputer and the first to the 7th laser tube.

3. the laser inspection system of a kind of medical sickbed transport vehicle as claimed in claim 2, is characterized in that: wherein arbitrary first laser emitting module of laser line walking plate or first of the second laser emitting module of described first to fourth laser line walking plate are distributed in circumferentially same to the 7th laser tube.

4. the laser inspection system of a kind of medical sickbed transport vehicle as claimed in claim 2, it is characterized in that: the first laser emitting module of described first laser line walking plate or the second laser line walking plate or between the first laser tube center of the second laser emitting module and the second laser tube center, between second laser tube center and the 3rd laser tube center, between 3rd laser tube center and the 4th laser tube center, between 4th laser tube center and the 5th laser tube center, between 5th laser tube center and the 6th laser tube center, level interval between 6th laser tube center and the 7th laser tube center is 4mm, level interval between 7th laser tube center of the first laser emitting module of described first laser line walking plate or the second laser line walking plate and the first laser tube center of the second laser emitting module is 10mm, first laser emitting module of described 3rd laser line walking plate or the 4th laser line walking plate or between the first laser tube center of the second laser emitting module and the second laser tube center, between second laser tube center and the 3rd laser tube center, between 3rd laser tube center and the 4th laser tube center, between 4th laser tube center and the 5th laser tube center, between 5th laser tube center and the 6th laser tube center, vertical interval between 6th laser tube center and the 7th laser tube center is 4mm, vertical interval between 7th laser tube center of the first laser emitting module of described 3rd laser line walking plate or the 4th laser line walking plate and the first laser tube center of the second laser emitting module is 10mm.

5. the laser inspection system of a kind of medical sickbed transport vehicle as claimed in claim 2, is characterized in that: the distance on the first laser emitting module of described first to fourth laser line walking plate or the first to the 7th laser tube distance ground of the second laser emitting module is 3 ~ 6cm.

6. the laser inspection system of a kind of medical sickbed transport vehicle as claimed in claim 2, is characterized in that: the diameter of the first laser emitting module of described first to fourth laser line walking plate or the first to the 7th laser tube of the second laser emitting module hot spot is on the ground 0.5mm.

7. the laser inspection system of a kind of medical sickbed transport vehicle as claimed in claim 1, it is characterized in that: the first receiver module and second receiver module of described first to fourth laser line walking plate include lens and receiving tube, described lens are positioned at the front of described receiving tube, and described receiving tube is connected with single-chip microcomputer.

8. the laser inspection system of a kind of medical sickbed transport vehicle as claimed in claim 7, it is characterized in that: the first to the 7th laser tube that the lens of the first receiver module of described first to fourth laser line walking plate and receiving tube are positioned at the first laser emitting module surrounds on the center of circumference, the first to the 7th laser tube that the lens of the second receiver module of described first to fourth laser line walking plate and receiving tube are positioned at the second laser emitting module surrounds on the center of circumference.

9. the laser inspection system of a kind of medical sickbed transport vehicle as claimed in claim 1, it is characterized in that: the both sides of described vertical line walking bar and described horizontal line walking bar are provided with black-tape, the centre of described vertical line walking bar and described horizontal line walking bar is bright orange colour band, and the width of described vertical line walking bar and described horizontal line walking bar is 4cm.

10. a laser patrolling method for medical sickbed transport vehicle, comprises the following steps:

Step one: when medical sickbed transport vehicle moves forwards or backwards along vertical line walking bar, first laser line walking plate and the second laser line walking plate start and carry out laser line walking, when medical sickbed transport vehicle moves to the left or to the right along horizontal line walking bar, the 3rd laser line walking plate and the 4th laser line walking plate start and carry out laser line walking;

Step 2: supply module unification is that first to fourth laser line walking plate is powered, the single-chip microcomputer that supply module is first to fourth laser line walking plate by the first power-supply filter power, by second source wave filter the be crystal oscillator device of first to fourth laser line walking plate is powered, supply module is directly the resetting means of first to fourth laser line walking plate, and the driving modulating device of the first laser emitting module and the second laser emitting module and laser tube brightness control module are powered;

Step 3: the crystal oscillator device of first to fourth laser line walking plate maintains the operation of its single-chip microcomputer, when single-chip microcomputer causes confusion state, by resetting means, single-chip microcomputer is resetted, upper computer control system lights the first to the 7th laser tube of the first laser emitting module and the first to the 7th laser tube of the second laser emitting module by sending 14 the passage timesharing scan rounds of address control single chip computer timesharing gating, now, drive modulating device to light laser tube and carry out modulation and Current amplifier driving, the brightness of laser tube brightness control module to each laser tube regulates,

Step 4: subsequently, there is hot spot in the timesharing circulation on vertical line walking article or ground of the first to the 7th laser tube of the first laser emitting module of the first or second laser line walking plate and the first to the 7th laser tube of the second laser emitting module, hot spot appears in the timesharing circulation on horizontal line walking article or ground of the first to the 7th laser tube of the first laser emitting module of the 3rd or the 4th laser line walking plate and the first to the 7th laser tube of the second laser emitting module;

Step 5: the hot spot on vertical line walking bar or horizontal line walking bar is reflected by the bright orange colour band of vertical line walking bar or horizontal line walking bar respectively, and received pipe receives after lens, first to the 7th laser tube of the first laser emitting module of the first to fourth laser line walking plate hot spot on vertical line walking article or horizontal line walking article is received by the receiving tube of the first receiver module, and the first to the 7th laser tube of the second laser emitting module of first to fourth laser line walking plate hot spot on vertical line walking article or horizontal line walking article is received by the receiving tube of the second receiver module;

Step 6: after the first laser emitting module of first to fourth laser line walking plate and the first to the 7th laser tube timesharing scan round of the second laser emitting module are lighted, the facula information received is converted into electrical signal transfer to single-chip microcomputer by the receiving tube of the first receiver module and the second receiver module;

Step 7: first to fourth laser line walking plate is corresponding first to fourth address respectively, after upper computer control system often sends one of them address in first to fourth address, the laser tube emissions of laser line walking plate corresponding to this address returns to upper computer control system with the information of reception by the single-chip microcomputer corresponding with it and communications module, and the same time only has a laser line walking plate back information to upper computer control system;

Step 8: upper computer control system, according to the back information of each laser line walking plate, judges whether medical sickbed transport vehicle departs from vertical line walking bar or horizontal line walking bar, and deviate from how many;

Step 9: when medical sickbed transport vehicle departs from vertical line walking bar or horizontal line walking bar center, whenever offseting 4mm or skew is greater than 4mm, upper computer control system will control motor steering direction and be adjusted to vertical line walking bar or the horizontal RC position of line walking bar.