【作者】 郭瑞；

【导师】 徐文福； 郭振良；

【作者基本信息】 哈尔滨工业大学 ， 工程硕士（专业学位）， 2020， 硕士

【摘要】 医院物流车的迅速推广应用是未来现代化医院管理的必然趋势,所以加强对物流车的关键技术研究有着深刻的意义,在充分比较国内外的医院物流小车后,本篇论文从机械设计制造的角度,选择模块化设计方式作为自动导引车的结构设计方法,进而提出医用物流车的设计方案,介绍了自动导航车的应用与发展,并对自动导航车的主要技术进行了概述。本文从病区垃圾物流中现有的问题中分析获得设计需求,基于需求导向得到智能物流车的功能架构,将多个功能进行合并,可以明确实现功能所对应的造型内容,多个造型内容共同构成了智能物流车的设计组成。参考每个设计组成包含的各个造型内容的设计要求,对每个设计组成与其间的交互关系分别进行设计,完成智能物流车的造型设计。问题、需求、功能、造型是紧密联系、依次递进的关系。整车的机械设计包含有运动机构设计、控制子系统部件选型及布局、倾覆性分析、有限元分析等。根据医院物流车的设计特点,对本项目进行了动力学建模,分别从差速运动、车架动力学、万向轮动力学、驱动轮动力学多个维度进行建模,准确获取与本项目有关的技术细节。医院智能物流车采用二维码导航搭配惯性导航的复合导航方法,在小车的实际工作过程中,导航定位模块的作用就是对物流小车在全局坐标系下的位姿以及在当前位置下相对于目标位置的纵向、侧向和方向偏差进行实时计算,并将所计算的偏差信息即作为小车的运动控制的依据,实现行驶偏差的纠正,完成路径跟踪控制。完成物流车的机械设计、建模分析、导航设计之后,对小车进行加工与集成,验证设计的合理性、可行性。本文第五章对物流车进行方形和“8字形”两种路径测试,从而验证医院智能物流车方案的可行性。更多还原

【Abstract】 The rapid promotion and application of hospital logistics vehicles is an inevitable trend of modern hospital management in the future,so it is of great significance to strengthen the research on the key technologies of logistics vehicles.After fully comparing the domestic and international hospital logistics vehicles,this paper from the perspective of mechanical design and manufacturing,Select the modular design method as the structure design method of the automatic guided vehicle,and then propose the design plan of the medical logistics vehicle.This article first introduces the application and development of automatic navigation vehicles,and gives an overview of the main technologies of automatic navigation vehicles.This paper analyzes and obtains the design requirements from the existing problems in the garbage logistics of the ward,and then obtains the functional architecture of the intelligent logistics vehicle based on the demand orientation.Together constitute the design composition of the intelligent logistics vehicle.With reference to the design requirements of each styling content included in each design component,each design component and its interactive relationship are designed separately to complete the design of the intelligent logistics vehicle.Problems,needs,functions,and shapes are closely related and progressively related.The mechanical design of the whole vehicle includes the design of the motion mechanism,the selection and layout of the components of the control subsystem,the overturning analysis,and the finite element analysis.According to the design characteristics of the hospital logistics vehicle,the project has been dynamically modeled,which is modeled from multiple dimensions of differential motion,frame dynamics,universal wheel dynamics,and driving wheel dynamics to accurately obtain the project.Relevant technical details.The hospital intelligent logistics vehicle uses a composite navigation method of two-dimensional code navigation and inertial navigation.In the actual working process of the car,the role of the navigation positioning module is to determine the posture of the logistics car in the global coordinate system and relative to the target at the current position.The longitudinal,lateral and direction deviations of the position are calculated in real time,and the calculated deviation information is used as the basis of the movement control of the car to realize the correction of the driving deviation and complete the path tracking control.After completing the mechanical design,modeling analysis and navigation design of the logistics vehicle,process and integrate the trolley to verify the rationality and feasibility of the design.In the fifth chapter of this paper,the logistics vehicles are tested in square and "figure 8" paths to verify the feasibility of the hospital’s intelligent logistics vehicle program.更多还原