Research On The Docking Technology Of Blood Sample Tray Handling Trolley

With the development of the economy and the rising standard of living,people’s health awareness is increasing and medical tests are becoming more and more complex.Total Laboratory automation technology,while relieving the burden on medical staff to some extent,makes it difficult to achieve complete autonomy when working with multiple devices.In this paper,an autonomous mobile robot for blood sample tray transfer is designed to solve the problem of batch transport and transfer of blood sample tubes in medical testing,to improve the collaboration between equipment and to reduce the labour intensity of medical personnel.With regard to the relevant technical requirements and the ultimate goal,The main points of this article are as follows.According to the structural characteristics of the docking equipment and the requirements of the experimental environment,the chassis structure of the mobile robot is designed,mainly including the determination of the wheel arrangement scheme and the design of the suspension mechanism.An omnidirectional wheel drive with orthogonal distribution in order to avoid deflection of the mobile robot during movement,while suspension mechanisms are designed in order to increase wheel contact with the ground and to take account of climbing during movement.The relationship between the spring steel plate stiffness and the slope angle of the slope is determined on the basis of an analysis of the deformation of the chassis forces and the slope conditions,the design of the spring steel plate and the design of the transition slope of the interface.A three-stage docking process is planned according to the positioning docking requirements: i.e.rough docking,fine docking and docking process.In the rough docking stage,the laser SLAM technique was used to propose an iterative nearest point(ICP)algorithm based on graphical matching to search for correspondence points for positioning and to construct local maps of the interface.In the fine docking stage,the positioning position is determined by means of a fusion of LIDAR and laser distance sensors in order to improve positioning accuracy,and finally,in the docking stage,the positioning position is corrected by means of guide wheels,guide blocks and positioning magnets;the corresponding accuracy requirements are guaranteed at each stage.For trajectory tracking control problems of mobile robots.In order to improve the trajectory tracking control accuracy and anti-interference capability,a fuzzy controller based on particle swarm optimisation is proposed and the particle swarm algorithm and fuzzy controller are designed in detail.Finally,a simulation model is built in Matlab/Simulink to verify the controller tracking effect.Finally,the underlying programs are written and debugged,the experimental environment is set up and experiments are carried out.We also carry out experiments to verify whether the docking of mobile robots can be achieved smoothly,as well as trajectory tracking control experiments to verify whether the control system can achieve the expected tracking effect and anti-interference,and climbing experiments to verify whether the designed chassis structure can ensure smooth climbing.Simulation experiments show that the requirements are basically fulfilled and the expected results are achieved.