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MANSOURA UNIVERSUTY FACULTY OF ENGINEERING COMPUTERS AND SYSTEMS ENGINEERING Supervised by Dr.Mohamed Sherif El-Ksasy 2011
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Transcript of fully automated nursing system.PDF
MANSOURA UNIVERSUTY
FACULTY OF ENGINEERING
COMPUTERS AND SYSTEMS ENGINEERING
Supervised by
Dr.Mohamed Sherif El-Ksasy 2011
Hussien Rezk Hussien Hussien حسين رزق حسين حسين
Ziad Mahmoud Zaki Ebada زياد محمود زكي عبادة
Samar Ibrahim Mohamed المندوه سمر ابراىيم محمد
Samar Gamal Moaawad سمر جمال معوض
Shimaa Ibrahim Mohamed االباصيرى شيماء ابراىيم محمد
Sofia Hamza Abdel-Hady صوفيا حمزة عبد اليادي
Kamelia Awad Saad كاميليا عوض سعد
Lamis Wageh Ahmed لميس وجيو أحمد
Mohamed Foaad Abdel-Aziz محمد فؤاد عبد العزيز
Mohamed Maher Abd-allah محمد ماىر عبد اهلل
Mohamed El-Sayed Badawy السيد بدويمحمد
Mahmoud Abdel-Wanis Talkhan عبد الونيس طلخان ودمحم
Nada Ahmed Abo-Elhasan ندا أحمد أبو الحسن
Hagar El-sayed Khder ىاجر السيد خضر
Hala El-Sayed Ali ىالة السيد علي
First and foremost, thanks to Allah who gave us the
inspiration and power to accomplish this work we
would like to thank various people for helping and
supporting us to complete our project.
Thanks to:
Ass.Prof.Dr. Sabry Sraya.
Prof.Dr. Fayez Gomaa Areed.
Prof.Dr. Hesham Arafat
Dr. Mohamed Sherif El-Kasasy.
Dr. Amira Yassin.
Eng. Mohamed Moaawad.
Eng. Hesham Gad.
Eng.Mahmoud Saafan.
Bola Ashraf
Sara Abdel-hamid Mostafa
Nashwa Abdel-Hady Ahmed
Chapter 1: Introduction…………...…………….. P2
1.1 - the idea of the project ……………....……………… P3
1.2 - the aims of the project …………..……....………….. P6
1.3 - the challenges of the project …………...…...……….P7
1.4 - the tools of the project ………………....……………P8
1.5 - steps of the project …………..………………………P9
Chapter 2: micro control ……………….………P11
2.1 - Define Microcontroller……………….………..…..P12
2.2 - Microcontrollers Used Today………………..….…P13
2.3 - Embedded design…………....………………..……..P14
2.4 - CPU Diagrams……………………….………….….P15
2.5 - The CPU core…………………………….…………P16
2.6 - Memory Types……………………………….…..….P17
2.7 – Programs……………………………...….…………P20
2.8 - Programming environments………………….……P21
2.9 - Architectural features………………………..…..…P23
2.10 - Microcontroller Features…………...………..……P28
2.11 – PIC 16f877 Architecture………....………….……P34
Chapter 3: Hardware description ……...…..P37
3.1 - Introduction……………………...…………...…...…P37
3.2 - Tools used……………………………....……..…..…P37
3.3 - Components used…………………………......…..…P38
3.4 - Circuits used…………………....…...………….……P52
Chapter 4: AGV……..………………….…..………...P68
4.1 - introduction………………….…...…………………P69
4.2 - navigation……………..…………….………………P72
4.3 - Steering control……………………….……………P76
4.4 - Magnetic Tape mode……………………..…………P77
4.5 - Guide Tape……………………………………...……P78
4.6 - why light…………...…………………………...……P80
Chapter 5: Mechanics description .…….….P82
5.1 - Robot’s mechanical design……………………….…P83
5.2 – Components…………………………..……….….….P84
5.2.1 - The base…………………………………..…….….P84
5.2.2 -The arm………………………....……………..……P86
5.2.3- The disk………………………………...…..…....….P87
5.2.4- The disk shroud………………………..……….…..P88
5.2.5 - The disk lug…………………………..….……....…P90
5.3 - Robot main structure (body)…………….…....…..….P91
5.4 - Robot motion and motors…………...……….………P92
Chapter 6: Software description ….…….….P95
6.1 - About software…………....………………….………P96
6.2 - Welcome window……………….......……………….P99
6.3 - Main window…………………...………………….P100
6.4 - Patients data window………..………………..……P102
6.5 - Patient medicines window……………….......…….P105
6.6 - Doctors data window……………...……...………..P107
6.7 - Medicines data window………………...…………P110
6.8 - Patients medicines windows………………………P113
Chapter 7: Future work……………………….P116
7.1 - GSM……………………………………………..…P117
7.2 - Camera……………………………....…...…..…..…P118
7.3 - Automatic pharmacy…………………………....…P118
7.4 - Image processing……………………………….…P118
7.5 - Wireless connection……………………….…....…P118
7.6 - Mechanical design………………...……………….P119
Chapter 1
Chapter 1 : Introduction
2
1.1- The idea of the project
1.2- The aims
1.3 - The challenges
1.4 - The tools
1.5 - the steps of the project
Chapter 1 : Introduction
3
In this book we will talk about our project, why we
choose it, its main idea, its internal component, and
problem we faced and how we overcome them.
Nowadays we suffer from the spread of infectious
diseases, but the biggest problem is the transmission of
these diseases in hospitals themselves.
Medical errors’ ghost threatens patients, so who is
responsible for that??
In our project we try to find answer to this question...
We search a lot until we got that a large proportion of
medical errors came from nurses' errors.
Nurses could make mistakes in medicines' times or in
amount of required dosage of the drug. And this causes
problems for patients. Also,, if there is patient has
infectious disease and nurse deals with it without being
sterilized well she could be affected and pass it to the
others .
So we tried to find a simple solution to this problem by
using something that not forget times and doesn't help
in the transmission of the disease.
Chapter 1 : Introduction
4
This is ROBOT …
Figure (1-1)
Nowadays, we are witnessing the great scientific
revolution in the field of robots and it proved its ability
to do human activities very well.
But let's shade light on what is ROBOT
ROBOT :Is a mechanical intelligent machine which can
perform dangerous tasks on its own or with guidance.
In practice, a robot is usually an electromechanical
machine which is guided by a computer and electronic
programming so by good programming and training,
robot can do any task.
Chapter 1 : Introduction
5
Figure (1-2)
So we exploit this to solve the previous problem
because ROBOT can store huge amount of data and
linking them, in addition to it doesn't transmit the
infection and not forget like human ….
Chapter 1 : Introduction
6
This project was the work of three parts:
1. The first part is special to hardware that
responsible for work of the electronic circuits that
will be explained in chapter 2.
2. The second part is special to mechanics that
responsible for mechanical design of the robot this
will be explained in chapter 5.
3. The third part is special to software that
responsible for programming and building the
database of the robot, this will be explained in
chapter 6.
1 -Patient :
Protect him from nurses’ errors like medicine miss
timing,over dosage or dose incomplete.
2 -Nurse:
Reduce the burden on the nurse.
Protect them from Infectious diseases.
Chapter 1 : Introduction
7
3 -Doctor:
Continuous monitoring of the patient's condition from
anywhere.
4 - Hospital owners:
Reduce manpower and burdens to hospitals' owners to
increase.
5 - Making use of technology to reduce human errors.
6 - Using new technique (light follower).
1 - Firstly, we have to choose suitable way for robot
(light follower or line follower).
2 - Choosing suitable design for robot.
3 - Choosing suitable programming language.
4 - How to connect software (database) with hardware
(robot).
Chapter 1 : Introduction
8
In hardware:
1. The program that we use:
Protuse professional.
Eagel .
Micro c
2. Programmable device.
3. PIC 16f877.
4. Max232.
5. Sensors.
6. Electrical resistances.
7. Capacitors.
8. Stepper motor.
9. Serial cables.
10. Regulator LM7805.
11. Transistors.
12. Relays.
In software:
1. Programming language (c#).
2. SQL (Structured Query Language) fordatabase.
Chapter 1 : Introduction
9
1. Every 6 hours nurse put medicines in robot.
2. Time is checked permanently in database and at
specific time signal is sent to serial with bed’s
number
3. Serial send signal to the light follower to light the
path to the bed.
4. Robot detects light by light sensor and begin its
trip to the bed.
5. Robot detects the place where to put medicine by
using limit switch.
6. Robot still at its place till the next signal, if there
is signal with other bed number then its path is
lightedand robot turn to it .. and if there isn’t
signal it back to its start point.
Chapter 2
Chapter 2 : Micro Control
11
2.1 - Define Microcontroller
2.2 - Microcontrollers Used Today
2.3 - Embedded design
2.4 - CPU Diagrams
2.5 - The CPU core
2.6 - Memory Types
2.7 - Programs
2.8 - Programming environments
2.9 - Architectural features
2.10 - Microcontroller Features
2.11 - PIC61F877A Architecture
Chapter 2 : Micro Control
12
Micro-controllers units (MCU's) :
Micro-Controller is very important to modern
electronics they replace hundreds of discreet logic chips
with a single IC. A modern micro-controller has:
Flash ROM for the machine code that constitutes
the program that will be run.
Ram that will be used for user variables at
execution time.
EEPROM data area for storing non-volatile user
data during execution time.
Programmable trimmers for use internally at watch
dog timers and other counters like the program
counter that tells the micro-controller where it is in
the program being executed.
IO-ports to communicate to the outside world.
And of course the core that will include the ALU
(Arithmetic Logic Unit) where most of the magic is
done.
Chapter 2 : Micro Control
13
A microcontroller is a kind of miniature computer that
you can find in all kinds of gizmos. Some examples of
common, every-day products that have
microcontroller’s built-in are shown in Figure 1-1. If it
has buttons and a digital display, chances are it also has
a programmable microcontroller brain.
Figure (2-1) Every-Day Examples of Devices that Contain
Microcontrollers
Try making a list and counting how many devices with
microcontrollers you use in atypical day. Here are some
examples: if your clock radio goes off, and you hit the
snooze button a few times in the morning, the first
thing you do in your day is interact with
microcontroller. Heating up some food in the
microwave oven and making a call on a cell phone also
Chapter 2 : Micro Control
14
involve operating microcontrollers. That’s just the
beginning. Here are a few more examples: turning on
the television with a handheld remote, playing a
handheld game, using a calculator, and checking your
digital wristwatch. All those devices have
microcontrollers inside them that interact with you.
A microcontroller can be considered a self-contained
system with a processor, memory and peripherals and
can be used as an embedded system. The majority of
microcontrollers in use today are embedded in other
machinery, such as automobiles, telephones,
appliances, and peripherals for computer systems.
These are called embedded systems. While some
embedded systems are very sophisticated, many have
minimal requirements for memory and program length,
with no operating system, and low software complexity.
Typical input and output devices include switches,
relays, solenoids, LEDs, small or custom LCD displays,
radio frequency devices, and sensors for data such as
temperature, humidity, light level etc. Embedded
Chapter 2 : Micro Control
15
systems usually have no keyboard, screen, disks,
printers, or other recognizable I/O devices of a personal
computer, and may lack human interaction devices.
One thing you will see often is CPU diagrams. Usually,
these are done as block diagrams to help you see how
the different sub-systems on the chip fit together. It's
kind of like a road map. Here is such a diagram for the
68HC11.
Figure (2-3)
Chapter 2 : Micro Control
16
This overall diagram is very helpful for trying to locate
major features of a chip. For example, I can see from
the map that there is an A/D converter, and it is
connected to PORT E. I also see that there is EEPROM,
RAM, and ROM available on the chip. It also tells me
that PORTC is a bidirectional port, and PORTB is a
output only port. Most chips will come with some sort
of documentation along these lines. You can expect to
find a block diagram like this near the front of most
manuals.
The CPU core is the 'computer' part of the
Microcontroller. Its job is to run the program supplied
by the designer. It does this by using memory, some
registers, and the program memory. As seen in the
block diagram above, the M68HC11 CPU is called out as
a subcomponent of the chip as a whole. There is a
reason. Most Microcontrollers are available in multiple
versions. Each version will have its own interesting set
of features. The 68HC811E2, for example, is a chip with
Chapter 2 : Micro Control
17
the 68HC11 CPU at its core, but 2k of EEPROM and some
extra timer options.
The 68HC11A1 has 512 bytes of EEPROM, and 256 bytes
of RAM. It is quite typical for manufacturers to put out
multiple versions of the chip, so you need to know
which version you are dealing with!
Microprocessors come with several different types of
memory. The amount of memory on a single chip varies
quite a bit by manufacturer. Typically, 512 to 2k of
program space and 256-512 bytes of RAM are available.
There are memory options available. I will give you a
brief overview of each.
RAM :
RAM means Random Access Memory. It is general
purpose memory that can store data or programs. RAM
is 'volatile', which means when the power is shut off,
the contents of the memory is lost. Most personal
computers have several megabytes of RAM. Most
microcontrollers have some RAM built into them, but
Chapter 2 : Micro Control
18
not very much. 256 bytes is a fairly common amount.
Some have more, some have less.
ROM:
ROM is Read Only Memory. This is typically memory
that is programmed at the factory to have certain
values. It cannot be changed, but it can be read as many
times as you want. ROM is typically used to store
programs and data that don’t change over time. Many
Microcontrollers have lots of ROM. Unfortunately,
unless you are ordering thousands of parts, the ROM is
useless to you, and in fact is wasting address space.
Most individuals stay away from controllers with lots of
ROM.
EPROM:
EPROM is Erasable Programmable Read Only Memory.
This is ROM that can be field programmed using an
EPROM programmer, which is a special device that
takes your program information and programs (often
called burning) the EPROM. To erase an EPROM, you
need an EPROM eraser. This is usually a small box that
has a strong UV light bulb. You place the EPROM part
into the box for several minutes. The UV light causes
Chapter 2 : Micro Control
19
the program to be erased. Most EPROM chips have a
small clear window into the chip. This is for the UV light
to pass through. EPROM devices range from 8kb to
32kb. Bigger versions are available, but not usually used
on Microcontrollers.
There are EPROM chips that are not 'windowed'. A
more correct term for this is PROM or OTP (One Time
Programmable) packages. You will typically find that
windowed parts usually cost more. The Microchip PIC
series of processors are a well-known OTP chip. For
example, a PIC16C61 costs about $7, and the windowed
version of the PIC16C61 costs about $15. OTP parts are
great if your design is done, and you never intend to
change the program again.
EEPROM:
EEPROM is Electrically Erasable Programmable Read
Only Memory. Yes, the acronyms are getting long!
EEPROM is extremely useful for a variety of uses. For
example, when you save configuration information on
many household devices, the information is commonly
written into EEPROM. EEPROM can also be
'programmed' from software, so you typically do not
Chapter 2 : Micro Control
20
need to remove the part from your circuit to reprogram
it. This is a big advantage. It typically takes about 10
milliseconds to write each byte of EEPROM.
Flash EEPROM:
Yet another version of the EEPROM, Flash memory
programs much faster. A byte may only take a few
hundred microseconds to program. That is an
advantage over EEPROM. However, Flash memory
typically requires you to erase the entire contents
before you can program it. Flash EEPROM usually comes
in large quantities. The 68HC912B32, for example, is a
single chip controller with 32kb of FLASH EEPROM on
the chip!
Summarizing Memory:
Excuse the pun, but the different types of memory is
just too much to remember! In summary: RAM is good.
EEPROM is good. EPROM requires programming
hardware. ROM is mostly useless. Flash EEPROM is OK.
2.7) Programs:
Microcontroller programs must fit in the available on-
chip program memory, since it would be costly to
Chapter 2 : Micro Control
21
provide a system with external, expandable, memory.
Compilers and assemblers are used to convert high-
level language and assembler language codes into a
compact machine code for storage in the
microcontroller's memory. Depending on the device,
the program memory may be permanent, read-only
memory that can only be programmed at the factory, or
program memory may be field-alterable flash or
erasable read-only memory.
Microcontrollers were originally programmed only in
assembly language, but various high-level programming
languages are now also in common use to target
microcontrollers. These languages are either designed
especially for the purpose, or versions of general
purpose languages such as the C programming
language. Compilers for general purpose languages will
typically have some restrictions as well as
enhancements to better support the unique
characteristics of microcontrollers. Some
microcontrollers have environments to aid developing
certain types of applications. Microcontroller vendors
Chapter 2 : Micro Control
22
often make tools freely available to make it easier to
adopt their hardware.
Many microcontrollers are so quirky that they
effectively require their own non-standard dialects of C,
such as SDCC for the 8051, which prevent using
standard tools (such as code libraries or static analysis
tools) even for code unrelated to hardware features.
Interpreters are often used to hide such low level
quirks.
Interpreter firmware is also available for some
microcontrollers. For example, BASIC on the early
microcontrollers Intel8052; BASIC and FORTH on the
Zilog Z8 as well as some modern devices. Typically these
interpreters support interactive programming.
Simulators are available for some microcontrollers, such
as in Microchip's MPLAB environment and the
Revolution Education PICAXE range. These allow a
developer to analyze what the behavior of the
microcontroller and their program should be if they
were using the actual part. A simulator will show the
internal processor state and also that of the outputs, as
well as allowing input signals to be generated. While on
the one hand most simulators will be limited from being
Chapter 2 : Micro Control
23
unable to simulate much other hardware in a system,
they can exercise conditions that may otherwise be
hard to reproduce at will in the physical
implementation, and can be the quickest way to debug
and analyze problems.
Recent microcontrollers are often integrated with on-
chip debug circuitry that when accessed by an in-circuit
emulator via JTAG, allow debugging of the firmware
with a debugger.
Von-Neumann Architecture :
Microcontrollers based on the Von-Neumann
architecture have a single "data" bus that is used to
fetch both instructions and data. Program instructions
and data are stored in a common main memory. When
such a controller addresses main memory, it first
fetches an instruction, and then it fetches the data to
support the instruction. The two separate fetches slows
up the controller's operation.
Chapter 2 : Micro Control
24
Harvard Architecture :
Microcontrollers based on the Harvard Architecture
have separate data bus and an instruction bus. This
allows execution to occur in parallel. As an instruction
is being "pre-fetched", the current instruction is
executing on the data bus. Once the current instruction
is complete, the next instruction is ready Togo. This
pre-fetch theoretically allows for much faster execution
than on-Neumann architecture, but there is some
added silicon complexity.
Figure (2-3)
Chapter 2 : Micro Control
25
CISC:
Almost all of today's microcontrollers are based on the
CISC (Complex Instruction Set Computer) concept. The
typical CISC microcontroller has well over 80
instructions, many of them very powerful and very
specialized for specific control tasks. It is quite common
for the instructions to all behave quite differently. Some
might only operate on certain address spaces or
registers, and others might only recognize certain
addressing modes.
The advantages of the CISC architecture are that many
of the instructions are macro-like, allowing the
programmer to use one instruction in place of many
simpler instructions.
RISC:
The industry trend for microprocessor design is for
Reduced Instruction Set Computers (RISC) designs. This
is beginning to spill over into the microcontroller
market. By implementing fewer instructions, the chip
designed is able to dedicate some of the precious silicon
real-estate for performance enhancing features.
Chapter 2 : Micro Control
26
The benefits of RISC design simplicity are a smaller chip,
smaller pin count, and very low power consumption.
Among some of the typical features of a RISC processor:
Harvard architecture (separate buses for
instructions and data) allows simultaneous access
of program and data, and overlapping of some
operations for increased processing performance
Instruction pipelining increases execution speed.
Orthogonal (symmetrical) instruction set for
programming simplicity; allows each instruction to
operate on any register or use any addressing
mode; instructions have no special combinations,
exceptions, restrictions, or side effects.
SISC:
Actually, a microcontroller is by definition a Reduced
Instruction Set Computer (at least in my opinion). It
could really be called a Specific Instruction Set
Computer (SISC). The [original] idea behind the
microcontroller was to limit the capabilities of the CPU
itself, allowing a complete computer (memory, I/O,
interrupts, etc.) to fit on the available real estate. At
the expense of the more general purpose instructions
Chapter 2 : Micro Control
27
that make the standard microprocessors (8088, 68000,
32032) so easy to use, the instruction set was designed
for the specific purpose of control (powerful bit
manipulation, easy and efficient I/O, and so on).
Microcontrollers now come with a mind boggling array
of features that aid the control engineer - watchdog
timers, sleep/wakeup modes, power management,
powerful I/O channels, and so on. By keeping the
instruction set specific (and reduced), and thus saving
valuable real estate, more and more of these features
can be added, while maintaining the economy of the
microcontroller.
UART:
A UART (Universal Asynchronous Receiver Transmitter)
is a serial port adapter for asynchronous serial
communications.
USART:
A USART (Universal Synchronous/Asynchronous
Receiver Transmitter) is a serial port adapter for either
asynchronous or synchronous serial communications.
Communications using a USART are typically much
faster (as much as 16 times) than with a UART.
Chapter 2 : Micro Control
28
Synchronous serial port:
A synchronous serial port doesn't require start/stop
bits and can operate at much higher clock rates than an
asynchronous serial port. Used to communicate with
high speed devices such as memory servers, display
drivers, additional A/D ports, etc. Can also be used to
implement a simple microcontroller network.
Microcontrollers from different manufacturers have
different architectures and different
Capabilities. Some may suit a particular application
while others may be totally
Unsuitable for the same application. The hardware
features common to most
Microcontrollers are described in this section.
Supply Voltage :
Most microcontrollers operate with the standard logic
voltage of 5V. Some
Chapter 2 : Micro Control
29
Microcontrollers can operate at as low as 2.7V, and
some will tolerate 6V without
Any problem. The manufacturer’s data sheet will have
information about the allowed
Limits of the power supply voltage. PIC18F452
microcontrollers can operate with a
Power supply of 2V to 5.5V.
Usually, a voltage regulator circuit is used to obtain the
required power supply voltage
When the device is operated from a mains adapter or
batteries.
For example, a 5Vregulator is required if the
microcontroller is operated from a 5V supply using a 9V
battery.
The Clock :
All microcontrollers require a clock (or an oscillator) to
operate, usually provided by
external timing devices connected to the
microcontroller. In most cases, these external
Chapter 2 : Micro Control
30
Timing devices are a crystal plus two small capacitors. In
some cases they are resonators
Or an external resistor-capacitor pair. Some
microcontrollers have built-in timing
Circuits and do not require external timing components.
If an application is not time sensitive, external or
internal (if available) resistor-capacitor timing
components are the best option for their simplicity and
low cost .An instruction is executed by fetching it from
the memory and then decoding it. This usually takes
several clock cycles and is known as the instruction
cycle. In PIC Microcontrollers, an instruction cycle takes
four clock periods. Thus the microcontroller
operates at a clock rate that is one-quarter of the actual
oscillator frequency. ThePIC18F series of
microcontrollers can operate with clock frequencies up
to 40MHz.
Timers :
Timers are important parts of any microcontroller. A
timer is basically a counter which
Chapter 2 : Micro Control
31
is driven from either an external clock pulse or the
microcontroller’s internal oscillator.
A timer can be 8 bits or 16 bits wide. Data can be loaded
into a timer under program
control, and the timer can be stopped or started by
program control. Most timers can be
configured to generate an interrupt when they reach a
certain count (usually when they
overflow). The user program can use an interrupt to
carry out accurate timing-related
operations inside the microcontroller. Microcontrollers
in the PIC18F series have at
least three times. For example, the PIC18F452
microcontroller has three built-in
timers.
Some microcontrollers offer capture and compare
facilities, where a timer value can be
read when an external event occurs, or the timer value
can be compared to a preset
Chapter 2 : Micro Control
32
value, and an interrupt is generated when this value is
reached. Most PIC18F
microcontrollers have at least two capture and compare
modules.
Reset Input :
A reset input is used to reset a microcontroller
externally. Resetting puts the
microcontroller into a known state such that the
program execution starts from address
0 of the program memory. An external reset action is
usually achieved by connecting
a push-button switch to the reset input. When the
switch is pressed, the microcontroller
is reset.
Serial Input-Output :
Serial communication (also called RS232
communication) enables a microcontroller
to be connected to another microcontroller or to a PC
using a serial cable. Some microcontrollers have built-in
hardware called USART (universal synchronous
Chapter 2 : Micro Control
33
asynchronous receiver-transmitter) to implement a
serial communication interface.
The user program can usually select the baud rate and
data format. If no serial
Input-output hardware is provided, it is easy to develop
software to implement serial
data communication using any I/O pin of a
microcontroller. The PIC18F series of
microcontrollers has built-in USART modules. We shall
see in Chapter 6 how to write
micro C programs to implement serial communication
with and without a USART module.
Some microcontrollers (e.g., the PIC18F series)
incorporate SPI (serial peripheral
Interface) or I2C (integrated interconnect) hardware bus
interfaces. These enable a
Microcontroller to interface with other compatible
devices easily.
Chapter 2 : Micro Control
34
This is PIC used in this project and the most useful in the
world.
Figure (2-3)
This PIC contain 40 pins
Figure (2-4)
Chapter 2 : Micro Control
35
Figure (2-5)
Chapter 3
Chapter 3 : Hardware Description
37
3.1 - Introduction
3.2 - Tools used
3.3 - Components used
3.4 - Circuits used
Chapter 3 : Hardware Description
38
The goal of this projects to do something useful to the
medical field and can help patients and assistant who
responsible for patient’s service.
In this is chapter we will talk about the part of hardware
in the project.
3.2.1 - For Simulation :
Eagle
Proteus
3.2.2 - For programming :
Micro C programming language
Chapter 3 : Hardware Description
39
3.3.1 - PIC16F77A :
Figure (3-1)
In stepper motor circuit :
Take the input from switches and control the motor’s
steps.
In serial circuit:
Take signal from pc and convert it to language that
robot can understand.
In sensor circuit:
It takes signal from sensors and gives output to relays to
operate motors.
Chapter 3 : Hardware Description
40
3.3.2 - Electrical Resistance :
This device is putted on the circuit to Reduce the
voltage which causes the over load on the circuit.
Figure (3-2) Figure (3-3)
3.3.3 – Capacitors :
This component is used to protect the circuit from the
noise. It recharge after the power off.
Figure (3-4) Figure (3-5)
Chapter 3 : Hardware Description
41
Phototransistor :
Figure (3.6)
3.3.4 – LDR :
LDRs or Light Dependent Resistors are very useful
especially in light/dark sensor circuits. Normally the
resistance of an LDR is very high, sometimes as high as
1000 000 ohms, but when they are illuminated with
light resistance drops dramatically.
Figure (3-7)
Chapter 3 : Hardware Description
42
3.3.5 - Stepper motor :
is a brushless, electric motor that can divide a full
rotation into a large number of steps. The motor's
position can be controlled precisely without any
feedback mechanism (see Open-loop controller), as long
as the motor is carefully sized to the application.
Stepper motors are similar to switched reluctance
motors (which are very large stepping motors with a
reduced pole count, and generally are closed-loop
commutated).
Figure (3-8)
3.3.6 – Leds :
This component is used to test the program and to
generate lights.
Its shape like as shown as :
Chapter 3 : Hardware Description
43
Figure (3-9)
3.3.7 - Serial cable :
A serial cable is a cable that can be used to transfer
information between Computer and test board using
serial communication, often using the standard.
Serial cables used connectors with 9 pins.
Figure (3-10)
Chapter 3 : Hardware Description
44
3.3.8 - Regulator LM7805 :
A voltage regulator is an electrical regulator designed to
automatically maintain a constant voltage level.
Electronic voltage regulators are found in devices such
as computer power supplies where they stabilize the DC
voltages used by the processor and other elements
Figure (3-11)
3.3.9 - Max232 :
The MAX232 is an integrated circuit that converts
signals from an RS-232 serial port to signals suitable for
use in TTL compatible digital logic circuits. The MAX232
is a dual driver/receiver and typically converts the RX,
TX, CTS and RTS signals.
Datasheet on this like (http://datasheets.maxim-
ic.com/en/ds/MAX220-MAX249.pdf)
Chapter 3 : Hardware Description
45
Figure (3-12)
3.3.10 - Relay :
A relay is an electrically operated switch. Many relays
use an electromagnet to operate a switching
mechanism mechanically, but other operating principles
are also used. Relays are used where it is necessary to
control a circuit by a low-power signal (with complete
electrical isolation between control and controlled
circuits), or where several circuits must be controlled by
one signal
Figure (3-13)
Chapter 3 : Hardware Description
46
3.3.11 - Oscillator (Crystals) :
This device gives the clock pulse to the circuit to give
the output to the User
Figure 3.14
3.3.12 - Potentiometer :
Is a three-terminal resistor with a sliding contact that
forms an adjustable voltage divider. If only two
terminals are used (one side and the wiper), it acts as a
variable resistor or rheostat. Potentiometers are
commonly used to control electrical devices such as
volume controls on audio equipment. Potentiometers
operated by a mechanism can be used as position
transducers, for example, in a joystick.
Chapter 3 : Hardware Description
47
Figure (3-15)
3.3.13 - LM741 (Op-Amps used as comparator) :
The 741 op-amp is a common general purpose
Operational amplifier.
This op-amp is useful as it has short circuit protection
and high gain over a wide voltage (up to 18V max)
Figure (3-16)
Chapter 3 : Hardware Description
48
3.3.14 – Transistors :
A transistor can be thought of as a simple current
switch. There are two main transistors NPN and PNP.
NPN is the most common transistors. A transistor can
be thought of as two diodes sharing the same anode for
NPN or cathode for PNP. The base emitter junction is
forward biased and the base collector is reversed
biased. By applying a small voltage to the base of a
transistor you allow a current flow through the
transistor from the collector towards the emitter. This is
easy to remember as the collector will generally be
connected to your supply voltage and the emitter will
go towards ground. Also it is important to note that a
transistor is a current operated device and not voltage.
When a transistor is "switched on" it acts as a
conductor and therefore has very low resistance. If you
put too much current through a transistor it will get
VERY hot and will probably breakdown therefore you
should have a current limiting resistor connected in
series with Collector Emitter of a transistor as well as a
series resistor with the base of the transistor to also
limit the current flow at the base emitter junction.
Chapter 3 : Hardware Description
49
Diagrams of transistors: NPN & PNP Diode
representation
Figure (3-17)
NPN made out of diodes :
Figure (3-18)
A transistor has 3 pins: Base, emitter and Collector the
majority current flow is through Collector towards
emitter there is a secondary current flow from base to
emitter.
Chapter 3 : Hardware Description
50
Darlington pair : Like we use (tip122)
Figure (3-19)
This is two transistors connected together so that the
amplified current from the first transistor is amplified
further by the second transistor. The first transistor's
emitter feeds into the second transistor's base and as a
result the input signal is amplified. This circuit acts like a
single transistor with the gain = to the product of all the
gains of the transistors.
Hfetotal = hfe1 × hfe2
This might sound like a good thing right but with all
good things come draw backs doubling the transistors
also doubles the base voltage and therefore instead on
needing 0.7v to switch the transistor you will now need
1.4v. A Darlington pair is so sensitive to current flow,
Chapter 3 : Hardware Description
51
that it can detect the current of you touching the base
connector with your finger; this makes it perfect for
touch plate switches.
Transistor to switch a large load
Figure (3-20)
When a transistor is used as a switch it must be either
fully on or off. If driving a inductive load like a relay or
any type of coil you should connect a diode in reverse
bias across the load so that back EMF will not flow into
the transistor, destroying it.
Chapter 3 : Hardware Description
52
3.4.1 - light circuit :
Light path :
It the smart circuit that receive the signal from pc (
have patient database ) And show it to the robot to
know it’s path to reach the patient bed who have a
drug in this time .
this signal is translated from microcontroller to know
the desired path of the patient and to make the path
light up .
and when the robot reach to the desired bed , it receive
signal from limit switch to turn off the desired path
and test if it have another signal that have another path
to go it to provide service to the patient of this bed , or
the robot finish it’s service to go it’s
initial place .
the component of this circuit :
max 232 :
Interface used as the link between
the Micro Controller and PC.
Chapter 3 : Hardware Description
53
MAX 232
Chapter 3 : Hardware Description
54
Figure (3-21)
Internal structure for MAX 232
Figure (3-22)
Chapter 3 : Hardware Description
55
Way to connect the MAX 232
serial port
Figure (3-23)
tip
Figure (3-24)
Chapter 3 : Hardware Description
56
used to as electronic switch to connect and
disconnect…..
Figure (3-25)
Figure (3-26)
Chapter 3 : Hardware Description
57
Figure (3-27)
Serial circuite : Pcp
Figure (3-28)
Chapter 3 : Hardware Description
58
light circuit :
simulation this circuit using proteus at initial the robot
found in switch that have number three and when the
circuit of microcontroller receive signal from pc via
serial port by pins RB6, RB7
and this signal is translated from the code that found in
microcontroller and then the path is determind and
light up.
Port B defined as output which responsible for follow
up 1 binary which mean 5 volt on the path we need to
light up .
When the determined path is light , the sensor circuit
detect the light .
RLD (LM 741) :
When robot follow the light and reach to the desired
bed , it press the limit switch to turn off the path …and
check if it has another path to go in and provide a
service to the patient , or the robot finish it’s task to go
it’s initial place .
Chapter 3 : Hardware Description
59
Limit switch :
Figure (3-29)
At the end of each course there is this the sensor to tell
us when the arrival of the robot to a place you want at
this moment is off track Shining who was walking by the
robot, and then tested the presence of a signal to move
the robot to service bed last or whether it had
completed his task specified in the current time and
must return to his place again.
3.4.2) Sensor circuit :
The circuit is based on a Schmitt Trigger. I have publish
in the past many circuits based on this brilliant building
block, like this Thermostat Circuit and this PC Fan
Failure Alarm. If you do not know how the Schmitt
Trigger works, I suggest you follow this link to read the
theory.
Chapter 3 : Hardware Description
60
The IC1 (741) along with the resistors R2, R3 and r4
performs the Schmitt Trigger. Instead of a waveform,
the input to the 741 comes from a voltage divider,
performed by a photocell (PH1) and a potentiometer
R1. This potentiometer will eventually set the sensitivity
of the circuit.
This is the photocell (LDR) that i use The output of the
Schmitt Trigger is driven through a resistor (R5) to the
base of the transistor amplifier. The circuit as-is, may
not be able to directly drive a relay with this transistor.
If you plan to use this circuit to drive higher loads than
LEDs, then you may consider use more amplification
stages. I only plan to power some 3-4 LEDs, so the
power is enough. Each LED will have its own limiting
resistor.
The circuit has a hysteresis that can be adjusted by
changing R4. This hysteresis works as follows: The LEDs
turn on when a specific amount of light falls on the
photocell. The LEDs will remain ON as long as the
Chapter 3 : Hardware Description
61
luminosity is bellow this amount. When the amount of
light starts to increase again and goes above this
specific point, the LEDs will NOT turn off. Instead, the
amount of light must go a little bit higher for the LEDs
to turn off. This difference is the hysteresis. The bigger
the R4 - the smaller the hysteresis and vice versa.
Any resistor between 100 Ohms and 100 KOhms can be
used. But keep in mind that above 40 KOhms, the
hysteresis is very small, almost none, so practically
there is no meaning to make such a circuit. The point of
this circuit is to have this hysteresis. The reason is very
simple. Suppose that you use this circuit for security
light - the LEDs must turn on when the ambient light is
not sufficient. Now suppose that this circuit is outside,
and the sun begins to fall. There will be a time, that the
amount of light is exactly at the point that the LEDs
must turn on. In an ideal world, the LEDs would turn on
and remain like this. But this will not happen. Instead,
the LEDs will turn on and off every time that the light
slightly changes, even for a tiny amount, causing the
circuit to oscillate. This is where the hysteresis comes to
save the day. When the LEDs turn on, the luminosity
Chapter 3 : Hardware Description
62
will have to change a lot until they turn off again. So,
slight light changes will be filtered.
Figure (3-30)
But we work on light so we change it to work on light
When the LDR see the light lm741 will out 1 if not the
o/p will be zero
Figure (3-31)
Chapter 3 : Hardware Description
63
Figure (3-32)
Figure (3-33)
Chapter 3 : Hardware Description
64
Robot brian !!
It consist of pic16f877the input of the circuit comes
from the sensor circuit to port D and the output to port
B to motor driver .
Figure (3-34)
Figure (3-35)
Chapter 3 : Hardware Description
65
Motor driver : with 4 Relay and Transistor k2222:
it drive the two motor by the orders come from
microcontroller circuit (robot brain)
Figure (3-36)
Figure (3-37)
Chapter 3 : Hardware Description
66
3.4.3 - SerialCircuit
Figure (3-38)
Chapter 4
Chapter 4 : AGV
68
4.1 - introduction
4.2 - navigation
4.3 - Steering control
4.4 - Magnetic Tape mode
4.5 - Guide Tape
4.6 - why light?
Chapter 4 : AGV
69
An automated guided vehicle or automatic guided
vehicle (AGV) is a mobile robot that follows markers or
wires in the floor, or uses vision or lasers. They are most
often used in industrial applications to move materials
around a manufacturing facility or a warehouse.
Application of the automatic guided vehicle has
broadened during the late 20th century and they are no
longer restricted to industrial environments.
Figure (4-1)
Chapter 4 : AGV
70
Automated guided vehicles (AGVs) increase efficiency
and reduce costs by helping to automate a
manufacturing facility or warehouse The AGV can tow
objects behind them in trailers to which they can
autonomously attach. The trailers can be used to move
raw materials or finished product. The AGV can also
store objects on a bed. The objects can be placed on a
set of motorized rollers (conveyor) and then pushed off
by reversing them. Some AGVs use fork lift to lift
objects for storage. AGVs are employed in nearly every
industry, including, pulp, paper, metals, newspaper, and
general manufacturing. Transporting materials such as
food, linen or medicine in hospitals is also done.
An AGV can also be called a laser guided vehicle (LGV)
or self-guided vehicle (SGV). In Germany the technology
is also called Fahrerlose Transportsystem (FTS) and in
Sweden förarlösa truckar. Lower cost versions of AGVs
are often called Automated Guided Carts (AGCs) and are
usually guided by magnetic tape. AGCs are available in a
variety of models and can be used to move products on
an assembly line, transport goods throughout a plant or
Chapter 4 : AGV
71
warehouse, and deliver loads to and from stretch
wrappers and roller conveyors.
The first AGV was brought to market in the 1950s, by
Barrett Electronics of Northbrook, Illinois, and at the
time it was simply a tow truck that followed a wire in
the floor instead of a rail. Over the years the technology
has become more sophisticated and today automated
vehicles are mainly Laser navigated e.g. LGV (Laser
Guided Vehicle). In an automated process, LGVs are
programmed to communicate (via an off board server)
with other robots to ensure product is moved smoothly
through the warehouse, whether it is being stored for
future use or sent directly to shipping areas. Today, the
AGV plays an important role in the design of new
factories and warehouses, safely moving goods to their
rightful destinations.
In the late 20th century AGVs took on new roles as
ports began turning to this technology to move ISO
shipping containers. The Port of Rotterdam employs
well over 100 AGVs.
Chapter 4 : AGV
72
AGV applications are seemingly endless as capacities
can range from just a few pounds to hundreds of tons.
Wired :
The wired sensor is placed on the bottom of the robot
and is placed facing the ground. A slot is cut in the
ground and a wire is placed approximately 1 inch below
the ground. The sensor detects the radio frequency
being transmitted from the wire and follows it.
Laser Target Navigation :
The wireless navigation is done by mounting retro
reflective tape on walls, poles or machines. The AGV
carries a laser transmitter and receiver on a rotating
turret. The laser is sent off then received again the
angle and (sometimes) distance are automatically
calculated and stored into the AGV’s memory. The AGV
has reflector map stored in memory and can correct its
position based on errors between the expected and
received measurements. It can then navigate to a
Chapter 4 : AGV
73
destination target using the constantly updating
position.
Modulated Lasers :
The use of modulated laser light gives greater range and
accuracy over pulsed laser systems. By emitting a
continuous fan of modulated laser light a system can
obtain an uninterrupted reflection as soon as the
scanner achieves line of sight with a reflector. The
reflection ceases at the trailing edge of the reflector
which ensures an accurate and consistent measurement
from every reflector on every scan. The LS9 Scanner is
manufactured by guidance navigation Ltd and, by using
a modulated laser; this system achieves an angular
resolution of ~ 0.1 mrad (0.006°) at 8 scanner
revolutions per second.
Pulsed Lasers:
A typical pulsed laser scanner emits pulsed laser light at
a rate of 14,400 Hz which gives a maximum possible
resolution of ~ 3.5 mrad (0.2°) at 8 scanner revolutions
Chapter 4 : AGV
74
per second. To achieve a workable navigation, the
readings must be interpolated based on the intensity of
the reflected laser light, to identify the Centre of the
reflector.
Gyroscopic Navigation:
Another form of AGV guidance is inertial navigation.
With inertial guidance, a computer control system
directs and assigns tasks to the vehicles. Transponders
are embedded in the floor of the work place. The AGV
uses these transponders to verify that the vehicle is on
course. A gyroscope is able to detect the slightest
change in the direction of the vehicle and corrects it in
order to keep the AGV on its path. The margin of error
for the inertial method is ±1 inch.
Inertial can operate in nearly any environment including
tight aisles or extreme temperatures.
Chapter 4 : AGV
75
Figure (4-2)
Unit-load AGV using natural-features navigation to
carry steel to quality assurance lab, courtesy Mobile
RobotsInc.
Natural Features Navigation:
Navigation without retrofitting of the workspace is
called Natural Features Navigation. One method uses
one or more range-finding sensors, such as a laser
range-finder, as well as gyroscopes and/or inertial
measurement units with Monte-Carlo/Markov
localization techniques to understand where it is as it
dynamically plans the shortest permitted path to its
goal. The advantage of such systems is that they are
Chapter 4 : AGV
76
highly flexible for on-demand delivery to any location.
They can handle failure without bringing down the
entire manufacturing operation, since AGVs can plan
paths around the failed device. They also are quick to
install, with less down-time for the factory.
To help an AGV navigate it can use two different steer
control systems. The differential speed control is the
most common. In this method there are two sets of
wheels being driven. Each set is connected to a common
drive train. These drive trains are driven at different
speeds in order to turn or the same speed to allow the
AGV to go forwards and/or backwards. The AGV turns
in a similar fashion to a tank. This method of steering is
good in the sense that it is easy to maneuver in small
spaces. More often than not, this is seen on an AGV that
is used to transport and turn in tight spaces or when the
AGV is working near machines.
Chapter 4 : AGV
77
This setup for the wheels is not used in towing
applications because the AGV would cause the trailer
tojackknife when it turned.
The other type of steering used is steered wheel control
AGV.
This type of steering is similar to a cars steering. It is
more precise in following the wire program than the
differential speed controlled method.
This type of AGV has smoother turning but cannot make
sharp turns in tight spots.
Steered wheel control AGV can be used in all
applications; unlike the differential controlled.
Steered wheel control is used for towing and can also at
times have an operator control it.
The magnetic tape is laid on the surface of the floor or
buried in a 10 mm channel, not only does it provide the
path for the AGV to follow but also sort strips of the
tape in different combos of the strip tell the AGV to
Chapter 4 : AGV
78
change lane and also speed up slow down and stop with
north and south magnetic combos, this is used by
TOYOTA USA and TOYOTA JAPAN.
Many light duty AGVs (some known as automated
guided carts or AGCs) use tape for the guide path. The
tapes can be one of two styles: magnetic or colored.
The AGC is fitted with the appropriate guide sensor to
follow the path of the tape.
One major advantage of tape over wired guidance is
that it can be easily removed and relocated if the course
needs to change.
It also does not involve the expense of cutting the
factory or warehouse floor for the entire travel route.
Additionally, it is considered a "passive" system since it
does not require the guide medium to be energized as
wire does.
Chapter 4 : AGV
79
Colored tape is initially less expensive, but lacks the
advantage of being embedded in high traffic areas
where the tape may become damaged or dirty.
A flexible magnetic bar can also be embedded in the
floor like wire but works under the same provision as
magnetic tape and so remains unpowered or passive.
To overcome this drawback, instead of guide tape we
used light follower.
Figure (4-3)
Chapter 4 : AGV
80
Light is smart circuit that receive the signal from pc And
show it to the robot to know its path.
Figure (4-4)
There are many advantages to use light follower instead
of line follower:
1. It is a New AGV technique that provides more
study for us.
2. Simple.
3. easy to implement.
4. Easy in programming.
Chapter 4 : AGV
81
5. Can be expanded as paths can be added easily.
6. No need to change code in case of expand.
7. Light overcomes some of line disadvantages
(Crash and expandability).
8. looks elegant and used in many styles.
9. Reflect luxury.
10. No need to be embedded in the floor like wire.
11. Controlled by pc only.
12. easy to maintained.
13. errors are easy to be detected.
But its disadvantage is high cost.
Chapter 5
Chapter 5 : Mechanical Description
82
5.1 - Robot’s mechanical design
5.2 - Components
5.2.1 - The base
5.2.2 - The arm
5.2.3 - The disk
5.2.4 - The disk shroud
5.2.5 - The disk lug
5.3 - Robot main structure (body)
5.4 - Robot motion and motors
Chapter 5 : Mechanical Description
83
This robot is a simulation for an auto nurse robot which
delivers medicine to definite places.
Figure (5-1)
Chapter 5 : Mechanical Description
84
A simple mechanical design was made to provide this
job, and the robot main components are as follow:
5.2.1 - The base :
A square shaped base 30cm x 30cm which contains
motors, wheels and free wheels
It also provides installation for robot main structure.
Figure (5-2)
Chapter 5 : Mechanical Description
85
Figure (5-3)
Figure (5-4)
Chapter 5 : Mechanical Description
86
5.2.2 - The arm :
Which holds the stepper motor and the disk is also
fitted to the base.
Figure (5-5)
Chapter 5 : Mechanical Description
87
5.2.3 - The disk :
The disk is made from wood and is dividing into 17
portions which include medicine.
Figure (5-6)
Chapter 5 : Mechanical Description
88
The disk consists of two modules :
- The upper modules which contains medicine (Fig 5).
- The lower module which provides the motion of the
disk as it has a direct contact with the Stepper motor.
Figure (5-7)
5.2.4 - The disk shroud :
Which surrounds the disk to prevent medicine in the
disk from falling down in the robot.
Chapter 5 : Mechanical Description
89
It has one open port for medicine sliding out of the disk.
Figure (5-8)
Chapter 5 : Mechanical Description
90
5.2.5 - The disk lug :
At which the medicine slides over it out of the robot.
Figure (5-9)
Chapter 5 : Mechanical Description
91
The body is made of metal and wood and it provides
containment for the disk, electronics, motors and the
base.
Figure (5-10)
Chapter 5 : Mechanical Description
92
There are two types of motors were used in the robot
which are (gearbox motor, stepper motor).
The base contains two gear box motors with two small
wheels centered in the base to enable the robot to
rotate in its position without shifting.
Figure (5-11)
Chapter 5 : Mechanical Description
93
The disk contains one stepper motor to provide the
rotational motion of the disk.
Figure (5-12)
Chapter 6
Chapter 6 : Software Description
95
Contents
6.1 - About software
6.2 - Welcome window
6.3 - Main window
6.4 - Patients data window
6.5 - Patient medicines window
6.6 - Doctors data window
6.7 - Medicines data window
6.8 - Patients medicines windows
Chapter 6 : Software Description
96
6.1 - About software
In this chapter we will talk about the software we use
to manage small hospital.
This project is fully depend on software as the idea of
software part is storing all data about patients and the
times of their medicines in database and then sent it to
the robot by serial connection and then robot start it’s
trip to deliver medicines to the patient .
Programs Used:
Microsoft visual C# programming language.
Microsoft SQL server 2008.
How does program wok?
1. User inters patient data and his medicines and
clicks save.
2. Data saved in database via connection between c#
and database.
3. Time is checked permanently and at specific time a
signal is sent to light follower to light the path to
the specific bed.
Chapter 6 : Software Description
97
Design goals :
The ECMA standard lists these design goals for C#
language is intended to be a simple, modern, general-
purpose, object-oriented programming language.
The language, and implementations thereof, should
provide support for software engineering principles
such as strong-type checking, array bounds checking,
detection of attempts to use uninitialized variables,
and automatic garbage collection. Software robustness,
durability, and programmer productivity are important.
The language is intended for use in developing software
component suitable for deployment in distributed
environments.
Source code portability is very important, as is
programmer portability, especially for those
programmers already familiar with C and C++.
Support for internationalization is very important.
C# is intended to be suitable for writing applications for
both hosted and embedded system, ranging from the
Chapter 6 : Software Description
98
very large that use sophisticated operating systems,
down to the very small having dedicated functions.
Although C# applications are intended to be economical
with regard to memory and processing
power requirements, the language was not intended to
compete directly on performance and size with C or
assembly language.
Chapter 6 : Software Description
99
6.2 - Welcome window :
When using welcome window, There are some different
functions to choose from. Picture below is an example
of how the interface looks like and a short description
of each function.
Figure (6.1)
Welcome window used for user access control to define
user type and his privileges for using the software.
Chapter 6 : Software Description
100
6.3 - Main window :
When using main window, there are some different
functions to choose from. Picture below is an example
of how the interface looks like and a short description
of each function.
Figure (6.2)
1 – Patient data button : used to switch to the patients
data window to add new patient or modify existing one
or even delete a patient.
Chapter 6 : Software Description
101
2 – Doctor data button : used to switch to the doctors
data window to add new doctor or modify existing one
or even delete a doctor.
3 – Medicine data button : used to switch to the
medicine data window to add new medicine or modify
existing one or even delete a medicine.
4 – Exit button : used to close the program.
Chapter 6 : Software Description
102
6.4 - Patients data window :
When using patients data window, There are some
different functions to choose from. Picture below is an
example of how the interface looks like and a short
description of each function.
Figure (6.3)
1 – View button : used to show existing patient data
according to his ID number. Just enter the patient ID
number and click the view button the patient data will
appear in the fields shown in the window.
Chapter 6 : Software Description
103
2 – Save button : used to add new patient data to the
database. All you have to do is fill the required fields in
the patients data window and click the save button and
data will be sent to the database.
3 – Update button : used to modify existing patient data
by entering his ID number and click the view button to
show his data and then modify the required fields and
click the update button to send the modified data to the
database.
4 – Delete button : used to delete existing patient data
by entering his ID number and click the view button to
confirm that it is the required patient and then click the
delete button to send request to the database to delete
this patient from the database.
5 – Clear button : this button is used to clear all fields in
the patients data window to prepare it to new
operation.
6 – Add medicines button : used to add required
medicines for the patient with the number of times will
he take the medicine, the time when he will take the
Chapter 6 : Software Description
104
medicine, and the number of pills of the medicine
should the patient take.
7 – Browse button : used to add a picture for the
patient from hard disk drive or any other media to be
saved with the patient data in the database.
Chapter 6 : Software Description
105
6.5 - Patient medicines window :
When using patient medicines window, There are some
different functions to choose from. Picture below is an
example of how the interface looks like and a short
description of each function.
Figure (6.4)
Button number (1) : used to confirm the you done with
choosing the required medicines for the patient by
choosing them from the given comboboxes, choose
what number of times will the patient take the
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medicine, and the number of pills of the medicine will
the patient take then the data will be saved in patient
medicines table in the database.
Button number (2) :used to cancel the operation of
choosing required medicines for the patient and this
due to error happened or if there is any other reason.
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6.6 - Doctors data window :
When using doctors data window, There are some
different functions to choose from. Picture below is an
example of how the interface looks like and a short
description of each function.
Figure (6.5)
1 – View button : used to show existing doctor data
according to his ID number. Just enter the doctor ID
number and click the view button. The data will be send
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from the database to be appeared in the fields shown in
the window.
2 – Save button : used to add new doctor data to the
doctors data table in the database. All you have to do is
fill the required fields in the doctors data window and
click the save button and data will be saved in doctors
data table in the database.
3 – Update button : used to modify existing doctor data
by entering his ID number and click the view button to
show his data and then modify the required fields and
click the update button to send the modified data to the
doctors data table in the database.
4 – Delete button : used to delete existing doctor data
by entering his ID number and click the view button to
confirm that it is the required doctor and then click the
delete button to send request to the database to delete
this patient from the doctors data table in the database.
5 – Clear button : this button is used to clear all fields in
the doctors data window to prepare it to new
operation.
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6 – View Doctor DB button : used to select all doctors
data from the doctors data table to be viewed in the
data grid view shown in the doctors data window.
7 – Browse button : used to add a picture for the doctor
from hard disk drive or any other media to be saved
with the doctor data in the doctors data table in the
database.
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6.7 - Medicines data window :
When using medicines data window, There are some
different functions to choose from. Picture below is an
example of how the interface looks like and a short
description of each function.
Figure (6.6)
1 – View button : used to show existing medicine data
according to its ID number. Just enter the medicine ID
number and click the view button. The data will be send
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111
from the database to be appeared in the fields shown in
the window.
2 – Save button : used to add new medicine data to the
medicines data table in the database. All you have to do
is fill the required fields in the medicines data window
and click the save button and data will be saved in
medicines data table in the database.
3 – Update button : used to modify existing medicine
data by entering its ID number and click the view button
to show its data and then modify the required fields
and click the update button to send the modified data
to the medicines data table in the database.
4 – Delete button : used to delete existing medicine
data by entering its ID number and click the view button
to confirm that it is the required medicine and then click
the delete button to send request to the database to
delete this medicine from the medicines data table in
the database.
5 – Clear button : this button is used to clear all fields in
the medicine data window to prepare it to new
operation.
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6 – View Medicine DB button : used to select all
medicines data from the medicines data table to be
viewed in the data grid view shown in the medicines
data window.
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6.8 – Patients Medicines window :
When using Patients medicines window, There are
some different functions to choose from. Picture below
is an example of how the interface looks like and a
short description of each function.
Figure (6.7)
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This window is used for show patients medicines for
specific time period to send the signal to the robot to
deliver them to patients from the hospital pharmacy
under supervision of the responsible pharmacist.
The time of medicines is appeared in the data grid view
shown in the previous figure.
Chapter 7
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116
Figure (7-1)
It is a type of serial.
It is wireless network like mobile network.
Used instead of wired connection.
Advantages :
Remote control of the room.
Used in wide range.
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Disadvantages :
Very expensive
Needs high possibility
Message is not pure.
Some commands of GSM :
At + CMGS: to send a signal.
At + CMGR: to read signal.
At + CMGD: to delete message.
At: to check if the device is connected.
Camera can be added to robot so that patient’s family
can talk and see patient through it.
Doctor can talk to patient and precede patient status.
It increases more security to the system.
Nurse ensures that patient takes his medicine.
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Our project is a part of automatic hospital system.
So we hope to do automatic pharmacy that contain medicine and robot take it automatic without need to human.
Robot can take medicine and deliver it to the patient without error and faster in the time required.
Pharmacy contains software that contain database for medicines.
We hope to use technique of image processing in our project to recognize patient.
And this technique provides more security for system to avoid errors.
Doctor can access patient’s data remotely to precede his status with wireless connection through mobile network or internet.
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Improve design to enable it to inject patient or liquid
bottles.
Programming language C# by Prof. Dr. Ali Ibrahim Al-Desouky.
Micro controller by Dr. Mohamed Sherief Al-Kasasy http://www.w3schools.com/sql/sql_quickref.asp http://www.luxand.com http://www.wikipedia.com From Wikipedia, the free encyclopedia The Basics - Microcontrollers (part 1) Student Guide VERSION 2.2
Thanks to Robin Getz of National Semiconductor who supplied some of the material in this section.
