nghiên cứu, thiết kế, chế tạo hệ thống vận chuyển thuốc và y cụ trong bệnh viện pdf pdf

ỦY BAN NHÂN DÂN THÀNH PHỐ HỒ CHÍ MINH SỞ KHOA HỌC VÀ CÔNG NGHỆ TRUNG TÂM NGHIÊN CỨU THIẾT BỊ VÀ CƠNG NGHỆ CƠ KHÍ BÁCH KHOA CHƯƠNG TRÌNH KHOA HỌC VÀ CÔNG NGHỆ CẤP THÀNH PHỐ BÁO CÁO TỔNG HỢP KẾT QUẢ NHIỆM VỤ NGHIÊN CỨU KHOA HỌC VÀ CÔNG NGHỆ NGHIÊN CỨU THIẾT KẾ, CHẾ TẠO HỆ THỐNG VẬN CHUYỂN THUỐC VÀ Y CỤ TRONG BỆNH VIỆN Cơ quan chủ trì nhiệm vụ: Trung tâm Nghiên cứu Thiết bị Cơng nghệ Cơ khí Bách Khoa Chủ nhiệm nhiệm vụ: TS Phạm Văn Anh Tp.HCM, 03/2022 Thành phố Hồ Chí Minh - 2022 ỦY BAN NHÂN DÂN THÀNH PHỐ HỒ CHÍ MINH SỞ KHOA HỌC VÀ CƠNG NGHỆ TRUNG TÂM NGHIÊN CỨU THIẾT BỊ VÀ CÔNG NGHỆ CƠ KHÍ BÁCH KHOA CHƯƠNG TRÌNH KHOA HỌC VÀ CƠNG NGHỆ CẤP THÀNH PHỐ BÁO CÁO TỔNG HỢP KẾT QUẢ NHIỆM VỤ NGHIÊN CỨU KHOA HỌC VÀ CÔNG NGHỆ NGHIÊN CỨU THIẾT KẾ, CHẾ TẠO HỆ THỐNG VẬN CHUYỂN THUỐC VÀ Y CỤ TRONG BỆNH VIỆN (Đã chỉnh sửa theo kết luận Hội đồng nghiệm thu ngày 28/04/2022) Chủ nhiệm nhiệm vụ: TS Phạm Văn Anh Cơ quan chủ trì nhiệm vụ PGS.TS Võ Tường Quân Thành phố Hồ Chí Minh- 20… Mục lục CHƯƠNG TỔNG QUAN 1.1 Giới thiệu phương pháp vận chuyển thuốc y cụ bệnh viện 1.1.1 Vận chuyển thuốc y cụ xe đẩy truyền thống 1.1.2 Vận chuyển thuốc y cụ hệ thống khí nén 1.1.3 Vận chuyển thuốc y cụ AGV 1.1.4 Vận chuyển thuốc y cụ phương pháp thùng thuốc di chuyển ray dẫn 1.1.5 Vận chuyển thuốc y cụ phương pháp sử dụng ray dẫn thiết kế xe di chuyển bên 11 1.1.6 Vận chuyển thuốc y cụ phương pháp thùng thuốc di chuyển băng tải treo 14 1.2 Công nghệ cảm biến phương án điều khiển thường sử dụng cho hệ thống vận chuyển 16 1.3 Các tiêu chuẩn an toàn việc chế tạo, vận hành thiết bị Bệnh viện 21 1.3.1 Tiêu chuẩn Quốc gia an toàn điện y tế 21 1.3.2 Quy định phương tiện vận chuyển trang thiết bị y tế 21 1.3.3 Quy định loại vật liệu sử dụng bệnh viện 22 1.3.4 Quy định vận chuyển thuốc trình vận chuyển 23 1.4 Nhận xét ưu điểm nhược điểm phương pháp vận chuyển thuốc dc trích dẫn 23 1.5 Đặt vấn đề 28 CHƯƠNG LỰA CHỌN PHƯƠNG ÁN 32 2.1 Lựa chọn phương án truyền động 32 2.2 Lựa chọn phương án module băng tải thẳng 41 2.3 Lựa chọn phương án băng tải qua đoạn 900 44 2.4 Lựa chọn phương án module băng tải chuyển line 46 2.5 Lựa chọn phương án module băng tải nâng hạ (module di chuyển lên xuống) 48 2.6 Lựa chọn loại động truyền động 49 2.7 Lựa chọn loại vật liệu chế tạo thùng thuốc 50 2.8 Lựa chọn điều khiển cho hệ thống 51 2.9 Lựa chọn cảm biến cho hệ thống 53 CHƯƠNG TÍNH TỐN THIẾT KẾ CƠ KHÍ 59 3.1 Tính tốn thiết kế khí cho module băng tải thẳng 60 3.1.1 Tính tốn, lựa chọn xích tải 60 3.1.2 Tính tốn, lựa chọn động dẫn động 66 3.1.3 Tính tốn truyền xích 70 3.1.4 Tính tốn kiểm nghiệm trục then 76 3.1.5 Tính toán kiểm nghiệm ổ lăn 84 3.2 Tính tốn thiết kế khí cho module chuyển line 87 3.2.1 Tính tốn lựa chọn vít me bi 87 3.2.2 Lựa chọn loại đai ốc bi 89 3.2.3 Lựa chọn phương án gá đặt trục vít me bi 89 3.2.4 Lựa chọn loại gối đỡ 91 3.2.5 Tính toán lựa chọn động 91 3.2.6 Kiểm nghiệm bền cho hệ vít me bi 94 3.3 Tính tốn thiết kế khí cho module băng tải nâng hạ 96 3.3.1 Tính toán, lựa chọn động dẫn động 96 3.3.2 Tính tốn truyền xích (trục động đến trục 1) 100 3.3.3 Tính tốn truyền xích (Từ trục đến trục 2) 105 3.3.4 Tính toán kiểm nghiệm trục 110 3.3.5 Tính tốn kiểm nghiệm ổ lăn 117 3.4 Tính tốn thiết kế khí cho module băng tải cong 120 3.4.1 Tính tốn lựa chọn loại xích tải 120 3.5 Nghiên cứu tính tốn, thiết kế hệ thống treo băng tải sử dụng khơng gian phía trần 126 3.5.1 Tính tốn thiết kế khung đỡ băng tải 128 3.5.2 Lựa chọn dầm 130 3.5.3 Bố trí treo lắp đặt hệ thống 131 3.5.4 Tính tốn lựa chọn ren treo hệ thống 134 CHƯƠNG THIẾT KẾ HỆ THỐNG ĐIỆN 139 4.1 Tiêu chí tổng quan thiết kế hệ thống điện 139 4.2 Tính tốn thiết kế lựa chọn thiết bị điện 139 4.2.1 Lựa chọn loại PLC 139 4.2.2 Lựa chọn loại remote I/O 140 4.2.3 Lựa chọn HMI 143 4.2.4 Lựa chọn đếm Counter 144 4.2.5 Lựa chọn loại RFID, cảm biến tiệm cận cơng tắc hành trình 145 4.2.6 Lựa chọn nguồn điện DC cho hệ thống 147 4.2.7 Tính tốn lựa chọn loại dây điện khí cụ điện cho hệ thốngq 147 4.3 Thiết kế hệ thống điện cho module băng tải thẳng 152 4.4 Thiết kế hệ thống điện cho module băng tải nâng hạ 155 4.5 Thiết kế hệ thống điện cho module băng tải chuyển line line 156 4.6 Thiết kế hệ thống điện cho toàn hệ thống 158 CHƯƠNG THIẾT KẾ HỆ THỐNG ĐIỀU KHIỂN 169 5.1 Tiêu chí thiết kế module điều khiển 170 5.2 Tổng quan giải thuật điều khiển 170 5.3 Xây dựng sở liệu 172 5.4 Xây dựng giải thuật điều khiển lưu đồ giải thuật 176 5.4.1 Giải thuật tổng quát điều khiển hệ thống 176 5.4.2 Giải thuật điều khiển cho module băng tải thẳng 180 5.4.3 Giải thuật điều khiển cho module băng tải nâng hạ 185 5.4.4 Giải thuật điều khiển cho module băng tải chuyển line line 190 5.5 Đề xuất phương án sử dụng mạch counter cảm biến tiệm cận để tiết kiệm điện rủi ro hệ thống hoạt động 197 5.5.1 Thùng thuốc di chuyển băng tải thẳng từ module nâng hạ đến module chuyển line 198 5.5.2 Thùng thuốc di chuyển module băng tải thẳng từ module chuyển line đến module nâng hạ 203 5.5.3 Trường hợp thùng thuốc di chuyển module băng tải thẳng từ module chuyển line đến module chuyển line khác 204 CHƯƠNG MÔ PHỎNG HỆ THỐNG 206 6.1 Chương trình mơ hệ thống trạm đặt trung tâm BKRECME 207 6.1.1 Truy xuất liệu từ sở liệu 209 6.1.2 Xử lý vị trí băng tải nâng hạ 211 6.1.3 Xử lý vị trí băng tải chuyển line 212 6.1.4 Xử lý vị trí băng tải chuyển line 215 6.1.5 Xử lý việc hệ thống hoạt động trở lại sau bị ngắt điện 218 6.2 Chương trình mơ trạm theo sa bàn thực tế bệnh viện quận 11 220 6.3 Nhận xét kết mô hệ thống 225 CHƯƠNG THỰC NGHIỆM HỆ THỐNG VÀ ĐÁNH GIÁ KẾT QUẢ 228 7.1 Thiết lập kết nối PLC, HMI, đầu đọc RFID Server thông qua TCP/IP 228 7.2 Một số hình ảnh trình lắp đặt hệ thống 234 7.3 Kết thực nghiệm hệ thống 240 7.3.1 Thực nghiệm khả truyền thông thiết bị PLC, HMI, đầu đọc RFID, Server sở liệu 240 7.3.2 Thực nghiêm khả vận chuyển thùng thuốc hệ băng tải treo, đoạn 900 vấn đê phát sinh 245 7.3.3 Thực nghiệm vận chuyển thùng thuốc từ trạm đến module chuyển line gần 248 7.3.4 Thực nghiệm vận chuyển thùng thuốc từ trạm chuyển line khoa đến trạm chuyển line 252 7.4 Đánh giá kết thực nghiệm hệ thống 255 CHƯƠNG TỔNG KẾT VÀ PHƯƠNG HƯỚNG PHÁT TRIỂN ĐỀ TÀI 257 8.1 Kết luận 257 8.2 Đề xuất 262 Danh mục bảng Bảng 1.1 Bảng so sánh phương pháp vận chuyển thuốc y cụ dùng bệnh viện nước 24 Bảng 1.2 Bảng so sánh phương pháp vận chuyển thuốc y cụ dùng bệnh viện nước 25 Bảng 1.3 Bảng so sánh phương pháp vận chuyển thuốc y cụ nghiên cứu nước 27 Bảng 2.1 So sánh lựa chọn phương án truyền động theo tiêu chí đưa 33 Bảng 2.2 So sánh lựa chọn loại băng tải phù hợp 36 Bảng 2.3 so sánh lựa chọn cách thức hoạt động hệ thống băng tải phù hợp 42 Bảng 2.4 So sánh lựa chọn phương án di chuyển đoạn chuyển hướng 90 44 Bảng 2.5 So sánh lựa chọn phương án chuyển hướng 46 Bảng 2.6 So sánh lựa chọn phương án module băng tải nâng hạ 48 Bảng 2.7 So sánh lựa chọn điều khiển 51 Bảng 2.8 So sánh lựa chọn loại cảm biến cho hệ thống 53 Bảng 2.9 So sánh lựa chọn tủ điện bật tắt băng tải 56 Bảng 2.10 Bảng liệu tóm tắt lại ác phương án chọn 57 Bảng 3.1 Thơng số kỹ thuật mắc xích C0820K0750DPAA [23] 63 Bảng 3.2 Thông số kỹ thuật bánh xích C0820M19NY [23] 64 Bảng 3.3 Các số liệu tính tốn trục băng tải thẳng vị trí nguy hiểm 80 Bảng 3.4 Kết tính tốn hệ số an toàn trục băng tải thẳng tiết diện nguy hiểm 81 Bảng 3.5 Kết kiểm nghiệm then tiết diện nguy hiểm 82 Bảng 3.6 Bảng thống kê thông số module băng tải thẳng 86 Bảng 3.7 Các cấp sai số ứng với hành trì vít me [57] 88 Bảng 3.8 Ký hiệu khe hở hướng trục vít me [58] 88 Bảng 3.9 Độ dài tối đa trục vít me bi [58] 88 Bảng 3.10 Thông số đai ốc bi SFU3210-4 [58] 89 Bảng 3.11 Thơng số kích thước gối đỡ BK25 BF25 [58] 91 Bảng 3.12 Thơng số kích thước nối trục MHW-50C-12-20 (mm) [59] 94 Bảng 3.13 Bảng thống kê thông số module băng tải chuyển line 96 Bảng 3.14 Các số liệu tính tốn trục băng tải đứng tiết diện nguy hiểm 113 Bảng 3.15 Kết tính tốn hệ số an toàn tiết diện nguy hiểm trục băng tải đứng 113 Bảng 3.16 Kết kiểm nghiệm then tiết diện nguy hiểm trục băng tải đứng 114 Bảng 3.17 Các số liệu tính tốn trục băng tải đứng vị trí nguy hiểm 116 Bảng 3.18 Kết tính tốn hệ số an tồn tiết diện nguy hiểm trục băng tải đứng 116 Bảng 3.19 Kết kiểm nghiệm then tiết diện nguy hiểm 117 Bảng 3.20 Bảng thống kê thông số module băng tải nâng hạ 119 Bảng 3.21 Thông số kỹ thuật mắc xích C0880K0750LFBA 122 Bảng 3.22 Thơng số kỹ thuật bánh xích C0820M19NY 123 Bảng 3.23 Thông số dầm thép chữ I 131 Bảng 4.1 Thông số kỹ thuật PLC [50] 140 Bảng 4.2 Thông số kỹ thuật module EtherNet, I/O mở rộng [51] 143 Bảng 4.3 Thông số kỹ thuật HMI MT8071IP 143 Bảng 4.4 Thông số kỹ thuật Counter CX6s-1P4F [54] 144 Bảng 4.5 Thông số kỹ thuật đầu đọc RFID HDM8540 [56] 145 Bảng 4.6 Thông số kỹ thuật cảm biến [53] 146 Bảng 4.7 Thông số kỹ thuật công tắc hành trình CNTDTZ – 8166 146 Bảng 4.8 Thơng số kỹ thuật nguồn Allen-Bradley 1606-XLB240E [54] 147 Bảng 4.9 Thông số kỹ thuật MCB EZ9F34250 150 Bảng 4.10 Phân chia module điều khiển trạm 162 Bảng 4.11 Quy ước tên băng tải, tên thiết bị thích khác 163 Bảng 4.12 Quy định tiếp điểm cho input hệ thống 164 Bảng 4.13 Phân chia cuộn dây tiếp điểm tương ứng với output hệ thống 165 Bảng 5.1 Cơ sở liệu module băng tải 173 Bảng 5.2 Cơ sở liệu thùng thuốc 174 HỘI NGHỊ KHOA HỌC VÀ CƠNG NGHỆ TỒN QUỐC VỀ CƠ KHÍ, LẦN VI, NĂM 2021 MATERIALS AND METHODS 2.1 General concept Fig The overall control block diagram of the entire system For the Server, an application for user interface will be developed for better managing and controlling the medical container’s route As for the database, the selected software is MySQL The RFID reader sends the name tag of the medicine container to the PC via the TCP/IP protocol The PC has a database to store data from the containers and conveyors The communication between PC and PLC is carried out by TCP/IP protocol The primary design has proposed with three stations They are Pharmacy (ST1), ICU (ST2) and Pediatrics (ST3), and threecontainer system to simulate three departments in the hospital with three modules such as a forward conveyor module, lift module and  line switching module Each container has the ISSN 2615 - 9910 TẠP CHÍ CƠ KHÍ VIỆT NAM, Số đặc biệt tháng 12 năm 2021 cokhivietnam.vn / tapchicokhi.com.vn HỘI NGHỊ KHOA HỌC VÀ CÔNG NGHỆ TỒN QUỐC VỀ CƠ KHÍ, LẦN VI, NĂM 2021 capacity to transport up to 15 kilograms of medicine 2.2 The controller and electrical design of the entire In Fig 1, the diagram illustrates the power and control connection between blocks such as Power, Management, Control, Sensors, and Motors 2.2.1 The controller and electrical design for the forward motion module The forward motion module includes types of conveyors, which are uni-directional and bi-directional Two RFID readers are arranged at the two ends of the module to help identify and navigate the medical container if it is entering or leaving the module The Function of the forward motion module: If the next module after the forward motion module is either a line switching module or lifting module, the current position of the box (which module it is in) will be updated in the database and the number of boxes on the current module will be added by After that, the system checks if the box is leaving the forward motion module through the RFID reader at the end of the conveyor The conveyor of the forward motion module will then be stopped There are two possible situations: (1) The following module is a line switching module: The system then checks the priority index of the box to determine if it goes into the line switching module �rst With the speci�ed priority index, the number of boxes having the same priority is taken into account, in which the one with the higher-order number ISSN 2615 - 9910 will go into the line switching module �rst until there is no box left This means that the boxes at lower priority could only enter the line switching module when the number of boxes at the highest priority returns to To make sure that the medical containers can enter the line switching module, it must follow the condition “ready” of the line switching module, which means there are currently no medical containers on the sub-conveyor of the line switching module and it has to be at HOME position When the condition “ready” is guaranteed, the entry process could begin after the displacement of the sub-conveyor to the right line (2) The following module is a lifting module: The system will check if the lifting module is “ready” or not If the lifting module is in the process of transporting another medical container, the current box at forward motion module is forced to deactivate until the lift is ready again 2.2.2 The controller and electrical design of the lifting module The lifting module includes RFID reader and proximity sensors The RFID reader con�rms that the medical container is out of the module and the three proximity sensors help limit the conveyor’s travel distance The Function of the line switching module: The signal for initializing and ending the operation of the 2-line switching module comes from two RFID readers, both before and after the line switching module After its operation, the sub-conveyor of the line switching module returns to the HOME TẠP CHÍ CƠ KHÍ VIỆT NAM, Số đặc biệt tháng 12 năm 2021 cokhivietnam.vn / tapchicokhi.com.vn HỘI NGHỊ KHOA HỌC VÀ CƠNG NGHỆ TỒN QUỐC VỀ CƠ KHÍ, LẦN VI, NĂM 2021 position This indicates that the module is “ready” for the next shift Moreover, the priority level of the medical container is considered 2.2.3 The controller and electrical design of the line switching module The line switching module includes types: 2-line switching module and 4-line switching module They have the same control principle The Function of the lifting module: A similar principle applies to the function of the lifting module with some differences due to its characteristics 2.2.4 Database construction The database is built to store the data of the conveyor module and the medicine boxes’ data As mentioned above, Qt’s library supports direct transmission to MySQL, as well as communication with PLC through TCP/IP protocol 2.2.5 Retrieve data from database The connection to the MySQL database will be made as soon as the system starts The database will always connect and be able to be accessed Since the data is always stored in the database, the risk of data loss due to power failure is regardless 2.2.6 System’s operation When users input the desired route by using the HMI screen of the control system, the operation starts Users then place the container directly under the RFID reader on the conveyor at the shipping station and consequently, the conveyor system operates accordingly to the container’s route In this system, PC plays a main role in planning and processing all possible routes, whose data would be constantly sent to the database for storage and management, and then activates the conveyor modules by toggling the contactors, which are directly controlled by the PLC connected to PC via TCP/IP protocol In addition, RFID readers are arranged along with the travel route of the medicine box When readers detect the RFID tag attached to the lid of the medicine container, its data, read by an RFID reader, would be sent to the PC using TCP/IP for further processing and deciding whether if the medicine box is safe to continue to move or not For the better controllability, proximity sensors are added to the system to limit the travel distance of conveyor modules When there are multiple boxes occurred on the same line switching point, the appropriate control algorithms are required to handle the traf�c problem Only when the medicine box reaches its destination would the operation end RESULTS AND DISCUSSION The control section emphasizes the performance of locations that need complex processing as well as the performance level of the system The program interface is built in the experimental program running in the  system ISSN 2615 - 9910 TẠP CHÍ CƠ KHÍ VIỆT NAM, Số đặc biệt tháng 12 năm 2021 cokhivietnam.vn / tapchicokhi.com.vn HỘI NGHỊ KHOA HỌC VÀ CÔNG NGHỆ TỒN QUỐC VỀ CƠ KHÍ, LẦN VI, NĂM 2021 3.1 Performance of the 2-line switching conveyor module is necessary to solve the priority problem outlined in the algorithm That is, in this case, there will be cases of medicine boxes about Pharmacy, ICU and Pediatrics, in which: First priority: This is for drug transportation; second priority: This time, return the medicine box The �rst priority has a higher priority than second priority For boxes with the same priority level, according to the algorithm, it would consider the arrival order to the line switching module In Fig 3, the situation where multiple medicine boxes meet at the 4-line switching module Fig Situation when there are many boxes of medicine coming out of the station at the 2-line switching module In case medicine boxes only leave or enter a station (such as ICU, Pediatrics departments) as shown below Fig 2, each box would leave the line switching module one by one, the rear boxes must stop until the 2-line switching module is ready 3.2 The performance of the 4-line switching conveyor module For the 4-line switching module, it ISSN 2615 - 9910 Fig The medicine box at the intersection point of the 4-line switching module TẠP CHÍ CƠ KHÍ VIỆT NAM, Số đặc biệt tháng 12 năm 2021 cokhivietnam.vn / tapchicokhi.com.vn HỘI NGHỊ KHOA HỌC VÀ CƠNG NGHỆ TỒN QUỐC VỀ CƠ KHÍ, LẦN VI, NĂM 2021 3.3 Dealing with the system reactivated after a power outage being The control section emphasizes the performance of locations that needs complex processing as well as the performance level of the system The controller of the system is designed to make the whole system has the following functions as Location of 2-line switching conveyor; Location of 4-line switching conveyor; Consider the priority of the medicine boxes; Consider the ability to operate multiple medicine boxes at the same time on the system; Connect to the database to retrieve data; Consider the system's ability to resume operation after the power is cut off and recovered; Program to communicate between PLC and server Besides, the controller interfaces part does not include the algorithm on the PLC and the connection to the RFID, only includes processing logic on the server, connecting to the database, accessing, reading, and writing data The program interface is built in the experimental program running for the system as shown in Fig The current system has been tested at a center within a building, but the system ensures the scalability to connect multiple buildings The reason was, during the research process, the problem of power transmission was listed such as how far, as well as how to wire the entire system to ensure simplicity, stability and safety Assume that when the system operated, a problem occurred, for example, the signal from a limit switch (proximity sensor) or an RFID is lost As in reality, all data are stored continuously in the database when there is a change in the system Thus: + When considering the loss of signal from limit switches (proximity sensors): The PLC control program could not continue and the medicine box would stop at that position A graphical user interface would help us to know the error location to correct In an actual system, there may be a risk of a system power failure Therefore, it is necessary for the system to have a selfoperating mechanism that continues after a power failure The database will assure to keep the system running + When considering the loss of signal from RFID: Similar to the above, the medicine box would stop at that position and a graphical user interface would help us to know the error location to correct 3.4 Discussion Another option which was considered to overcome this problem was to use two RFIDs at a location instead of only one RFID as before to double check When RFID lost signal, the remaining would continue operating  the system The control program handles the distribution problem at the directing point where the or 4-line switching module, and lifting module occur ISSN 2615 - 9910 TẠP CHÍ CƠ KHÍ VIỆT NAM, Số đặc biệt tháng 12 năm 2021 cokhivietnam.vn / tapchicokhi.com.vn HỘI NGHỊ KHOA HỌC VÀ CÔNG NGHỆ TỒN QUỐC VỀ CƠ KHÍ, LẦN VI, NĂM 2021 Fig System program interface (left – program interface; right – data retrieved from the database) CONCLUSION The medicine and medical equipment transportation system applied in hospitals is built on the foundation In general, this automation system has a controller design which have achieved: (1) Signal loss problem on the long distance (between stations) has been solve with the proposed solution as above; (2) Applying the placement of two RFIDs on two ends of a conveyor module helps reduce the total quantity of needed ISSN 2615 - 9910 RFID; (3) Developing a control program by combining the data exchange from Server, PLC and the database helps better and easier managing and processing data from the system; (4) Developing a human-machine interface by using QT program helps nurses and doctors have easier and better access to the managing medical containers operation; (5) Experimenting successfully for the medical containers to follow speci�c routes and also taking note on a few points TẠP CHÍ CƠ KHÍ VIỆT NAM, Số đặc biệt tháng 12 năm 2021 cokhivietnam.vn / tapchicokhi.com.vn HỘI NGHỊ KHOA HỌC VÀ CƠNG NGHỆ TỒN QUỐC VỀ CƠ KHÍ, LẦN VI, NĂM 2021 Acknowledgement: This research is funded by the Ho Chi Minh City Department of Science and Technology (DOST) under contract number 99/2019/HĐ-QPTKHCN. References: [1] Srivastava K, Awasthi AK, Kaul SD, Mittal RC, A Hash Based Mutual RFID Tag Authentication Protocol in Telecare Medicine Information System Journal of medical systems, 39(1), 153 (2015) [2] Syafrial Frachri Pane, Rolly Maulana Awangga, Bayu Ragmad Azhari, Gilang Romadhanu Tartila, RFID-based conveyor belt for improve warehouse operations TELKOMNIKA, 17(2), 794-800 (2019) [3] Valentin VLAD, Adrian GRAUR, Cristina Elena TURCU, Cezar POPA, Enhancing the Flexibility of Manufacturing Systems Using the RFID Technology International Conference on Advanced Information Networking and Applications Workshops, 630-635(2009) [4] M.S Osman, A.A.A Ragman, N.R Mohamad, N.Z Noridan, Implementation of RFID on Recon�gurable Conveyor System Proceedings of Innovative Research and Industrial Dialogue, 16, 199-120(2017) [5] Mahmudur Rashid, S.M Abdul Ahad, Shahida Siddique and Tamanna Motahar, Smart Warehouse Management System with RFID and Cloud Database Joint 2019 8th International Conference on Informatics, Electronics & Vision (ICIEV) & 3rd International Conference on Imaging, Vision & Pattern Recognition (IVPR), 218-222(2019) [6] Wassim Youssef, Azza Ouled Zaid, Mohamed Sami Mourali, Mohamed Habib Kammoun, RFID-based System for Secure Logistic Management of Implantable Medical Devices in Tunisan Health Centres International Smart Cities Conference (ISC2)-Casablanca, Morocco, 83-86(2019) [7] Cristina HURJUI, Cristina Elena TURCU, Adrian GRAUR, A System of Monitoring The Products From A Refrigerating Warehouse Using R�d Technology 6th International Conference on Electric Mechanical and Power Systems, 237-240(2007)  ISSN 2615 - 9910 TẠP CHÍ CƠ KHÍ VIỆT NAM, Số đặc biệt tháng 12 năm 2021 cokhivietnam.vn / tapchicokhi.com.vn Hội nghị - Triển lãm quốc tế lần thứ Điều khiển Tự động hoá VCCA-2021 A STUDY ON DESIGN AND CONTROL OF THE MULTI-STATION TRANSPORTATION SYSTEM Van Anh Pham2, Nguyen Huu Loc Khuu1, Vu Thanh Binh Dao1, Thuy Duy Truong1, Tran Thanh Cong Vu1, Tuong Quan Vo*1 Faculty of Mechanical Engineering, Ho Chi Minh city University of Technology, VNU-HCM Faculty of Technology Engineering, Pham Van Dong University, Quang Ngai * Email: vtquan@hcmut.edu.vn Abstract The current situation of limited available space in many systems with needs in forwarding, coordinating goods and accessories in production lines has led to a consideration of implementing an Automatic Transportation System (ATS) as an alternative to human resources in goods distribution, but the current layout of the plant will not be affected The design of the multi-station transportation system using conveyors which are called ATS includes three separate mechanical modules: the forward motion module, the lifting module, and the line switching module Each module is a complete unit that can be operated independently Realizing the effectiveness and much advantages of this multi-station transportation system, we introduce the serial and parallel automatic system which is based on the concept of conveyor module which has a similar feature and can be applied to the dispensing of goods to many different stations This paper focuses on mechanical and controller design and introduces the functional modules of the entire system Keywords ATS, rail-based conveying, multi-station, transportation system, linear motion, line switching, lifting, module, RFID, database Summary In summary, this paper is divided into sections: Section describes the mechanical system of ATS The third section focuses on the development of control methods for the entire system The control algorithm for the whole system is explained in Section and we also discuss how a database can be applied to the system The results and comments are discussed in Section Conclusions and future directions for the research topic are discussed in section Symbols Symbols PR RF fwI fwII LF SW GUI ST Unit Meaning Proximity sensor RFID reader Uni-direction conveyor module Bi-direction conveyor module Lifting conveyor module Line switching conveyor module Graphical user interface Station Acronyms ATS RFID Automatic Transportation System multi input – multi output Introduction The ATS is possible to utilize ceiling space for the transportation of equipment and goods As a result, the system will not affect production activities on the ground or the existing logistic layout There is a widely used method that uses a Pneumatic Tube System (PTS) It is mainly used in transportation of documents or small devices It ensures quick and safe delivery of supplies [1] Daniel Bollinger et al pointed out that the PTS has a mean transport velocity of m/s and a mean transit time of to minutes for each specimen Due to the carriers' primary use in specimen delivery, their load capacity is not significant They also mention several disadvantages such as insufficient quality control and poor calibration (maintenance) The concept of a rail-type conveying system is described in more detail in [2] Halbig et al provide an in-depth look at the structure of this multi-station railtype conveying system In this conveying system, container trucks can move independently between stations, according to [2] Each station has one or more stopping points A similar rail-based system is not likely to work in Vietnam because the country has not yet developed the requisite technical capabilities to fabricate a homogenous monorail track network with reasonable prices, especially for large spaces After considering this issue, we chose to design the system on the basis of serial and parallel conveying When applied to large-scale systems, this proposed system is more appropriate for the working conditions and space of Vietnam, as well as for ensuring the economy The design and application of overhead conveyors in Vietnam are based on the fabrication and manufacturing conditions in Vietnam as well as the economic feasibility Based on the research and reference provided by Telelift, the transportation system presented in this paper consists of containers and three different mechanical modules - linear motion modules, line switching modules, and lifting modules Hội nghị - Triển lãm quốc tế lần thứ Điều khiển Tự động hoá Nevertheless, the number of stations and the number of containers can be increased in accordance with customers' requirements The containers are transported to the conveyor's surface using the designed transportation system Conveyors with different standard lengths are assembled to extend transportation distances In automation, the control algorithm is used to transport the containers among many stations and solve the distribution problem at the switching point where multiple containers are needed Choosing the type of sensor, the model for data processing, as well as the protocol of communication and data storage methodology is all part of the controller design For container identification, Radio Frequency Identification (RFID) technology is selected, as it uses radio waves instead of direct contact to identify objects According to Sysafrial Fachri Pane et al., a logistics system certainly requires the identification and classification of products for storage, and the feasible solution is the application of RFID technology coupled with a belt conveyor system, which has greatly improved the automated warehouse RFID tags are used here to identify the products through pre-input data and to distribute them in the right place [3] The researchers at Valentin VLAD et al propose that when determining the location of a complex system, especially if there are many stations and multiple routes, as well as a large number of line changing points, RFID readers should be placed along the conveyor lines As soon as the signal is received, it will be processed so that the raw material can be delivered to the processing facilities [4] By applying RFID technology as a means to locate and position products in the complex transporting system as mentioned, this paper [4] demonstrates a new method of distributing products M.S Osman et al has proposed a concept based on the use of RFID technology to identify products that can be compared to the transporting system The RFID tags will be attached to the product itself, and by developing a program that users can use, RFID readers will be able to read the tags as soon as they become visible and will be able to extract the data embedded within RFID tags to optimize the performance of the transportation system [5] In this research, the control system of the ATS is designed based on RFID technology combined with proximity sensor to help identify and locate the containers as well as limit the range of conveyors At the same time, the database is used to help access data for processing and easier management, along with developing a user program on the server to handle the transport logic and system The whole system is controlled by PLC and some other expansion modules of the PLC Mechanical system of ATS As outlined above, the multi-station transportation system is composed of three separate mechanical modules - forward motion, lifting, and line switching VCCA-2021 The modules work independently as the complete units A forward motion module includes the conveyors with different lengths that are paired with each other to create the long travel line between stations, since one long conveyor from one station to another is impractical for fabrication and manufacturing The lifting module is used to transport the container up and down The arrows in Fig show the direction in which the container is moving The lifting modules will be powered by a chain drive to move up and down, carrying a sub-conveyor attached to its actuator to guide the containers into the conveyor With the horizontal movement of the actuator, the line switching module redirects the conveyed containers at the switching point that is shown in Fig This module uses a ball screw drive to perform such movements Fig The Process of dispatching the container Fig A top-down view at the switching point 2.1 The design of the linear motion module The linear-motion conveyors are designed in three different lengths: 1m, 2m, and 4m There is only one difference in length in the conveyors, aside from their height and width The type of conveyor selected is the plastic slat top chain conveyor shown in Fig Fig Straight conveyor’s concept 2.2 The design of the lifting module There are two separate mechanical components in the lifting module, which are the chain drive for moving up and down, and a sub-conveyor mounted on the actuator The drive uses a counterweight on the opposite side of the actuator to balance and reduce the motor's torque requirements illustrated in Fig A counterweight provides balance and stability to a mechanical system A counterweight has the basic purpose of making lifting the load more efficiently and labor-saving, which saves energy and reduces pressure on the lifting machine Hội nghị - Triển lãm quốc tế lần thứ Điều khiển Tự động hoá VCCA-2021 to the PLC, but to the server instead Then, it will send the data back to the PLC as shown in Fig As illustrated in Fig 7, through TCP/IP, the RFID reader sends the name tag of the containers to the PC Data from the containers is stored in a database on the PC TCP/IP is used for communication between PC and PLC The RFID reader chosen is the RDM8540Q-A, which supports both TCP/IP and Wi-Fi protocols CompactLogix 5370 1769-L24ER-QB1B of Allen Bradley was selected as the PLC for the system Fig The mechanical diagram of a lifting module 2.3 The design of the line switching module For the horizontal movement of the line switching module, a ball screw drive is used and a sub-conveyor is mounted on the actuator Fig shows the mechanical diagram The transportation system uses two types of line switching modules: the 2-line and 4line types, which operate similarly, but have a different screw length Fig The mechanical diagram of a line switching module 2.4 The design of the suspended conveyor system The hanging conveyor system is designed based on the structure of the ceiling space to be simpler and more cost-effective The supporting frame below the conveyor frame will be made of V-shaped steel, and it will be on the frame The upper steel beam is threaded Threaded rods allow the conveyor support frame to be raised and lowered to align the height between the conveyor surfaces Fig illustrates the hanging implementation plan Fig Overall Function block for the control system Overview of the system's operation: The system operates when the user enters the desired route on the HMI screen of the control system or GUI on the server When the users place the container on the conveyor at the shipping station, the conveyor system will run according to the desired route in place of the RFID input reader Fig The routes planned on the map of the research center in BK-RECME BioMech Lab – HCMUT Fig The Structure for hanging conveyor frames Overview of the control system A user interface will be developed for the Server in order to manage and control the route of the containers For this interface, QT Creator, written in C++, was chosen The database software selected is MySQL QT also supports MySQL for transmitting and receiving data Data from the database will not be sent directly This data is then continuously sent to the database for storage and management, then to the PLC via TCP/IP protocol to activate the conveyor modules by switching the contactors RFID readers are positioned along the travel route of the container Upon scanning the RFID tag attached to the lid of the container, the data from the RFID reader will be transmitted to a PC via TCP/IP for processing and deciding whether the container may move In order to limit the travel of the conveyor modules, proximity sensors are used To handle the problem at the switching point where multiple Hội nghị - Triển lãm quốc tế lần thứ Điều khiển Tự động hoá containers meet, appropriate control algorithms are needed The process will continue until the container arrives at the station In this paper, we proposed a three-station and threecontainer system to simulate three departments in the hospital, which are also three destination stations in the transportation system These three stations are ST1, ST2, and ST3 The routes planned on the map of the research center are described as in Fig The controller design of the entire delivering system The controller design requires: Easy modification of the system; The users (nurses, doctors, etc.) will be able to interact with the HMI devices to choose the destination for the transporting route; The data of the transporting process are stored in the server’s database so that it can be managed and minimize the errors that could occur; PC and PLC communicate via TCP/IP In Fig 9, the diagram illustrates the power and control connection between blocks: For the Management block, the Server acts as a central computer, which helps to receive the data from the other blocks and initiating the processing algorithm Before the PLC could operate the system, the processed data gets sent up to the database; For the Control block, PLC acts as the system’s central controller along with the Server The Server is where the data are processed, while the PLC executes the command from the Server to control the system; For the Sensors block: the RFID readers are used to identify as well as locating the containers For each conveyor module, there are two RFIDs are located at the two ends of the module The only function of the proximity sensor is to limit the range of conveyors Fig The overall control block diagram of the entire system 4.1 The controller design for the linear motion module Two RFID readers are arranged at the two ends of the module to help to identify and navigating the container entering and leaving the module If the container reaches the end RFID readers, there are cases:  If the following module is a line switching module: The system then checks the priority index of the VCCA-2021 container to determine if it goes into the line switching module first With the specified priority index, the number of containers having the same priority is taken into account, in which the one with the higher-order number will go into the line switching module first until there is no containers left This means that the containers at lower priority could only go into the line switching module when the number of containers with higher priority returns to To make sure that the containers can enter the line switching module, it must follow the condition “ready” of the line switching module, which means there are currently no containers on the sub-conveyor of the line switching module and it should stay at HOME When the condition “ready” is guaranteed, then the entry process could begin after the displacement of the sub-conveyor on the right line  If the following module is a lifting module: The system will check if the lifting module is “ready” or not like a line switching module After securing the container, which means it is in the middle of the subconveyor, detected by the proximity sensor as mentioned above, the conveyor module is turned off if there are no containers left on it  If there is no other module left: This means the container is at the destination When the RFID reader at the end of the destination acknowledges the presence of the container, the station’s conveyor is turned off and allows the nurses to take the container off 4.2 The controller design for the line switching module This process is described as follows: (1) The 2-line switching module is ready; (2) Sub-conveyor is at the position where it can receive its new container; (3) The containers are either on or moving to the sub-conveyor of the module; (4) The container moves in and activates the proximity sensor attached to the middle of the subconveyor, the sub-conveyor is turned off At this moment, two situations may occur: (5) The container is entering the module; (6) The container is exiting the module After reaching the desired line, the subconveyor is reactivated again As the container heading to the next conveyor module, it is recognized by the RFID reader at the starting end of the conveyor module and will be temporarily paused to check for the next linear motion module is “ready” (check the state linear motion module) The condition for the linear motion module’s “ready”, which means the module is allowed to be turned on, is currently not in the situation: “There are other containers on the conveyor but currently has to be turned off” When the conveyor module’s ready state is met, the next action is reactivating the sub-conveyor of the line switching module to move the container out After the container is completely on the conveyor module, the sub-conveyor returns to the HOME position If there are no containers to enter or exit the line switching module, it is turned off Hội nghị - Triển lãm quốc tế lần thứ Điều khiển Tự động hoá 4.3 The controller design for the lifting module A similar principle is applied for the function of the lifting module with some differences due to its operation characteristics The process is described as follow: (1) The module is read; (2) Sub-conveyor is at the position where it can receive its new container; (3) The container is currently on or entering the lifting module; (4) When the container reaches the proximity sensor at the middle of the sub-conveyor, there are two situations that may occur; (5) The container is entering the station: Subconveyor begins lowering; (6) The container is exiting the station: Sub-conveyor begins lifting; (7) The lowering or lifting process stops only when the subconveyor reaches the proximity sensors; (8) As for the container entering the station, the next conveyor module and sub-conveyor are activated The entering process only ends when the container reaches the RFID reader at the entrance end of the next conveyor module; (9) As for the container exiting the station, the subconveyor is activated When the container reaches the RFID reader, the sub-conveyor will be temporarily paused to check for the next linear motion module is “ready” (check the linear motion module) When the guarantee for the next conveyor module’s readiness is met, the next action is reactivating the sub-conveyor of the lifting module to move the container out After the container is completely on the conveyor module, the sub-conveyor returns to the HOME position If there are no containers to enter or exit the lifting module, it is turned off 4.4 Database structure and building The database is very important role in the system as to store the system's transport data set, as well as to prevent risk of power loss during operation The database is built to store the data of the conveyor module and the containers’ data Some parameters require to be stored are as follows: (1) For the conveyor module: Name of the conveyor module, the status of the module (ON/OFF), the direction of movement of the module, the number of containers currently on the module …; For the container: Name of the container, the route of travel, the current position of the container …; Some other data: Parameters related to the priority order of the container… As mentioned above, Qt's library supports direct transmission to MySQL Results and discussion The control section emphasizes both the performance of locations that need complex processing as well as the performance level of the system The controller of the system is designed to make the whole system has the following functions as: Location of 2-line switching conveyor; Location of 4-line switching conveyor; Consider the priority of the containers; Consider the ability to operate multiple containers at the same time on the system; Connect to the database to retrieve data; Consider the system's ability to resume operation after the power is cut off and recovered; Program to communicate between PLC and server VCCA-2021 Furthermore, the controller interface part does not include the algorithm on the PLC and the connection to the RFID, but only the logic on the Server, connecting to the database, and accessing, reading, and writing data The program interface is built using the experimental program running on the system as shown in Fig 10 Fig 10 System program interface (left – program interface; right – data retrieved form the database) The connection to the MySQL database will be made as soon as the system is started The database will then always be connected and able to be accessed Since the data is always stored in the database, the risk of data loss due to power failure is regardless 5.1 Performances of the lifting module As shown below in Fig 11, when many containers are appearing at the same time at the station, the moving process will be done in turn corresponding to the order of the containers coming to the front of the vertical conveyor After container number (yellow) comes out of the lifting conveyor module, the next container will be entered into the lifting module and the same for the next This processing will be done by delay after t(s) time, corresponding to the time the lifting module works Fig 11 The program at the waiting position for the lifting module 5.2 Performances of the 2-line switching module In case the containers only leaving or entering the station, each container will leave the line switching module one by one, the rear containers must stop until the 2-line switching module is ready In case the container enters the station at the same time with other containers coming out from the station (ST2, ST3) as shown in Fig 12, the latter will have the priority to leave the station first, after leaving, the containers that need to be entered will enter As shown in Fig 12 left, when the container number (black) arrives at the 2line switching module, it stops, because there are containers (number - yellow and number - blue, Hội nghị - Triển lãm quốc tế lần thứ Điều khiển Tự động hoá number - green, number – brown) need to leave When all containers 1, 2, 4, have come out of the 2-line switching module, then the container can enter the station Especially, when there is a container that has been transferred to the 2-line switching module to enter the station (ST2, ST3), it will not allow any containers from any station to come out until the container is completely returned to the station VCCA-2021 priority of 2, because it needs to return the ST1, and container number has a priority of 1, so after the container has been transferred, the container will be delivered before the as in Fig 16 Fig 14 Containers (brown) and (black) enter the module, respectively Fig 12 Situation when there are containers that need to enter the station and need to leave the station at the 2-line switching module appearing at the same time 5.3 Performances of the 4-line switching module For the 4-line switching module, it is necessary to solve the priority problem outlined in the algorithm That is, here, there will be cases of container about ST1 (supply department), ST2 and ST3, in which: Priority 1: The container is sent to the ST2 and to the ST3 (this time is for transportation); Priority 2: Return the containers to the ST1 (at this time, return the containers to supply department) For the containers with the same priority, according to the algorithm, it will be considered in the arrival order to the line switching module In Fig 13, the situation where multiple containers meet at the 4-line switching module is described, the priority algorithm will then be taken into account As shown in Fig 13, after sending the container No (yellow) to line heading to the ST2, then waiting for the line switching module, two containers’ number (black) returned to the ST3 and No (brown) returned the ST2 is being stopped Then these containers have the same priority of 1, because the container comes first, so containers will enter the 4-line switching module first, and then the container will enter as shown in Fig 14 Fig 15 The state of the crates when the (black) crate is on the 4-line switching module Fig 16 Container (orange), (blue) and (green) enter the module, respectively Fig 13 The containers at the intersection point of the 4-line switching module In Fig 14 right and Fig 15, we looking at the process of transporting the container (black), the container (orange) have reached to the waiting position, behind the 2nd container (blue) But here, container has a As for container No (green), although it has reached to the point of 4-line switching module while the 4-line switching module is transporting the container No (orange), the container number is one to the ST1 with the same level priority with container number (blue), so in the correct order, the container number will come before container number Note that after each transport is completed, the algorithm has specified to bring the sub-conveyor to Hội nghị - Triển lãm quốc tế lần thứ Điều khiển Tự động hoá "Home" and then to the next position to transport the next containers 5.4 Dealing with the system being reactivated after a power outage situation In the actual system, there may be a risk of a system power failure, the risk of power failure here can be a partial power failure of the control room Therefore, it is necessary for the system to have a self-operating mechanism that continues after a power failure, where there may be a container in the system This is the point to keep in mind when deciding to use the database because the data is constantly being updated to the database After a power failure and restarting the system and connecting to the database, the containers will reappear in the current position before the power outage and continue to run the route as the algorithm predetermined With the simulation program interface after restarting the system, for the system to continue running the old program, it is necessary to connect to the database and query data for updating data from the database back to the system 5.5 The primary experimental results Fig 17 below shows the actual overhead conveyor system assembled and installed at the BKRecme BioMech Lab – HCMUT The overhead conveyor system by threaded rods shows stability and rigidity, which ensures efficient medical delivery Fig 17 The conveyor system using threaded rods Fig 18 The actual structure of the lifting module Fig 19 The actual structure of the line switching module Fig 18 shows a complete structure of the lifting module, with a sub-conveyor mounted on the support frame VCCA-2021 Fig 19 shows the actual ball screw drive of the line switching module A rolled ball screw shaft is used to increase the transmission efficiency 5.6 Discussion An ATS using conveyors ensures the possibility of saving space in the logistics system, while maintaining an efficient goods delivery process The functional modules used in the system also show the feasibility of scalability for a larger scale The control program has handled the distribution problem at the transfer points of the system The results ensure the ability to retrieve data from the database simultaneously with the operation of the system; Prove the ability to operate containers at the same time on the system; Solve the process of retrieving data and continuing the route of the containers after the power is cut off; Ability to handle data flow from the sensor to PLC, server, and database; However, the interface does not show the elevating and lowering process of the lifting module The designed system is tested at a center within a building, but ensures the scalability to connect multiple buildings The reason for that is due to the problem of power transmission, the transporting distance and the wiring system Conclusion There are several directions of future development that are in consideration: first, further consideration of the mechanical structure of the system is required, so the noise and gaps between conveyors to eliminate vibrations can be eliminated Second, optimization, mathematical models are needed to find the optimal number of containers as well as the shortest route between stations in the hospital Finally, storage temperature, sterilization, and disinfection inside the containers must be thoroughly studied so that the system can meet the safety standard in hospitals The ATS is built on the foundation that the conveyors are on the above girder frame helps move the containers from one point to another In general, with the controller design of this automation system, we have the following achievements as: (1) Propose the solutions for the signal loss problem on the long distance (between stations); (2) Applying the placement of two RFID on two ends of a conveyor module helps reduce the total quantity of needed RFID; (3) Developing a control program by combining the data exchange from Server, PLC and the database helps better and easier managing and processing data from the system; (4) Developing a human-machine interface by using QT program to helps nurses and doctors easier and better access to the managing containers operation; (5) Experimenting successfully for the containers to follow specific routes and also taking note on a few points (problem on the suitable placement proximity sensors on conveyors, on reversing direction for motors, etc.) However, there is still a lot of things need to be develop to improve the operation and also the performance of the whole system as: the limitations Hội nghị - Triển lãm quốc tế lần thứ Điều khiển Tự động hoá that still exist; The data processing speed for the entire system is still low, especially the data transmitting speed from the server to PLC and from server to the database; Develop a better algorithm that can reduce the processing time of the system; Slowly turn the system model into the one-line delivering system for the entire map Acknowledgement This research is funded by the Ho Chi Minh City Department of Science and Technology (DOST) under contract number 99/2019/HĐ-QPTKHCN References [1] [2] [3] [4] [5] Bolliger, D., Seeberger, M D., Tanaka, K A., Dell-Kuster, S., Gregor, M., Zenklusen, U., … Filipovic, M (2009) Pre-analytical effects of pneumatic tube transport on impedance platelet aggregometry, Platelets, 2009 Helmut Halbig, Werner Gstöttmayer et al., RAILTYPE CONVEYOR SYSTEM, Telelift GmbH, Puchheim, Germany, 1998 Syafrial Frachri Pane, Rolly Maulana Awangga, Bayu Ragmad Azhari, Gilang Romadhanu Tartila, “RFID-based conveyor belt for improve warehouse operations,” TELKOMNIKA, 17(2), 794-800 (2019) Valentin VLAD, Adrian GRAUR, Cristina Elena TURCU, Cezar POPA, “Enhancing the Flexibility of Manufacturing Systems Using the RFID Technology,” International Conference on Advanced Information Networking and Applications Workshops, 630-635(2009) M.S Osman, A.A.A Ragman, N.R Mohamad, N.Z Noridan, “Implementation of RFID on Reconfigurable Conveyor System,” Proceedings of Innovative Research and Industrial Dialogue, 16, 199-120(2017) Van Anh Pham received the B.E degree in Mechatronics from the Danang University of Technology Danang University, Vietnam in 2007, the M.E degree in Mechatronics Engineering, and the Ph.D degree in Mechanical Engineering from the Ho Chi Minh City University of Technology Vietnam National University Ho Chi Minh City (HCMC), in 2013 and 2021, respectively He has joined the Pham Van Dong University, Vietnam as a lecturer since 2008 His current research area includes dynamic modeling, system identification, control in the fish-inspired robot, and industrial automation systems Nguyen Huu Loc Khuu was born in 1999 I am currently a fourth year student at the HCMUT-VNUHCM, majoring in Mechatronics from the Faculty of Mechanical Engineering My interest VCCA-2021 researches focus on the automatic control systems applying in many fields of industries Vu Thanh Binh Dao was born in 1999 I am currently a fourth year student at the HCMUT-VNUHCM, majoring in Mechatronics from the Faculty of Mechanical Engineering My interest researches is the automatic control systems applying in many fields of industries Truong Thuy Duy was born at Kien Giang Province – the city of Southwest Vietnam in 1989 Since childhood, I have had an interest in natural subjects such as math and physics After graduating with honors majoring in Mechatronics, I am still looking for opportunities to continue my studies I studied for a master's degree at Vietnam German University majoring in Mechatronics and Sensor Systems Technology (2012), and master’s degree by research at Viet Nam National University Ho Chi Minh city – University of Technology in Mechatronics Engineering (2018) Currently, I am working at Idemitsu Gas Production (Vietnam) as a Metering Engineer for years During that time I have published articles about my researches I am currently a research member at the Bach Khoa Research Center for Manufacturing Engineering, HCMUT-VNUHCM Tran Thanh Cong Vu was born in 1992 I got Mechatronics Engineering Bachelor Degree from HCMC University of Technology in 2015 My major is mechatronics system design focus on medical system, food industry and automation application development Recently, I am currently R&D manager and Project Leader at the Bach Khoa Research Center for Manufacturing Engineering, HCMUT-VNUHCM and I have ability to manage many projects relating to mechanical and mechatronics engineering Tuong Quan Vo was born in 1979 He received the PhD Degree at the University of Ulsan, Korea in 2010 He is currently Associate Professor at the Faculty of Mechanical Engineering and Director of the Bach Khoa Research Center for Manufacturing Engineering, HCMUT-VNUHCM His interest researches are these following fields: Apply automatic control in seafood, manufacturing industries; Transportation and delivering systems in hospitals and factories; Smart accessories systems in hospital; Monitoring system with IOTs applications; Access control systems, etc ... phương pháp vận chuyển thuốc y cụ bệnh viện 1.1.1 Vận chuyển thuốc y cụ xe đ? ?y truyền thống 1.1.2 Vận chuyển thuốc y cụ hệ thống khí nén 1.1.3 Vận chuyển thuốc y cụ AGV ... 1.1.4 Vận chuyển thuốc y cụ phương pháp thùng thuốc di chuyển ray dẫn 1.1.5 Vận chuyển thuốc y cụ phương pháp sử dụng ray dẫn thiết kế xe di chuyển bên 11 1.1.6 Vận chuyển thuốc. .. người di chuyển 1.1.1 Vận chuyển thuốc y cụ xe đ? ?y truyền thống Hình 1.1 Y tá thực vận chuyển thuốc 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