CN106074035A - A kind of double-core Two-wheeled robot electric hospital bed controlling system - Google Patents
A kind of double-core Two-wheeled robot electric hospital bed controlling system Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/05—Parts, details or accessories of beds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/12—Remote controls
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/16—Touchpads
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/20—Displays or monitors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
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- Nursing (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The invention discloses a kind of double-core Two-wheeled robot electric hospital bed controlling system, including controlling device, kinetic control system and direct current brushless servo motor X, direct current brushless servo motor Y, described kinetic control system includes ARM chip controller and motion control chip, ARM chip controller and motion control chip all communicate to connect with described control device, communicate to connect between ARM chip controller and motion control chip, direct current brushless servo motor X and direct current brushless servo motor Y all communicates to connect with ARM chip controller, navigation photoelectric sensor it is provided with on electric hospital bed, start button SS, lateral turning button SK, back SB and acceleration transducer.It is fast that the double-core Two-wheeled robot electric hospital bed controlling system of the present invention calculates speed, easy to operate, safety and stability, and motor control is accurate, can alleviate the amount of labour and the labor intensity of nursing staff.
Description
Technical field
The present invention relates to a kind of double-core Two-wheeled medical robot electric sick bed automatic control system, belong to automatic electric
Sick bed technical field.
Background technology
Medical hospital bed system is a kind of equipment providing carrying patient in hospital ward.At present in hospital of developed country
The medical hospital bed substantially all automatization used, hospital bed set up at a patient's home, community hospital's sick bed have used Multifunctional electric bed.Portion
Dividing the medical hospital bed purpose that can be reached auxiliary adjustment patient body position by external force change shape, some of which adnexa has promotion
The effect of Rehabilitation；Can control electric hospital bed is the most senior automated production, has time saving and energy saving advantage.Due to electricity
The feature controlled, control knob may be mounted at any permission ward bed by the range of signal, improves the freedom of control
Degree.Upgraded by adnexa, it is also possible to realize authority distribution.Motorized motions Product Precision is higher, it is simple to assembly line work, conduct
The specific medical sick bed used in ICU intensive care unit, operating room, radiography room etc..
China's research and development in Medical electric sick bed field relatively lag behind, and integral level is the highest, existing domestic situation of all-level hospitals
It is all to use common mechanical sick bed: be made up of footpost, bed body and bed surface.In order to conveniently moving moves, generally individually on footpost
Machinery rolling pulley is set；Patient sits up for convenience, all arranges mechanical hand in head of a bed part and shakes lifting device.For this type
Sick bed, generally individually needs nursing staff to help, and is difficult to complete alone, and sick bed function singleness simultaneously, Practical Performance is the strongest.
Long-play finds to there is a lot of potential safety hazard and inconvenience, it may be assumed that
(1) existing part sick bed is contacted with ground by four fixed station feet and plays a supporting role, and patient is all fixed on certain
In one environment closed, along with patient is in hospital for a long time, the body and mind of patient is caused injury greatly；
(2) although part sick bed has changed fixed station foot as mechanically gimbaled wheel into, can be by medical personnel's Mobile sickbed to certain
Space, but owing to sick bed moves randomness relatively greatly, sometimes there will be maloperation, the most sometimes can hurt patient；
(3) along with the increase of modern humans's quality of life, adiposis patient rolls up, and Health care staff is the thinnest
Little, make Health care staff very painstaking by mechanically gimbaled removing patient of taking turns, increase the weight of labor intensity；
(4) increasing the weight of along with aging, substantial amounts of old man has also increased the weight of the demand to sick bed, and present nurse personnel compare again
Few, the sick bed of mechanically-based universal wheel has increased the weight of the labor intensity of nurse personnel；
(5) all of machinery sick bed is generally individually fixed on certain position, and once needing moves or change direction is required to outside
Personnel complete, and have increased the weight of the amount of labour of nurse personnel；
(6) even if present mechanical sick bed can be pulled in external environment condition by doorway, ward by external force, due to artificial behaviour
The automaticity ratio made is relatively low, is required for an attitude for time adjustment sick bed by doorway, ward and just can pass through；
(7) even if present mechanical sick bed can arrive the environment beyond ward by the mechanically gimbaled support taken turns, have adjusted
While patient's body and mind, also increase the amount of labour of nurse personnel, especially by climbing local time, the body to nurse personnel
Power is had higher requirement；
(8) although the electric hospital bed decoupling that can well meet sick bed speed and direction of single wheel drive, but single-wheel is driven
Dynamic movable motor power is relatively big, and the phenomenon of low load with strong power sometimes can be caused to occur；
(9) due to electric hospital bed power and the contact point only one of which on ground of single wheel drive, artificial being difficult to is caused accurately to control
Its direction moved, slight some interference just can cause bigger direction to change；
(10) the robot electric sick bed controlled based on monokaryon, owing to should process the SERVO CONTROL of multi-axle motor, processes again
The multiple sensors sampled data of robot sick bed, the data that single core processor processes are more, and arithmetic speed is not quickly, unfavorable
Run up in robot, and sometimes data are more causes robot sick bed out of control owing to processing；
(11) owing to robot electric sick bed brakes in running frequently and starts, the work of monokaryon controller has been increased the weight of
Amount, monokaryon controller cannot meet the requirement that robot electric sick bed quickly starts and stops；
(12) owing to being disturbed by surrounding unstable factor, often there is exception in monokaryon robot electric sick bed controller,
Causing robot sick bed the most out of control, capacity of resisting disturbance is poor.
Summary of the invention
The technical problem that present invention mainly solves is to provide a kind of double-core Two-wheeled robot electric hospital bed controlling system,
It is fast that this double-core Two-wheeled robot electric hospital bed controlling system calculates speed, easy to operate, safety and stability, motor control essence
Really, nurse or the amount of labour of Health care staff and labor intensity can be alleviated.
For solving above-mentioned technical problem, the technical solution used in the present invention is: provide a kind of double-core Two-wheeled robot
Electric hospital bed control system, including control device, kinetic control system and make the electric hospital bed direct current moved along different directions without
Brush servomotor X, direct current brushless servo motor Y, described kinetic control system includes ARM chip controller and motor control core
Sheet, described ARM chip controller and motion control chip all with described control device communicate to connect, described ARM chip controller
And communicating to connect between motion control chip, described direct current brushless servo motor X and direct current brushless servo motor Y is all with described
ARM chip controller communicate to connect, described electric hospital bed on be provided with navigation photoelectric sensor, start button SS, laterally turn
Button SK, back SB and acceleration transducer, described navigation photoelectric sensor, start button SS, lateral turning button SK,
Back SB and acceleration transducer communicate to connect with described ARM chip controller all simultaneously.
In a preferred embodiment of the present invention, also include for described kinetic control system and electric hospital bed offer power supply
Battery supply and alternating current power supply, described kinetic control system electric hospital bed with electronic disease all with described battery supply and/or exchange
Power supply is electrically connected with.
In a preferred embodiment of the present invention, described direct current brushless servo motor X is provided with magnetoelectric transducer M1, institute
Stating and be provided with magnetoelectric transducer M2 on direct current brushless servo motor Y, described magnetoelectric transducer M1 and magnetoelectric transducer M2 is all and institute
State ARM chip controller to be electrically connected with.
In a preferred embodiment of the present invention, also include warning system, described warning system and described ARM chip controls
Device is electrically connected with.
In a preferred embodiment of the present invention, described electric hospital bed on be provided with anti-collision ultrasonic sensor S9 and crashproof
Ultrasonic sensor S10.
In a preferred embodiment of the present invention, also include that dust humidity detection system, described dust humidity detection system include wet sensitive
Sensor, measuring circuit and display recording equipment, described dust humidity detection system is electrically connected with described ARM chip controller.
The invention has the beneficial effects as follows: the double-core Two-wheeled robot electric hospital bed controlling system of the present invention is ensureing electricity
On the premise of dynamic sick bed stability and safety, reduce nurse or the amount of labour of Health care staff by electric boosted being possible not only to
And labor intensity, and multiple sensors combination makes robot electric sick bed have the several functions such as movement and navigation, and permissible
Meeting patient's demand to sick bed under different condition, easy to operate, motor control is accurate, calculates speed fast.
Summary of the invention
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make
Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for
From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing, wherein:
Fig. 1 is that the present invention is based on ARM+ MC2320 double-core single wheel drive robot electric sick bed schematic diagram;
Fig. 2 is that the present invention is based on ARM+ MC2320 double-core single wheel drive robot electric sick bed flow chart;
Fig. 3 is based on ARM+ MC2320 double-core single wheel drive robot electric bed motion theory diagram;
Fig. 4 is by ward self-navigation schematic diagram based on ARM+ MC2320 double-core single wheel drive robot electric sick bed；
Fig. 5 is the double-core Two-wheeled robot electric hospital bed controlling system structural representation of the present invention.
In accompanying drawing, the labelling of each parts is as follows: 1, control device, and 2, kinetic control system, 3, ARM chip controller, 4, fortune
Dynamic control chip, 5, battery supply, 6, alternating current power supply, 7, direct current brushless servo motor X, 8, direct current brushless servo motor Y, 9, wet
Degree detecting system, 10, magnetoelectric transducer M1,11, magnetoelectric transducer M2,12, navigation photoelectric sensor, 13, start button SS,
14, lateral turning button SK, 15, back SB, 16, warning system, 17, acceleration transducer, 18, crashproof supersonic sensing
Device S9,19, anti-collision ultrasonic sensor S10,20, moisture sensor, 21, measuring circuit, 22, display recording equipment.
Detailed description of the invention
Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement
Example is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area is common
All other embodiments that technical staff is obtained under not making creative work premise, broadly fall into the model of present invention protection
Enclose.
Referring to Fig. 1 to Fig. 5, the embodiment of the present invention includes: a kind of double-core Two-wheeled robot electric sick bed controls system
System, including control device 1, kinetic control system 2 and make electric hospital bed move along different directions direct current brushless servo motor X7,
Direct current brushless servo motor Y8, described kinetic control system 2 includes ARM chip controller 3 and motion control chip 4, described ARM
Chip controller 3 and motion control chip 4 all communicate to connect with described control device 1, described ARM chip controller 3 and motion
Between control chip 4 communicate to connect, described direct current brushless servo motor X7 and direct current brushless servo motor Y8 all with described ARM core
Sheet controller 3 communicates to connect, described electric hospital bed on be provided with navigation photoelectric sensor 12, start button SS13, laterally turn
Button SK14, back SB15 and acceleration transducer 17, described navigation photoelectric sensor 12, start button SS13, lateral
Turning button SK14, back SB15 and acceleration transducer 17 communicate to connect with described ARM chip controller 3 all simultaneously.
Preferably, the double-core Two-wheeled robot electric hospital bed controlling system of the present invention also includes for described motor control
System 2 and the battery supply 5 of electric hospital bed offer power supply and alternating current power supply 6, described kinetic control system 2 and electric hospital bed all with
Described battery supply 5 and alternating current power supply 6 are electrically connected with.
Preferably, described direct current brushless servo motor X7 is provided with magnetoelectric transducer M1 10, described brush DC servo
Be provided with on motor Y8 magnetoelectric transducer M2 11, described magnetoelectric transducer M1 10 and magnetoelectric transducer M2 11 all with described ARM
Chip controller 3 is electrically connected with.
Preferably, also include that warning system 16, described warning system 16 are electrically connected with described ARM chip controller 3.?
Electric hospital bed occur sending warning during motion fault.
Preferably, described electric hospital bed on be provided with anti-collision ultrasonic sensor S9 18 and anti-collision ultrasonic sensor S10
19。
Preferably, also include that dust humidity detection system 9, described dust humidity detection system 9 include moisture sensor 20, measuring circuit
21 and display recording equipment 22, described dust humidity detection system 9 is electrically connected with described ARM chip controller 3.It is respectively completed information
Obtain, change, show and the function such as process, so when patient-sized is the most out of control or sheet is moist, dust humidity detection system 9
Meeting work, sends bed sheet replacing request.
The present invention uses ARM chip controller 3(chip model STM32F407)+motion control chip 4(chip model
MC2320) dual-core controller carries out electric hospital bed control, under power-on state, controls device 1 i.e. computer man-machine circle
Face first works, if really needing mobile electric sick bed, nurse personnel, Health care staff input respective web-privilege password Web, robot
Electric hospital bed being only possible to is moved in room, and otherwise robot electric sick bed just stays in original place and waits authority open command；If
Robot electric sick bed needs to release ward, and now hospital director needs to open the web-privilege password Web of oneself, otherwise robot electricity
Dynamic sick bed once moves to position, doorway and is detected by doorway monitoring sensor, the sensing on detecting system meeting trigger controller
Device, MC2320 can locked current robot electric sick bed send wrong operation alarm by STM32F407.At proper motion shape
Under state, robot electric sick bed reads external environment condition feedback parameter to ARM chip controller 3 by various sensors, by ARM
With MC2320 communication after converting after chip controller 3 process, MC2320 generate the synchronization control of two axle direct current brushless servo motors
Pwm signal processed, PWM ripple signal travels forward through drive amplification rear drive DC brushless motor X7 and DC brushless motor Y8, its
Movement velocity and displacement are fed back to MC2320, by MC2320 by corresponding magnetoelectric transducer M1 10 and magnetoelectric transducer M2 11
Secondary adjusts synchronization pwm control signal and meets real work demand.Electric bed is in running, and man machine interface on-line storage is also
Output current state so that process more directly perceived.
With reference to Fig. 2, being embodied as step is:
Medical electric bed control system is divided into two parts: human-computer interface system i.e. controls device 1 and kinetic control system 2.Its
Middle human-computer interface system completes the functions such as man machine interface, path planning, online output；Complete based on MC2320 kinetic control system
Electric hospital bed multiple-axis servo controls, and ARM chip controller 3(STM32F407) realize the functions such as data storage, I/O control,
System gives full play to the advantage of MC2320 fast servo processor, is processed various sensor signal in real time by STM32F407 simultaneously.
With reference to Fig. 2, Fig. 3 and Fig. 4, its concrete functional realiey is as follows:
1) before any instruction do not received by robot electric sick bed, it typically can be consolidated with common medical hospital bed as broad as long
Being scheduled on some region, the i.e. accumulator of battery supply 5 in system is charged by alternating current power supply 6, it is ensured that robot electric sick bed has
The enough energy completes task.
2) after once receiving the work order that control device 1 sends, in order to prevent the mobile infringement of robot electric sick bed
Charging connection wire, STM32F407 controller can disconnect the connection of line and alternating current power supply automatically, and robot electric sick bed transfers to
Storage battery power supply state.
3) in order to prevent maloperation, the present invention uses three grades to start authority, needs mobile robot electric hospital bed when determining
Time, if simply mobile robot is electric hospital bed inside ward, then need nurse personnel and nurse successively to pass through man machine interface
Input web-privilege password Web opens walking mode within doors；If needing to promote robot electric sick bed to walk out ward, then need nurse
Personnel, nurse and hospital director successively open walking mode outside room by man machine interface input web-privilege password Web.
4) after walking mode opened by robot electric sick bed, once start button SS13 is pressed, and first system completes ARM
The initialization of chip controller 3 and MC2320 also detects supply voltage, if battery feed is abnormal, and will be to STM32F407
Sending interrupt requests, STM32F407 can be to interrupting doing very first time response, if the interrupt response of STM32F407 is not come
And process, the self-locking device on car body will be triggered, and then reach the function of self-locking, prevent maloperation；If power supply is normal, electricity
Movable bed robot will start normal work.
5) detecting that start button SS13 is pressed when STM32F407 controller, STM32F407 controller turns lateral for detection
Whether curved button SK14 is triggered.If lateral turning button SK14 is triggered, STM32F407 is according to robot motion's part
Need anglec of rotation θ=90 ° and its internal trapezoidal generator, distance SX to be operated for direct current brushless servo motor Y8 is converted into
Acceleration, speed and reference by location command value, STM32F407 will be in MC2320 communication, and MC2320 is then in conjunction with brush DC
The feedback of magnetoelectric transducer M2 11 corresponding for servomotor Y8 generates the driving signal driving direct current brushless servo motor Y8, drives
Dynamic signal amplifies rear drive direct current brushless servo motor Y8 motion through power bridge, owing to DC brushless motor Y8 is in rotary course
Direct current brushless servo motor X7 is driven to move by gear structure.When direct current brushless servo motor Y8 completes current servo motion,
Direct current brushless servo motor X7 is complete side and turns the task of 90 °, due in the process be direct current brushless servo motor Y8
Drive direct current brushless servo motor X7 90-degree rotation, and for changing electric hospital bed direction, improve robot electric sick bed and exist
The practicality of small space.
6) detect that start button SS13 is pressed when STM32F407 controller, if now only having forwarding button SF to be touched
Sending out, robot electric sick bed travels forward starting, in motor process, and the front anti-collision ultrasonic sensor that robot carries
S9 18 and anti-collision ultrasonic sensor S10 19 is by work, and feeds back itself and preceding object thing to the STM32F407 controller moment
Distance.If anti-collision ultrasonic sensor S9 18 or anti-collision ultrasonic sensor S10 19 reads front obstacle
During thing, STM32F407 will be with MC2320 communication, and MC2320 adjusts direct current brushless servo motor X7's through internal SERVO CONTROL program
PWM exports, and controls robot electric sick bed and stops in safety range, and controller also opens the timing of three seconds, if three
After Miao, controller still reads barrier and then notifies that man machine interface changes run trace；If obstruction signal disappeared in three seconds
Breath, then robot electric sick bed will continue to start advance according to current path.During robot electric bed motion, magnetoelectricity
Sensor M1 10 and magnetoelectric transducer M2 11 can moment detection direct current brushless servo motor X7 and direct current brushless servo motor Y8
Movement velocity and displacement, and feed back to MC2320 by STM32F407, inclined according to displacement, speed and acceleration by MC2320
Difference signal secondary adjusts direct current brushless servo motor X7 and the control signal of direct current brushless servo motor Y8.
7) detect that start button SS13 is pressed when STM32F407 controller, if now only having back SB15 quilt
Triggering, robot electric sick bed will start setback, and STM32F407 will be in MC2320 communication, and MC2320 is through internal servo control
Processing procedure sequence adjusts the PWM output of direct current brushless servo motor X7 and direct current brushless servo motor Y8, controls robot electric sick bed
Slowly retreat according to setting speed；During setback, magnetoelectric transducer M1 10 and magnetoelectric transducer M2 11 can the moment
Detect direct current brushless servo motor X7 and the movement velocity of direct current brushless servo motor Y8 and displacement, and anti-by STM32F407
Feed MC2320, by MC2320 according to displacement, speed and acceleration bias signal secondary adjust direct current brushless servo motor X7 and
The control signal of direct current brushless servo motor Y8, it is ensured that robot electric sick bed runs in the range of safe speed, prevents speed
Too fast robot electric sick bed pushes over nurse personnel.
8) detect that start button SS13 is pressed when STM32F407 controller, if now turning button SK14 and advance
Button SF is triggered, and starting side is moved right by robot electric sick bed, and in motor process, the side that robot carries is crashproof super
Sonic sensor S6 is by work, and feeds back the distance of itself and preceding object thing to the STM32F407 controller moment.If it is crashproof super
Sonic sensor S6 reads right when having barrier, and STM32F407 will be in MC2320 communication, and MC2320 is through internal SERVO CONTROL
Program adjusts the PWM output of direct current brushless servo motor X, controls robot electric sick bed and stops in safety range, controller
And open the timing of three seconds, if after three seconds controller still read barrier exist will send parking to man machine interface
Report to the police；If three seconds obstruction signal messages, then robot electric sick bed will continue laterally to move to right according to current track.At machine
Device people is electric hospital bed laterally move to right during, magnetoelectric transducer M1 10, magnetoelectric transducer M2 11 can the moment detection brush DC
Servomotor X7 and the movement velocity of direct current brushless servo motor Y8 and displacement, and feed back to MC2320 by STM32F407, by
MC2320 adjusts the control letter of motor X7 and direct current brushless servo motor Y8 according to displacement, speed and acceleration bias signal secondary
Number.
9) detect that start button SS13 is once pressed when STM32F407 controller, if the most laterally turning button
SK14 and forwarding button SB is triggered, and robot electric sick bed is by starting side to moving to left, and in motor process, robot carries
Side anti-collision ultrasonic sensor S7 is by work, and feeds back the distance of itself and preceding object thing to the STM32F407 controller moment.
If anti-collision ultrasonic sensor S7 reads left when having barrier, STM32F407 will be in MC2320 communication, and MC2320 is through interior
Portion's SERVO CONTROL program adjusts the PWM output of direct current brushless servo motor X, controls robot electric sick bed and stops in safety range
Car, controller also opens the timing of three seconds, if after three seconds controller still read that barrier exists will be to man-machine boundary
Face sends parking and reports to the police；If three seconds obstruction signal messages, then robot electric sick bed will continue side according to current track
To moving to left.During robot electric sick bed laterally moves to left, magnetoelectric transducer M1 10, magnetoelectric transducer M2 11 can moment inspections
Survey direct current brushless servo motor X7 and the movement velocity of direct current brushless servo motor Y8 and displacement, and fed back by STM32F407
To MC2320, by bis-adjustment motor X of MC2320 and the kinematic parameter of motor Y.
10) when robot electric sick bed needs to remove ward, existing hospital director opens walking web-privilege password Web, then
Nurse personnel shift the position with surface mark onto robot electric sick bed, and robot electric sick bed enters self-navigation shape
State: navigation photoelectric sensor 12(includes navigate photoelectric sensor S1, S2, S3, S4, S5, S6, S7, S8) by work, ground is marked
The photosignal that will reflects feeds back to STM32F407, and after STM32F407 judgement processes, STM32F407 will be in MC2320
Communication, MC2320 determines the deviation of robot skew navigation track, and the trapezoidal generator of MC2320 connecting inner is this deviation signal
It is converted into acceleration, speed and displacement commands to be run for direct current brushless servo motor X7 and direct current brushless servo motor Y8,
MC2320 in conjunction with magnetoelectric transducer M1 10, magnetoelectric transducer M2 11 feedback produce drive direct current brushless servo motor X7 and
The driving signal of direct current brushless servo motor Y8, drives signal to amplify rear drive direct current brushless servo motor X7 and brush DC is watched
Take motor Y8 to travel forward, quickly adjust robot electric sick bed and rapidly return back to orbit centre of navigating.Robot electric sick bed edge
Track travel process, MC2320 is according to surface mark and magnetoelectric transducer M1 10, the feedback fine setting of magnetoelectric transducer M2 11
The driving signal of direct current brushless servo motor X7 and direct current brushless servo motor Y8, makes robot smooth along the track set
By doorway, ward.After the track laid disappears, robot electric sick bed is just parked in original place and waits artificial driving signal, prevents
Maloperation.
11) robot electric hospital bed in motor process in order to prevent the maloperation of nurse and run into emergency and stop
Car, adds automatic car locking function of stopping in emergency.In case of emergency, after emergency button ESW1 is pressed, motor control core
Sheet 4 once detects that urgent interrupt request can send original place cutoff command, and MC2320 passes through driver locked walking brush DC
Servomotor X7, even if electric hospital bed multiple universal wheel is all in can be with sliding mode, due to walking direct current brushless servo motor
X7 is in locking state, and such robot electric sick bed also will not move.
12) present invention adds dust humidity detection system 9 on robot electric sick bed.This dust humidity detection system 9 is by wet sensitive
Several parts compositions such as sensor 20, measuring circuit 21 and display recording equipment 22, when patient-sized is the most out of control, Humidity Detection system
System meeting work, will send alarm signal, and nurse personnel can find failure cause by man machine interface output, then changes bed
Cotton-padded mattress.
13) this electric bed is equipped with multiple anti-barrier warning system 16, and bed carries obstacle spy side system and can collide
Automatically detect existence the automatic stopping of barrier before barrier, and according to the character of barrier determine restarting or
Stay in as you were always, this ensures that there the adaptation to surrounding in motor process, decrease environment and it is done
Disturb.
14) in robot electric sick bed walking process, motor often receives extraneous factor interference, in order to reduce motor
The pulsating torque impact on robot ambulation, controller add on the basis of considering motor characteristic to motor torque
Line identification, and utilize motor torque to compensate with the relation of electric current, weaken the external environment impact on robot motion.
15) during robot electric sick bed is walked, servo controller whole process opens acceleration transducer 17, and acceleration passes
Sensor 17 can be with the acceleration of three directions of advance of robot measurement sick bed, and control system is passed through continuously according to the acceleration recorded
Integration can be obtained by its speed and displacement, and the Three-loop control for robot provides reliable criterion；Simultaneously when robot sick bed
Attitude when changing, control system can be obtained by its generally ramped angle and acceleration requirement, and control system is according to inclining
Rake angle and acceleration demand just can substantially calculate power demand, then adjust the power of each direct current brushless servo motor
With satisfied climbing and acceleration needs；Control system is by carrying out continuous integral to acceleration transducer, and it is transformed to hospital
In navigational coordinate system, robot electric sick bed can not rely on any external information just can obtain it at hospital's navigation coordinate
The information such as acceleration, speed, yaw angle and position in system, controller stores in real time and shows.
By technique scheme, there is advantages that
1, during controlling, battery effect in this system has been taken into full account, based on ARM(STM32F407)+MC2320
The controller moment is all to the running status of robot electric sick bed with power source is monitored and computing, when alternating current power supply is cut
Time disconnected, sick bed can be self-locking in fixed position by certainly carrying battery feed, until there being the switching signal of Mobile sickbed to input, protects
Demonstrate,prove the naturalness of sick bed.
2, use for convenience, reduce the interference of outer bound pair sick bed, nurse personnel, Health care staff and administrators of the hospital
Being required to open authority, just can to start robot electric hospital bed, decreases the danger of maloperation.
3, patient takes care of oneself for convenience, reduces the dependence of condition to external world, and native system adds human-machine interface function, patient
As long as sick bed robot just can be automatically controlled by computer contact screen, thus can need not nurse and oneself solution part
Easy daily life.
4, add dynamic booster based on accumulator owing to this is electric hospital bed, though encounter patient body fat or
During person nursing staff's asthenic body, sick bed this can be that nurse personnel and Health care staff are in room under conditions of power supply abundance
In Mobile sickbed power is provided, decrease nurse or nurse the personnel physical demands of Mobile sickbed and work in room strong
Degree.
5, two wheel guide robot drive system based on direct current brushless servo motor is added owing to this is electric hospital bed so that sick bed
Can now move freely at room interior-excess, decrease patient's sense of depression in some fixed position.
6, two wheel guide robot drive system based on direct current brushless servo motor is added owing to this is electric hospital bed so that separate unit
The power of motor is substantially reduced, and the contact point on power and ground has 2 points, is conducive to improving behaviour during electric hospital bed traveling
Control property.
7, owing to adding two wheel guide robot drive system based on direct current brushless servo motor, in very narrow space
Sickbed machine device people's shifted laterally can be made, reduce robot and rotate the negative issue brought.
8 in order to enable robot sick bed to move freely out doorway, ward, and controller adds multiple navigation sensing
Device, robot removal ward during once read surface mark will self-navigation, reduce what artificial Mobile sickbed brought
Error.
9, when robot electric sick bed runs into climbing, due to the self-contained dynamic energy, it is possible to very well
Power-assisted effect of playing, and the dynamic trait of Two-wheeled is superior to far away single wheel drive, further reduces nurse people
The requirement of member's muscle power.
10, processed, by MC2320, the full Digitized Servo Control that two axle direct current brushless servo motor differentials travel, be greatly improved
Arithmetic speed, solves single single-chip microcomputer and runs slower bottleneck, shorten the construction cycle short, and program transportability ability
By force.
11, invention fully achieves veneer control, not only save panel and take up room, but also fully achieve
The synchronization of multi-axle motor control signal, is conducive to improving stability and the dynamic property of medical robot electric sick bed.
12, use MC2320 to process substantial amounts of servo control data and algorithm due to this controller, and take into full account week
The interference source enclosed, frees ARM from complicated calculating, effectively prevent " race flies " of program, and capacity of resisting disturbance is big
Big enhancing.
13, robot is electric hospital bed adds automatic car locking function, when sick bed robot is in moving process, as run into
Emergency, MC2320 controller can send original place cutoff command, and locked two wheel guide robot running motor, even if multiple universal wheel
All in can be with sliding mode, but owing to driving wheel is in locking state, such robot also will not move.
14, robot is electric hospital bed adds dust humidity detection system.This dust humidity detection system is by moisture sensor, measurement
Circuit and display several parts such as recording equipment composition, be respectively completed acquisition of information, change, show and the function such as process, so when
When patient-sized is the most out of control or sheet is moist, dust humidity detection system can work, and sends replacement request.
15, the multiple warning system of this electric bed robotic equipment, before colliding barrier automatic stopping, thus
Ensure that the safety in motor process, decrease the environment interference to it.
16, use direct current brushless servo motor to instead of direct current generator due to robot electric sick bed system, not only enter
One step improves the safety of system, it is also possible to improves the utilization rate of the energy, adds robot electric sick bed and carrying the energy
The distance once moved under conditions of Yi Ding.
17, direct current brushless servo motor is used, when motor is produced by external interference due to robot electric sick bed system
During raw pulsating torque, direct current brushless servo motor can utilize moment to compensate rapidly with the relation of electric current, greatly reduce
The external interference impact on robot electric sick bed.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this
Equivalent structure or equivalence flow process that bright description is made convert, or are directly or indirectly used in other relevant technology neck
Territory, is the most in like manner included in the scope of patent protection of the present invention.
Claims (6)
1. a double-core Two-wheeled robot electric hospital bed controlling system, it is characterised in that include controlling device, motor control
System and make electric hospital bed direct current brushless servo motor X, the direct current brushless servo motor Y moved along different directions, described motion
Control system includes ARM chip controller, image capture module, Wireless LAN module and motion control chip, described ARM core
Sheet controller and motion control chip all communicate to connect with described control device, described ARM chip controller and motor control core
Between sheet communicate to connect, described direct current brushless servo motor X and direct current brushless servo motor Y all with described ARM chip controller
Communication connection, described electric hospital bed on be provided with navigation photoelectric sensor, start button SS, lateral turning button SK, retreat press
Button SB and acceleration transducer, described navigation photoelectric sensor, start button SS, lateral turning button SK, back SB and
Acceleration transducer communicates to connect with described ARM chip controller all simultaneously.
Double-core Two-wheeled robot electric hospital bed controlling system the most according to claim 1, it is characterised in that also include
For described kinetic control system and the battery supply of electric hospital bed offer power supply and alternating current power supply, described kinetic control system and electricity
Dynamic disease is electric hospital bed to be all electrically connected with described battery supply and/or alternating current power supply.
Double-core Two-wheeled robot electric hospital bed controlling system the most according to claim 1, it is characterised in that described directly
It is provided with magnetoelectric transducer M1 on stream brushless servo motor X, described direct current brushless servo motor Y is provided with magnetoelectric transducer
M2, described magnetoelectric transducer M1 and magnetoelectric transducer M2 are all electrically connected with described ARM chip controller.
Double-core Two-wheeled robot electric hospital bed controlling system the most according to claim 1, it is characterised in that also include
Warning system, described warning system is electrically connected with described ARM chip controller.
Double-core Two-wheeled robot electric hospital bed controlling system the most according to claim 1, it is characterised in that described electricity
It is provided with anti-collision ultrasonic sensor S9 and anti-collision ultrasonic sensor S10 on dynamic sick bed.
Double-core Two-wheeled robot electric hospital bed controlling system the most according to any one of claim 1 to 5, its feature
It is, also includes that dust humidity detection system, described dust humidity detection system include moisture sensor, measuring circuit and display record dress
Putting, described dust humidity detection system is electrically connected with described ARM chip controller.
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