CN106074042A - A kind of monokaryon two-wheel-drive multifunctional is electric hospital bed - Google Patents
A kind of monokaryon two-wheel-drive multifunctional is electric hospital bed Download PDFInfo
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- CN106074042A CN106074042A CN201610600796.3A CN201610600796A CN106074042A CN 106074042 A CN106074042 A CN 106074042A CN 201610600796 A CN201610600796 A CN 201610600796A CN 106074042 A CN106074042 A CN 106074042A
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- 210000002700 urine Anatomy 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 28
- 230000008569 process Effects 0.000 description 28
- 230000033001 locomotion Effects 0.000 description 18
- 230000007423 decrease Effects 0.000 description 15
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- 238000006073 displacement reaction Methods 0.000 description 12
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- 238000001514 detection method Methods 0.000 description 8
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- 230000033228 biological regulation Effects 0.000 description 2
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- 238000002604 ultrasonography Methods 0.000 description 2
- 206010028289 Muscle atrophy Diseases 0.000 description 1
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- 230000002159 abnormal effect Effects 0.000 description 1
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- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
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- 201000000585 muscular atrophy Diseases 0.000 description 1
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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
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/015—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame divided into different adjustable sections, e.g. for Gatch position
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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
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/018—Control or drive mechanisms
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
- A61G2203/22—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
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/36—General characteristics of devices characterised by sensor means for motion
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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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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Nursing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Invalid Beds And Related Equipment (AREA)
Abstract
nullThe invention discloses a kind of monokaryon two-wheel-drive multifunctional electric hospital bed，Described bedstead body includes left side baffle plate and right-hand apron，And one the bottom of side shield be provided with the support platform of projection，It is provided with chair assembly between two side shields，Described chair assembly includes the first bed board、Second bed board、3rd bed board and the 4th bed board，The first described bed board constitutes " L " type of mirror image with the second described bed board，It is connected between described the 3rd bed board and the 4th described bed board and constitutes " L " type of mirror image，It is provided with toilet pit-hole on the second described bed board，Described sick bed controller is arranged at the bottom of described chair assembly，When client need gos out stroll or replacing ward，Sick bed is folded，Patient cannot movable when，Band urine can be carried out in bed，Patient's requirement to sick bed under different situations can be met.
Description
Technical field
The present invention relates to electric hospital bed field, particularly relate to a kind of monokaryon two-wheel-drive multifunctional electric hospital bed.
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 key may be mounted at any permission ward bed by the range of signal, improves the degree of freedom of control.
Upgraded by adnexa, it is also possible to realize authority distribution.Motorized motions Product Precision is higher, it is simple to assembly line work, as ICU
The specific medical sick bed used in 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 arrived by medical personnel's Mobile sickbed
Certain space, but owing to sick bed moves randomness relatively greatly, sometimes there will be maloperation, the most sometimes can hurt disease
People.
(3) along with the increase of modern humans's quality of life, adiposis patient rolls up, and Health care staff typically compares
Slight of stature, makes Health care staff very painstaking by mechanically gimbaled removing patient of taking turns, has increased 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, present nurse personnel again than
Less, 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
External staff completes, and has 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 people
Automaticity ratio for operation 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, adjusting
While having saved patient's body and mind, also increase the amount of labour of nurse personnel, especially by climbing local time, to nurse personnel
Muscle power have higher requirement.
(8) although the electric hospital bed decoupling that can well meet sick bed speed and direction of single wheel drive, but single
The movable motor power of wheel drive 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 accurately is caused
Controlling its direction moved, slight some interference just can cause bigger direction to change.
(10) existing machinery sick bed is generally individually provided with a shake regulations and parameters at the head of sick bed, when client need lifts
When head or needs are steeved above the waist, all there is nursing staff to shake regulations and parameters and reach the purpose of raised portion sick bed, sick bed
Automaticity is relatively low, and has increased the weight of the amount of labour of nursing staff.
(11) existing machinery sick bed does not generally individually account for the requirement of patient's leg, the sickbed machine of the leg position of patient
Tool part can not move up and down, and causes the situations such as leg muscle atrophy to occur, be unfavorable for for the patient of long-time bed
The state of an illness treatment of patient.
(12) existing machinery sick bed or the most electric hospital bed when pushing away patient and leaving ward, no matter the state of an illness of patient
With situation how, patient is all the most straight to lie on one's sick bed, does not has hommization to consider, sometimes the tightest to the menticide of patient
Weight.
Summary of the invention
It is electric hospital bed that the technical problem that present invention mainly solves is to provide a kind of monokaryon two-wheel-drive multifunctional.
For solving above-mentioned technical problem, the technical scheme that the present invention uses is: provide a kind of monokaryon Two-wheeled many
Functional electric sick bed, including: bedstead body, sick bed controller, chair assembly,
Described bedstead body includes left side baffle plate and right-hand apron, and the bottom of a side shield is provided with the support platform of projection,
It is provided with chair assembly between two side shields
Described chair assembly includes the first bed board, the second bed board, the 3rd bed board and the 4th bed board, the first described bed board with
The second described bed board constitutes " L " type of mirror image, is connected and structure between described the 3rd bed board and the 4th described bed board
" L " type being mirrored into, the second described bed board is provided with toilet pit-hole, and closestool bottom is provided with waste collector,
The top of described chair assembly is provided with mattress, and the junction of described mattress and the second bed board is provided with opening,
Described sick bed controller is arranged at the bottom of described chair assembly,
In a preferred embodiment of the present invention, described bedstead body is provided with guardrails of both sides.
In a preferred embodiment of the present invention, the 4th described bed board is provided with slipmat.
In a preferred embodiment of the present invention, described sick bed controller includes ARM controller, monitoring sensor, inspection
Examining system, four axle direct current brushless servo motors, driving amplifier, man machine interface, described ARM controller and monitoring sensor with
And detecting system is connected, four described axle direct current brushless servo motors are connected with driving amplifier and man machine interface.
The invention has the beneficial effects as follows: monokaryon two-wheel-drive multifunctional of the present invention is electric hospital bed, gos out at client need scattered
Step or when changing ward, folds sick bed, patient cannot movable when, band urine can be carried out in bed, can
To meet patient's requirement to sick bed under different situations.
Accompanying drawing explanation
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 the perspective view of the electric hospital bed preferred embodiment of monokaryon two-wheel-drive multifunctional of the present invention；
Fig. 2 is present invention Two-wheeled based on STM32F407, is freely lifted the four medical hospital bed schematic diagrams of axle；
Fig. 3 be the present invention based on monokaryon Two-wheeled, be freely lifted four axle robot electric sick bed flow charts；
Fig. 4 is that monokaryon Two-wheeled is freely lifted four axle robot electric bed motion theory diagrams；
Fig. 5 is that monokaryon Two-wheeled is freely lifted four axle robot electric sick beds by doorway, ward self-navigation schematic diagram.
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.
One monokaryon two-wheel-drive multifunctional of the present invention is electric hospital bed, including: bedstead body 3, sick bed controller 1, bed board
Assembly 2,
Described bedstead body 3 includes left side baffle plate and right-hand apron, and the bottom of a side shield is provided with the support platform of projection
4, it is provided with chair assembly 2 between two side shields
Described chair assembly 2 includes the first bed board, the second bed board, the 3rd bed board and the 4th bed board, the first described bed board
With " L " type that described second bed board constitutes mirror image, be connected between described the 3rd bed board and the 4th described bed board and
Constituting " L " type of mirror image, the second described bed board is provided with toilet pit-hole, closestool bottom is provided with waste collector,
The top of described chair assembly 2 is provided with mattress, and the junction of described mattress and the second bed board is provided with opening,
Described sick bed controller 1 is arranged at the bottom of described chair assembly 2,
In a preferred embodiment of the present invention, described bedstead body 3 is provided with guardrails of both sides.
In a preferred embodiment of the present invention, the 4th described bed board is provided with slipmat.
In a preferred embodiment of the present invention, described sick bed controller includes ARM controller, monitoring sensor, inspection
Examining system, four axle direct current brushless servo motors, driving amplifier, man machine interface, described ARM controller and monitoring sensor with
And detecting system is connected, four described axle direct current brushless servo motors are connected with driving amplifier and man machine interface.
Based on ARM(STM32F407) robot electric sick bed controller, under power-on state, man machine interface elder generation work
Making, if really needing mobile electric sick bed, nurse personnel, Health care staff input respective web-privilege password Web, and robot electric is sick
Bed is only possible to move in room, and otherwise robot electric sick bed just stays in original place and waits authority open command；If robot
Electric hospital bed needs releases ward, and now hospital director needs to open the web-privilege password Web of oneself, otherwise robot electric sick bed
Once move to position, doorway detected by doorway monitoring sensor, the sensor on detecting system meeting trigger controller,
The locked current robot electric sick bed of STM32F407 also sends wrong operation alarm.Under ordinary running condition, robot electric
Sick bed reads external environment condition than feedback parameter to ARM(STM32F407 by various sensors), by ARM(STM32F407)
Being the Synchronization Control pwm signal of four axle direct current brushless servo motors after converting after reason, PWM ripple signal passes through straight after drive amplification
Stream brushless electric machine Z and R completes head and the lifting of leg sick bed part, then by DC brushless motor X, DC brushless motor
Y two wheel guide robot controls to drive sick bed to travel forward, and its movement velocity and displacement are by corresponding magnetism encoder M1, M2, M3, M4
Feed back to ARM(STM32F407), by ARM(STM32F407) secondary adjust synchronize pwm control signal meet real work need
Ask.Electric bed is in running, and man machine interface on-line storage also exports current state so that process more directly perceived.
Being embodied as step is:
Medical electric bed control system is divided into two parts: human-computer interface system and kinetic control system.Wherein man machine interface system
Unite the functions such as man machine interface, path planning, online output；Kinetic control system completes four electric hospital bed axle servo controls
The functions such as system, data storage, I/O control, system gives full play to ARM(STM32F407) advantage that signal handling capacity is stronger,
Process various sensor signals the most in real time.
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 accumulator in system is charged by alternating current power supply, it is ensured that robot electric sick bed has the enough energy complete
One-tenth task.
2) after once receiving the work order that main controller sends, in order to prevent the mobile infringement charging of robot electric sick bed
Connecting line, STM32F407 controller can disconnect the connection of line and alternating current power supply automatically, and robot electric sick bed transfers storage to
Battery-powered 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 key SS presses, and first system completes to initialize
And detect supply voltage, and if battery feed is abnormal, interrupt requests will be sent to STM32F407, STM32F407 can be right
Interrupting doing very first time response, if the interrupt response of STM32F407 does not have enough time to process, the self-locking device on car body will
It is triggered, and then reaches the function of self-locking, prevent maloperation；If power supply is normal, electric bed robot will start normal work.
5) detecting that start key SS presses when STM32F407 controller, being touched if now only having head to rise button SHF
Sending out, robot electric sick bed will start to do the motion of sick bed head rising part, and STM32F407 is according to the requirement of servo controller
Button is needed every time distance S run be converted into the acceleration of motor Z, speed and reference by location command value, then in conjunction with
The speed of magnetoelectric transducer M3 corresponding for motor Z and Displacement Feedback generate the driving signal driving direct current brushless servo motor Z, drive
Dynamic signal amplifies rear drive direct current brushless servo motor Z positive movement through power bridge, and robot electric sick bed starts slowly to rise,
In motor process, once the hands of nursing staff is not triggering start key or is rising button SHF, direct current brushless servo motor
The SERVO CONTROL of Z just terminates, and completes this uphill process；When the head of patient needs to decline, as long as nursing staff presses simultaneously
Lower start key SS and head decline button SHB, and robot electric sick bed will start to do the motion of sick bed head sloping portion,
STM32F407 needs distance S run to be converted into the acceleration of motor Z, speed button according to the requirement of servo controller every time
Degree and reference by location command value, then speed and Displacement Feedback in conjunction with magnetoelectric transducer M3 corresponding for motor Z generate and drive
The driving signal of direct current brushless servo motor Z, drives signal to amplify rear drive direct current brushless servo motor Z through power bridge and reversely transports
Dynamic, robot electric sick bed starts slowly to decline, in motor process, once the hands of nursing staff not trigger start key or
Being to rise button SHB, the SERVO CONTROL of direct current brushless servo motor Z just terminates, and completes this decline process.STM32F407 watches
Take controller and record the displacement SHS of current location and horizontal level.
6) detecting that start key SS presses when STM32F407 controller, being touched if now only having leg to rise button SLF
Sending out, robot electric sick bed will start to do the motion of sick bed leg rising part, and STM32F407 is according to the requirement of servo controller
Button is needed every time distance S run be converted into the acceleration of motor R, speed and reference by location command value, then in conjunction with
The speed of magnetoelectric transducer M4 corresponding for motor R and Displacement Feedback generate the driving signal driving direct current brushless servo motor R, drive
Dynamic signal amplifies rear drive direct current brushless servo motor R positive movement through power bridge, and robot electric sick bed starts slowly to rise,
In motor process, once the hands of nursing staff is not triggering start key or is rising button SLF, direct current brushless servo motor
The SERVO CONTROL of R just terminates, and completes this uphill process；When the leg of patient needs to decline, as long as nursing staff presses simultaneously
Lower start key SS and head decline button SLB, and robot electric sick bed will start to do the motion of hospital bed leg portion sloping portion,
STM32F407 needs distance S run to be converted into the acceleration of motor R, speed button according to the requirement of servo controller every time
Degree and reference by location command value, then speed and Displacement Feedback in conjunction with magnetoelectric transducer M4 corresponding for motor R generate and drive
The driving signal of direct current brushless servo motor R, drives signal to amplify rear drive direct current brushless servo motor R through power bridge and reversely transports
Dynamic, robot electric sick bed starts slowly to decline, in motor process, once the hands of nursing staff not trigger start key or
Being to rise button SLB, the SERVO CONTROL of direct current brushless servo motor R just terminates, and completes this decline process.STM32F407 watches
Take controller and record the displacement SLS of current location and horizontal level.
7) detect that start key SS presses when STM32F407 controller, if now recovery button SFF is triggered, machine
The electric hospital bed speed according to STM32F407 servo controller of people and acceleration requirement, be converted into motor Z displacement SLS and SHS
With acceleration, speed and the reference by location command value of motor R, then in conjunction with the magnetoelectric transducer that motor Z is corresponding with motor R
The speed of M3, M4 and Displacement Feedback generate the driving signal driving direct current brushless servo motor Z and motor R, drive signal through merit
Rate bridge amplifies rear drive direct current brushless servo motor Z and motor R motion, and bed body is restored to naturalness.
8) detecting that start key SS presses when STM32F407 controller, STM32F407 controller is turned lateral for detection
Whether button SK is triggered.If lateral turning button SK is triggered, STM32F407 needs rotation according to robot motion's part
GyrationNeed, distance SX to be operated for direct current brushless servo motor X and Y is converted into acceleration, speed and position
Reference instruction value, then STM32F407 generates driving direct current in conjunction with the feedback of magnetoelectric transducer M1, M2 of motor X and motor Y
The driving signal of brushless servo motor X and motor Y, drive signal through power bridge amplify rear drive direct current brushless servo motor X and
Motor Y moves in a reverse direction, in the operational factor of motor process M1 and M2 Real-time Feedback motor to STM32F407,
STM32F407 is according to feedback parameter secondary fine setting motor X and the pwm control signal of motor Y so that rotary system is in the stipulated time
Inside complete side to turnTask, owing to being the rotating part 90-degree rotation of motor X and motor Y composition in the process, does not change
Become electric hospital bed direction, improve the robot electric sick bed practicality at small space.
9) detect that start key SS presses when STM32F407 controller, if now only having forwarding button SF to be triggered,
Robot electric sick bed travels forward starting, in motor process, and the front anti-collision ultrasonic sensor S9 that robot carries
With S10 by work, and feed back the distance of itself and preceding object thing to the STM32F407 controller moment.If crashproof ultrasound wave passes
Sensor S9 or S10 reads front when having barrier, and STM32F407 adjusts brush DC through internal SERVO CONTROL program
The PWM output of servomotor X and motor Y, controls robot electric sick bed and stops in safety range, and controller also opens one
The timing of three seconds, if controller still reads barrier after three seconds, notifies that man machine interface changes run trace；If three
Second obstruction signal message, then robot electric sick bed will continue to start advance according to current path.Sick at robot electric
During bed motion, magnetoelectric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and position in the moment
Move, and feed back to STM32F407, by STM32F407 adjust for bis-times the PWM wave control signal of DC brushless motor X and motor Y with
Meet actual demand.
10) detect that start key SS presses when STM32F407 controller, if now only having back SB also to be touched
Sending out, robot electric sick bed will start setback, and STM32F407 adjusts brush DC servo through internal SERVO CONTROL program
The PWM output of motor X and motor Y, controls robot electric sick bed and slowly retreats according to setting speed；In setback process
In, magnetoelectric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and displacement in the moment, and feed back to
STM32F407, STM32F407 adjust brush DC servo according to speed and the Displacement Feedback secondary of magnetoelectric transducer M1 and M2
The PWM output of motor X and motor Y, it is ensured that robot electric sick bed runs in the range of safe speed, prevents excessive velocities machine
People is electric hospital bed pushes over nurse personnel.
11) detect that start key SS presses when STM32F407 controller, if now turning button SK and forwarding button
SF is triggered, and starting side is moved right by robot electric sick bed, in motor process, and the crashproof ultrasound wave in side that robot carries
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 ultrasonic
Wave sensor S6 reads right when having barrier, and STM32F407 adjusts brush DC servo electricity through internal SERVO CONTROL program
The PWM output of machine X and motor Y, controls robot electric sick bed and stops in safety range, and controller also opens one three seconds
Timing, if after three seconds controller still read barrier exist will to man machine interface send parking report to the police；If after three seconds
Obstacle signal message, then robot electric sick bed will continue laterally to move to right according to current track.In robot electric sick bed side
During moving right, magnetoelectric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and position in the moment
Move, and feed back to STM32F407, by bis-adjustment motor X of STM32F407 and the kinematic parameter of motor Y, it is ensured that system meets
Walking requirement.
12) detect that start key SS once presses when STM32F407 controller, if now turning button SK and advance
Button SB is triggered, and robot electric sick bed is by starting side to moving to left, and in motor process, the side that robot carries is crashproof super
Sonic sensor S7 is by work, and feeds back the distance of itself and preceding object thing to the STM32F407 controller moment.If it is crashproof
Ultrasonic sensor S7 reads motion front when having barrier, STM32F407 through internal SERVO CONTROL program adjust direct current without
The PWM output of brush servomotor X and motor Y, controls robot electric sick bed and stops in safety range, and controller also opens one
The timing of individual three seconds, if after three seconds controller still read barrier exist will to man machine interface send parking report to the police；As
Really three seconds obstruction signal messages, then robot electric sick bed will continue laterally to move to left according to current track.At robot electricity
During dynamic sick bed laterally moves to left, magnetoelectric transducer M1, M2 can moment detection direct current brushless servo motor X and the motions of motor Y
Speed and displacement, and feed back to STM32F407, by bis-adjustment motor X of STM32F407 and the kinematic parameter of motor Y, it is ensured that
System meets actual demand.
13) when robot electric sick bed needs to remove ward, Xian You hospital director opens walking web-privilege password Web, permissible
Nurse personnel are had to release room, it is possibility to have nurse personnel shift the position with area navigation mark onto robot electric sick bed
Putting, robot electric sick bed enters automatic navigation mode: photoelectric sensor S1, S2, S3, S4, S5 of its navigation are by work, ground
The photosignal that sign back is returned feeds back to STM32F407, determines that robot skew is led after STM32F407 judgement processes
The deviation of boat track, STM32F407 is converted into acceleration, speed and position to be run for motor X and motor Y this deviation signal
Moving instruction, STM32F407 produces driving direct current brushless servo motor X and motor Y in conjunction with the feedback of magnetism encoder M1 and M2
Driving signal, drive signal to move before amplifying rear drive DC brushless motor X and motor Y-direction, quickly adjust robot electric
Sick bed rapidly returns back to orbit centre of navigating.Robot electric sick bed is marked along track travel process, STM32F407 according to ground
The driving signal of the feedback fine setting motor X and motor Y of will and magnetism encoder M1 and M2, makes robot along the track set
Pass through doorway, ward.After the track laid disappears, robot electric sick bed is just parked in original place and waits artificial movable signal,
Prevent maloperation.
14) 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, controller is once
Detecting that urgent interrupt request can send original place cutoff command, STM32F407 blocks direct current brushless servo motor by driver
The PWM ripple signal of X and motor Y, though electric hospital bed multiple universal wheel all in can with sliding mode, due to movable motor X and
Motor Y is in locking state, and such robot electric sick bed also will not move, it is ensured that robot safety in an emergency situation
Property.
15) present invention adds dust humidity detection system on robot electric sick bed.This dust humidity detection system is passed by wet sensitive
Several parts such as sensor, measuring circuit and display recording equipment composition, is respectively completed acquisition of information, changes, shows and the merit such as process
Can, so when patient-sized is the most out of control, dust humidity detection system can work, and will send alarm signal, and nurse personnel are by man-machine
Interface output can find failure cause, then changes bedding.
16) this electric bed is equipped with multiple anti-barrier warning system, and robot barrier physical prospecting examining system can be at machine
People's sick bed automatically detects the existence of barrier and assists automatic stopping by controller before colliding barrier, and according to barrier
The character hindering thing determines restarting or stays in as you were always, this ensures that theres robot sick bed in motor process
Adaptation to surrounding, decreases the environment interference to it.
17) in robot electric sick bed walking process, direct current brushless servo motor is often disturbed by extraneous factor,
In order to reduce the pulsating torque impact on robot ambulation of motor, it is right that controller adds on the basis of considering motor characteristic
The on-line identification of motor torque, and utilize motor torque to compensate in time with the relation of electric current, weaken external environment to machine
The impact of device people motion.
The present invention a kind of monokaryon two-wheel-drive multifunctional is electric hospital bed to be provided the benefit that:
1, during controlling, battery effect in this system has been taken into full account, based on ARM(STM32F407) controller
Moment all to the running status of robot electric sick bed with power source is monitored and computing, when Ac Dump,
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, it is ensured that
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: add two wheel guide robot drive system based on direct current brushless servo motor 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: add two wheel guide robot drive system based on direct current brushless servo motor 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, 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 STM32F407, the full Digitized Servo Control that two spindle motor differentials travel, two spindle motors are freely lifted,
Substantially increase arithmetic speed, solve single single-chip microcomputer and run slower bottleneck, shorten the construction cycle short, and program can be moved
Plant ability strong.
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: owing to this controller uses STM32F407 to process substantial amounts of data and algorithm, and taken into full account around
Interference source, effectively prevent " race flies " of program, and capacity of resisting disturbance is greatly enhanced.
13: robot is electric hospital bed adds automatic car locking function, when sick bed robot is in moving process, as run into
Emergency, 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: owing to robot electric sick bed system uses direct current brushless servo motor to instead of direct current generator, 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: owing to robot electric sick bed system uses direct current brushless servo motor, when motor is produced by external interference
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.
18: head servo control part based on single shaft direct current brushless servo motor can well meet client need and lift
Playing head or activity above the waist of steeving, nursing staff can reach to rise sick bed front portion by button, sick bed automatic
Change degree gets a promotion further, decreases the amount of labour of nursing staff.
19: leg SERVO CONTROL part based on single shaft direct current brushless servo motor can well meet client need lower limb
Portion or the activity of the lower part of the body, nursing staff can reach to rise or reduce sick bed rear portion, automatization's journey of sick bed by button
Degree gets a promotion further, decreases the amount of labour of nursing staff.
20: make robot electric sick bed have various machinery based on front and back two axle brush DC servo lowering or hoisting gear combination
Combination, when pushing away patient and leaving ward, can freely regulate the posture of sick bed according to the state of an illness of patient, meets different patient
Psychological requirement.
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 necks
Territory, is the most in like manner included in the scope of patent protection of the present invention.
Claims (4)
1. a monokaryon two-wheel-drive multifunctional is electric hospital bed, it is characterised in that including: bedstead body, sick bed controller, bed board
Assembly,
Described bedstead body includes left side baffle plate and right-hand apron, and the bottom of a side shield is provided with the support platform of projection,
It is provided with chair assembly between two side shields
Described chair assembly includes the first bed board, the second bed board, the 3rd bed board and the 4th bed board, the first described bed board with
The second described bed board constitutes " L " type of mirror image, is connected and structure between described the 3rd bed board and the 4th described bed board
" L " type being mirrored into, the second described bed board is provided with toilet pit-hole, and closestool bottom is provided with waste collector,
The top of described chair assembly is provided with mattress, and the junction of described mattress and the second bed board is provided with opening,
Described sick bed controller is arranged at the bottom of described chair assembly.
Monokaryon two-wheel-drive multifunctional the most according to claim 1 is electric hospital bed, it is characterised in that described bedstead body
On be provided with guardrails of both sides.
Monokaryon two-wheel-drive multifunctional the most according to claim 1 is electric hospital bed, it is characterised in that the 4th described bed board
On be provided with slipmat.
Monokaryon two-wheel-drive multifunctional the most according to claim 1 is electric hospital bed, it is characterised in that described sick bed controls
Device includes ARM controller, monitoring sensor, detecting system, four axle direct current brushless servo motors, driving amplifier, man machine interface,
Described ARM controller is connected with monitoring sensor and detecting system, four described axle direct current brushless servo motors with drive
Dynamic amplifier and man machine interface are connected.
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