CN106880454A - A kind of robot care bed control system and method - Google Patents
A kind of robot care bed control system and method Download PDFInfo
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- CN106880454A CN106880454A CN201510957317.9A CN201510957317A CN106880454A CN 106880454 A CN106880454 A CN 106880454A CN 201510957317 A CN201510957317 A CN 201510957317A CN 106880454 A CN106880454 A CN 106880454A
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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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- 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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Abstract
本发明提供一种机器人护理床控制系统和方法，机器人护理床包括轮椅部分和床部分，包括：控制装置；电机组件，用于控制轮椅部分的移动；电动推杆组件，用于控制床部分的姿态变化和轮椅部分的姿态变化；感应装置，连接于控制装置，用于感应床部分和轮椅部分的动作；激光扫描测量装置，用于为轮椅部分的移动进行自主导航；图像采集装置，连接于控制装置，用于轮椅部分回库时进行视觉定位；通讯装置，连接于控制装置，用于轮椅部分与床部分之间的动作发送至控制装置；手柄，用于用户控制轮椅部分的姿态调整、所述轮椅部分与所述床部分合并后的同步动作以及所述轮椅部分移动速度和方向的控制；显示器，用于导航的地图显示和操作界面的显示。
The invention provides a robot nursing bed control system and method. The robot nursing bed includes a wheelchair part and a bed part, including: a control device; a motor assembly, used to control the movement of the wheelchair part; an electric push rod assembly, used to control the movement of the bed part The posture change and the posture change of the wheelchair part; the sensing device, connected to the control device, for sensing the motion of the bed part and the wheelchair part; the laser scanning measurement device, used for autonomous navigation for the movement of the wheelchair part; the image acquisition device, connected to the The control device is used for visual positioning when the wheelchair part returns to the warehouse; the communication device is connected to the control device and is used to send the actions between the wheelchair part and the bed part to the control device; the handle is used for the user to control the posture adjustment of the wheelchair part, Synchronous action of the combined wheelchair part and the bed part and control of the moving speed and direction of the wheelchair part; display, map display for navigation and display of the operation interface.
Description
技术领域technical field
本发明涉及护理领域，特别是涉及一种机器人护理床控制系统和方法。The invention relates to the field of nursing, in particular to a robot nursing bed control system and method.
背景技术Background technique
随着人口老年化的加剧，机器人护理床在未来将会有很好的发展前景，由于机器人护理床的控制系统，又是整个机器人护理床的核心部分，这部分是决定了机器人护理床的性能的最主要因素。虽然国内机器人领域发展的很快，但是主要是工业机器人领域发展较成熟，服务机器人领域仍有较大差距。以往机器人护理床采用以工业计算机为平台开发的windows应用程序作为上位机程序，而且还需要辅助的单片机去实现特定的功能，这种控制系统不仅不经济，而且体积较大，稳定性也欠缺。目前现有的机器人护理床通常采用PC加上运动控制卡的方法实现控制，实时性较差，运动控制不够精确，成本较高，且作用比较单一。With the aging of the population, the robot nursing bed will have a good development prospect in the future. Because the control system of the robot nursing bed is the core part of the entire robot nursing bed, this part determines the performance of the robot nursing bed. most important factor. Although the field of domestic robots has developed rapidly, the development of industrial robots is relatively mature, and there is still a big gap in the field of service robots. In the past, the robot nursing bed used the Windows application program developed on the platform of the industrial computer as the upper computer program, and also needed an auxiliary single-chip microcomputer to realize specific functions. This kind of control system is not only uneconomical, but also has a large volume and lacks stability. At present, the existing robot nursing bed usually adopts the method of PC plus motion control card to realize the control, which has poor real-time performance, inaccurate motion control, high cost, and relatively single function.
发明内容Contents of the invention
鉴于以上所述现有技术的缺点，本发明的目的在于提供一种机器人护理床控制系统和方法，用于解决现有技术中实时性较差，运动控制不够精确，成本较高，且作用比较单一的问题。In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a robot nursing bed control system and method, which are used to solve the problem of poor real-time performance, inaccurate motion control, high cost, and relatively low performance in the prior art. single question.
为实现上述目的及其他相关目的，本发明提供一种机器人护理床控制系统，所述护理床包括轮椅部分和床部分，包括：控制装置；电机组件，连接于所述控制装置，用于控制所述轮椅部分的移动；电动推杆组件，连接于所述控制装置，用于控制所述床部分的姿态变化和所述轮椅部分的姿态变化；感应装置，连接于所述控制装置，用于感应所述床部分和所述轮椅部分的动作；激光扫描测量装置，连接于所述控制装置，用于为所述轮椅部分的移动进行自主导航；图像采集装置，连接于所述控制装置，用于所述轮椅部分回库时进行视觉定位；通讯装置，连接于所述控制装置，用于所述轮椅部分与所述床部分之间的动作发送至所述控制装置；手柄，用于用户控制所述轮椅部分的姿态调整、所述轮椅部分与所述床部分合并后的同步动作以及所述轮椅部分移动速度和方向的控制；显示器，用于导航的地图显示和操作界面的显示。In order to achieve the above purpose and other related purposes, the present invention provides a robot nursing bed control system, the nursing bed includes a wheelchair part and a bed part, including: a control device; a motor assembly connected to the control device for controlling the The movement of the wheelchair part; the electric push rod assembly, connected to the control device, for controlling the posture change of the bed part and the posture change of the wheelchair part; the sensing device, connected to the control device, for sensing movement of the bed portion and the wheelchair portion; a laser scanning measurement device connected to the control device for autonomous navigation of the movement of the wheelchair portion; an image acquisition device connected to the control device for Visual positioning is performed when the wheelchair part is returned to the warehouse; a communication device is connected to the control device, and is used for sending actions between the wheelchair part and the bed part to the control device; a handle is used for the user to control the The posture adjustment of the wheelchair part, the synchronous action of the wheelchair part and the bed part combined, and the control of the moving speed and direction of the wheelchair part; the display, the map display for navigation and the display of the operation interface.
于本发明的一实施例中，所述控制装置包括：处理器；轮椅姿态控制模块，用于通过所述处理器控制所述电动推杆组件的运动；车床同步动作控制模块，用于通过所述处理器控制所述轮椅部分和所述床部分同步动作；导航控制模块，用于通过所述处理器控制所述轮椅部分的自动导航；视觉定位入库模块，用于通过所述处理器控制所述轮椅部分的回库；人机界面的控制模块，用于用户对所述护理床进行操作。In an embodiment of the present invention, the control device includes: a processor; a wheelchair attitude control module, used to control the movement of the electric push rod assembly through the processor; a lathe synchronous action control module, used to The processor controls the wheelchair part and the bed part to act synchronously; the navigation control module is used to control the automatic navigation of the wheelchair part through the processor; the visual positioning storage module is used to control the wheelchair part through the processor The storage of the wheelchair part; the control module of the man-machine interface, used for the user to operate the nursing bed.
于本发明的一实施例中，所述电机组件包括：电机，用于带动所述轮椅部分移动；驱动器，用于驱动所述电机运转；编码器，用于反馈所述电机的速度信息和所述轮椅部分的位置信息。In an embodiment of the present invention, the motor assembly includes: a motor, used to drive the wheelchair part to move; a driver, used to drive the motor to run; an encoder, used to feed back the speed information of the motor and the information about the location of the wheelchair section.
于本发明的一实施例中，所述电动推杆组件包括：电动推杆，用于调整所述床部分和所述轮椅部分的姿态；电动推杆驱动器，用于驱动所述电动推杆。In an embodiment of the present invention, the electric push rod assembly includes: an electric push rod for adjusting the postures of the bed part and the wheelchair part; and an electric push rod driver for driving the electric push rod.
于本发明的一实施例中，所述感应装置包括：霍尔传感器，用于检测所述电动推杆组件发出的信号，并将信号发送给所述控制装置；压力传感器，用于感应所述床部分和所述轮椅部分的同步动作信号，并将信号发送给所述控制装置；限位开关，用于在所述轮椅部分入库后被触发后发出停止信号，停止所述护理床的动作。In one embodiment of the present invention, the sensing device includes: a hall sensor, used to detect the signal sent by the electric push rod assembly, and send the signal to the control device; a pressure sensor, used to sense the The synchronous action signal of the bed part and the wheelchair part, and send the signal to the control device; the limit switch is used to send a stop signal after the wheelchair part is triggered to stop the action of the nursing bed .
于本发明的一实施例中，所述激光扫描测量装置包括：激光扫描器，用于通过激光扫描建立地图；自动导航单元，用于根据所述地图进行自主定位导航。In an embodiment of the present invention, the laser scanning measurement device includes: a laser scanner for establishing a map by laser scanning; an automatic navigation unit for autonomous positioning and navigation according to the map.
本发明还提供一种机器人护理床控制方法，涉及上述的机器人护理床控制系统，包括步骤：所述显示器显示导航的地图和操作界面；所述图像采集装置在所述轮椅部分回库时进行视觉定位；所述激光扫描测量装置对所述轮椅部分的移动进行自主导航；所述电机组件控制所述轮椅部分的移动，所述轮椅部分回库；用户通过所述手柄控制所述轮椅部分的姿态调整、所述轮椅部分与所述床部分合并后的同步动作以及所述轮椅部分移动速度和方向的控制；所述感应装置感应所述床部分和所述轮椅部分的动作；所述通信装置将所述轮椅部分与所述床部分之间的动作发送至所述控制装置；所述控制装置控制所述电动推杆组件控制所述床部分的姿态变化和所述轮椅部分的姿态变化。The present invention also provides a method for controlling a robot nursing bed, which relates to the above-mentioned robot nursing bed control system, comprising the steps of: the display displays a navigation map and an operation interface; Positioning; the laser scanning measurement device autonomously navigates the movement of the wheelchair part; the motor assembly controls the movement of the wheelchair part, and the wheelchair part returns to the warehouse; the user controls the posture of the wheelchair part through the handle Adjustment, synchronous action of the wheelchair part and the bed part after merging and control of the moving speed and direction of the wheelchair part; the sensing device senses the motion of the bed part and the wheelchair part; the communication device will The motion between the wheelchair part and the bed part is sent to the control device; the control device controls the electric push rod assembly to control the posture change of the bed part and the posture change of the wheelchair part.
于本发明的一实施例中，还包括步骤：用户通过所述人机界面的控制模块对所述护理床进行操作；导航控制模块通过所述处理器控制所述轮椅部分的自动导航；视觉定位入库模块通过所述处理器控制所述轮椅部分的回库；车床同步动作控制模块通过所述处理器控制所述轮椅部分和所述床部分同步动作；轮椅姿态控制模块通过所述处理器控制所述电动推杆组件的运动。In an embodiment of the present invention, it also includes steps: the user operates the nursing bed through the control module of the man-machine interface; the navigation control module controls the automatic navigation of the wheelchair part through the processor; visual positioning The warehousing module controls the return of the wheelchair part through the processor; the lathe synchronous action control module controls the wheelchair part and the bed part synchronous action through the processor; the wheelchair posture control module controls the wheelchair part through the processor. The movement of the electric push rod assembly.
于本发明的一实施例中，还包括步骤：所述激光扫描器通过激光扫描建立地图，所述自动导航单元根据所述地图进行自主定位导航；所述驱动器驱动所述电机运转，所述电机带动所述轮椅部分移动；所述霍尔传感器检测所述电动推杆组件发出的信号，并将信号发送给所述控制装置；所述压力传感器感应所述床部分和所述轮椅部分的同步动作信号，并将信号发送给所述控制装置；所述电动推杆驱动器驱动所述电动推杆；所述电动推杆调整所述床部分和所述轮椅部分的姿态。In an embodiment of the present invention, it further includes the steps: the laser scanner establishes a map through laser scanning, and the automatic navigation unit performs autonomous positioning and navigation according to the map; the driver drives the motor to run, and the motor Drive the wheelchair part to move; the Hall sensor detects the signal sent by the electric push rod assembly and sends the signal to the control device; the pressure sensor senses the synchronous action of the bed part and the wheelchair part signal, and send the signal to the control device; the electric push rod driver drives the electric push rod; the electric push rod adjusts the attitude of the bed part and the wheelchair part.
于本发明的一实施例中，还包括步骤：通过编码器反馈所述电机的速度信息和所述轮椅部分的位置信息。In an embodiment of the present invention, it further includes the step of feeding back the speed information of the motor and the position information of the wheelchair part through an encoder.
如上所述，本发明的机器人护理床控制系统和方法，具有以下有益效果：体积较小，比较稳定，可以实时控制，运动控制更精确，成本较低，且可以通过内嵌Linux系统，使得系统更加开放，便于添加新功能和升级产品。As mentioned above, the robot nursing bed control system and method of the present invention have the following beneficial effects: small size, relatively stable, real-time control, more precise motion control, low cost, and the embedded Linux system can make the system More open, easy to add new features and upgrade products.
附图说明Description of drawings
图1显示为本发明机器人护理床控制系统的一实施例的系统方框示意图。FIG. 1 is a system block schematic diagram of an embodiment of the robot nursing bed control system of the present invention.
图2显示为本发明机器人护理床控制系统的另一实施例的系统方框示意图。Fig. 2 is a system block schematic diagram of another embodiment of the robot nursing bed control system of the present invention.
图3显示为本发明机器人护理床控制方法的一实施例的流程方框示意图。Fig. 3 is a flow block schematic diagram of an embodiment of the method for controlling the robot nursing bed of the present invention.
具体实施方式detailed description
以下通过特定的具体实例说明本发明的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本发明的其他优点与功效。本发明还可以通过另外不同的具体实施方式加以实施或应用，本说明书中的各项细节也可以基于不同观点与应用，在没有背离本发明的精神下进行各种修饰或改变。需说明的是，在不冲突的情况下，以下实施例及实施例中的特征可以相互组合。Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, in the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.
需要说明的是，以下实施例中所提供的图示仅以示意方式说明本发明的基本构想，遂图式中仅显示与本发明中有关的组件而非按照实际实施时的组件数目、形状及尺寸绘制，其实际实施时各组件的型态、数量及比例可为一种随意的改变，且其组件布局型态也可能更为复杂。It should be noted that the diagrams provided in the following embodiments are only schematically illustrating the basic ideas of the present invention, and only the components related to the present invention are shown in the diagrams rather than the number, shape and shape of components in actual implementation. Dimensional drawing, the type, quantity and proportion of each component can be changed arbitrarily during actual implementation, and the component layout type may also be more complicated.
如图1所示，图1显示为本发明机器人护理床控制系统的一实施例的系统方框示意图。本发明提供了一种机器人护理床控制系统，机器人护理床包括轮椅部分和床部分，包括：控制装置10；用于指示护理床各部分进行运作。电机201组件20，连接于控制装置10，用于控制轮椅部分的移动；电动推杆组件30，连接于控制装置10，用于控制床部分的姿态变化和轮椅部分的姿态变化；感应装置40，连接于控制装置10，用于感应床部分和轮椅部分的动作；激光扫描测量装置50，连接于控制装置10，用于为轮椅部分的移动进行自主导航；图像采集装置60，连接于控制装置10，用于轮椅部分回库时进行视觉定位；通讯装置70，连接于控制装置10，用于轮椅部分与床部分之间的动作发送至控制装置10；手柄80，用于用户控制轮椅部分的姿态调整、所述轮椅部分与所述床部分合并后的同步动作以及所述轮椅部分移动速度和方向的控制，实现对轮椅部分运动的精确控制；显示器90，用于导航的地图显示和操作界面的显示。显示器90显示导航的地图和操作界面，用户选择轮椅部分回库，图像采集装置60在轮椅部分回库时进行视觉定位；激光扫描测量装置50对轮椅部分的移动进行自主导航；电机201组件20控制轮椅部分的移动，轮椅部分回库；用户通过手柄80控制轮椅部分的姿态调整；感应装置40感应床部分和轮椅部分的动作；通信装置将轮椅部分与床部分之间的动作发送至控制装置10；控制装置10控制电动推杆组件30控制床部分的姿态变化和轮椅部分的姿态变化。As shown in FIG. 1 , FIG. 1 shows a system block schematic diagram of an embodiment of the robot nursing bed control system of the present invention. The present invention provides a robot nursing bed control system. The robot nursing bed includes a wheelchair part and a bed part, including: a control device 10 for instructing each part of the nursing bed to operate. The motor 201 assembly 20 is connected to the control device 10 for controlling the movement of the wheelchair part; the electric push rod assembly 30 is connected to the control device 10 for controlling the posture change of the bed part and the posture change of the wheelchair part; the sensing device 40, Connected to the control device 10, used to sense the actions of the bed part and the wheelchair part; the laser scanning measurement device 50, connected to the control device 10, used for autonomous navigation for the movement of the wheelchair part; the image acquisition device 60, connected to the control device 10 , used for visual positioning when the wheelchair part returns to the warehouse; the communication device 70, connected to the control device 10, used to send the actions between the wheelchair part and the bed part to the control device 10; the handle 80, used for the user to control the posture of the wheelchair part Adjustment, the synchronous action of the combined wheelchair part and the bed part and the control of the moving speed and direction of the wheelchair part realize the precise control of the movement of the wheelchair part; the display 90 is used for navigation map display and operation interface show. The display 90 displays the navigation map and the operation interface, the user selects the wheelchair part to return to the warehouse, and the image acquisition device 60 performs visual positioning when the wheelchair part returns to the warehouse; the laser scanning measurement device 50 performs autonomous navigation on the movement of the wheelchair part; the motor 201 component 20 controls The movement of the wheelchair part, the wheelchair part returns to the warehouse; the user controls the posture adjustment of the wheelchair part through the handle 80; the sensing device 40 senses the actions of the bed part and the wheelchair part; the communication device sends the actions between the wheelchair part and the bed part to the control device 10 ; The control device 10 controls the electric push rod assembly 30 to control the posture change of the bed part and the posture change of the wheelchair part.
如图2所示，图2显示为本发明机器人护理床控制系统的另一实施例的系统方框示意图。机器人护理床包括轮椅部分和床部分，还包括：控制装置10；用于指示护理床各部分进行运作。控制装置10包括：处理器；在本发明的一优选实施例中，处理器为ARM处理器，以ARM处理器为基础，可以配合嵌入式操作系统Linux的软件平台，更具开放性，可以随时对系统进行升级和修改，以及添加不同的新功能。采用ARM内核的控制器体积更小、成本更低。同时该系统软硬件架构具有模块化和开放性，便于新功能的添加等升级和修改。轮椅姿态控制模块，用于通过处理器控制电动推杆组件30的运动；车床同步动作控制模块，用于通过处理器控制轮椅部分和床部分同步动作；导航控制模块，用于通过处理器控制轮椅部分的自动导航；视觉定位入库模块，用于通过处理器控制轮椅部分的回库；人机界面的控制模块，用于用户对护理床进行操作。电机201组件20，连接于控制装置10，用于控制轮椅部分的移动。进一步地，电机201组件20包括：电机201，用于带动轮椅部分移动；驱动器202，用于驱动电机201运转；编码器203，用于反馈所述电机201的速度信息和所述轮椅部分的位置信息。电动推杆组件30，连接于控制装置10，用于控制床部分的姿态变化和轮椅部分的姿态变化；电动推杆组件30包括：电动推杆301，用于调整床部分和轮椅部分的姿态；电动推杆驱动器302，用于驱动电动推杆301。在本发明一优选实施例中，电动推杆驱动器302的控制接口连接在ARM处理器的IO口，在配合相应的控制程序就可以实现轮椅车姿态的控制。电动推杆驱动器控制电动推杆的伸缩，实现机器人护理床的姿态变化和轮椅部分的姿态变化。感应装置40，连接于控制装置10，用于感应床部分和轮椅部分的动作；感应装置40包括：霍尔传感器401，用于检测电动推杆组件30发出的信号，并将信号发送给控制装置10；压力传感器402，用于感应床部分和轮椅部分的同步动作信号，并将信号发送给控制装置10。限位开关403，用于在轮椅部分入库后被触发后发出停止信号，停止护理床的动作。霍尔传感器401检测电动推杆的速度位置信号传递给控制装置10，控制装置10控制电动推杆驱动器302，驱动电动推杆301调整床部分的姿态变化和轮椅部分的姿态变化，使得两者的变化同步。压力传感器402感应轮椅部分的抬背动作，并将信号发送至控制装置10，控制装置10控制床部分和轮椅部分的抬背动作同步进行。轮椅姿态控制模块控制电动推杆驱动组件实现电动推杆的伸缩，根据霍尔传感器401信号、压力传感器402和限位开关403信号实现轮椅部分的平躺、坐立、站立和入库姿态等动作的变化。车床同步控制模块主要是通过霍尔传感器信号、压力传感器信号和限位开关信号实现机器人护理床的轮椅部分和床部分合并后抬背、屈腿、翻身等动作的实现。激光扫描测量装置50，连接于控制装置10，用于为轮椅部分的移动进行自主导航；激光扫描测量装置50包括：激光扫描器501，用于通过激光扫描建立地图；自动导航单元502，用于根据地图进行自主定位导航。图像采集装置60，连接于控制装置10，用于轮椅部分回库时进行视觉定位；在本发明的一优选实施例中，图像采集装置60为工业相机，可以提高图像采集的精度，提高轮椅部分的回库效果。视觉定位入库模块在机器人护理床轮椅车部分在入库与床合并时，通过工业相机的视觉定位程序，实现轮椅车部分的精准回库。通讯装置70，连接于控制装置10，用于轮椅部分与床部分之间的动作发送至控制装置10；通过通讯装置70的相互通讯，可以实现轮椅部分和床部分的动作的同步。手柄80，用于用户控制轮椅部分的姿态调整、所述轮椅部分与所述床部分合并后的同步动作以及所述轮椅部分移动速度和方向的控制，实现对轮椅部分运动的精确控制；用户可以通过手柄80控制轮椅部分的姿态调整，床部分再根据轮椅部分的姿态调整进行同步调整。显示器90，用于导航的地图显示和操作界面的显示。As shown in FIG. 2 , FIG. 2 is a system block schematic diagram of another embodiment of the robot nursing bed control system of the present invention. The robot nursing bed includes a wheelchair part and a bed part, and also includes: a control device 10 for instructing each part of the nursing bed to operate. Control device 10 comprises: processor; In a preferred embodiment of the present invention, processor is ARM processor, is based on ARM processor, can cooperate the software platform of embedded operating system Linux, more openness, can be at any time Upgrade and modify the system, and add different new functions. Controllers using the ARM core are smaller and less expensive. At the same time, the software and hardware architecture of the system is modular and open, which is convenient for upgrading and modification such as adding new functions. The wheelchair posture control module is used to control the movement of the electric push rod assembly 30 through the processor; the lathe synchronous motion control module is used to control the wheelchair part and the bed part through the processor to synchronize the motion; the navigation control module is used to control the wheelchair through the processor Part of the automatic navigation; the visual positioning storage module is used to control the wheelchair part through the processor; the control module of the man-machine interface is used for the user to operate the nursing bed. The motor 201 assembly 20, connected to the control device 10, is used to control the movement of the wheelchair parts. Further, the motor 201 assembly 20 includes: a motor 201, which is used to drive the wheelchair part to move; a driver 202, which is used to drive the motor 201 to run; an encoder 203, which is used to feed back the speed information of the motor 201 and the position of the wheelchair part information. The electric push rod assembly 30 is connected to the control device 10, and is used to control the posture change of the bed part and the posture change of the wheelchair part; the electric push rod assembly 30 includes: an electric push rod 301, which is used to adjust the posture of the bed part and the wheelchair part; The electric push rod driver 302 is used to drive the electric push rod 301 . In a preferred embodiment of the present invention, the control interface of the electric push rod driver 302 is connected to the IO port of the ARM processor, and the attitude control of the wheelchair can be realized in cooperation with the corresponding control program. The electric push rod driver controls the expansion and contraction of the electric push rod to realize the attitude change of the robot nursing bed and the wheelchair part. The sensing device 40 is connected to the control device 10, and is used to sense the movement of the bed part and the wheelchair part; the sensing device 40 includes: a Hall sensor 401, which is used to detect the signal sent by the electric push rod assembly 30, and send the signal to the control device 10 ; the pressure sensor 402 is used to sense the synchronous action signal of the bed part and the wheelchair part, and send the signal to the control device 10 . The limit switch 403 is used to send a stop signal to stop the action of the nursing bed after being triggered after the wheelchair part is put into storage. The Hall sensor 401 detects the speed and position signal of the electric push rod and transmits it to the control device 10. The control device 10 controls the electric push rod driver 302, and drives the electric push rod 301 to adjust the attitude change of the bed part and the posture change of the wheelchair part, so that both Synchronization of changes. The pressure sensor 402 senses the back raising action of the wheelchair part, and sends a signal to the control device 10, and the control device 10 controls the back raising actions of the bed part and the wheelchair part to be carried out synchronously. The wheelchair attitude control module controls the electric push rod drive components to realize the expansion and contraction of the electric push rod. According to the signals of Hall sensor 401, pressure sensor 402 and limit switch 403, the movements of lying, sitting, standing and storage posture of the wheelchair part are realized. The change. The synchronous control module of the lathe mainly realizes actions such as back lifting, leg bending, and turning over after the wheelchair part and the bed part of the robot nursing bed are merged through the Hall sensor signal, pressure sensor signal and limit switch signal. The laser scanning measurement device 50 is connected to the control device 10 and is used for autonomous navigation for the movement of the wheelchair part; the laser scanning measurement device 50 includes: a laser scanner 501 for establishing a map through laser scanning; an automatic navigation unit 502 for Carry out autonomous positioning and navigation according to the map. The image acquisition device 60 is connected to the control device 10 and is used for visual positioning when the wheelchair part returns to the warehouse; in a preferred embodiment of the present invention, the image acquisition device 60 is an industrial camera, which can improve the accuracy of image acquisition and improve the wheelchair part The effect of returning to the library. The visual positioning storage module realizes the accurate return of the wheelchair vehicle part through the visual positioning program of the industrial camera when the wheelchair part of the robot nursing bed is combined with the bed. The communication device 70 is connected to the control device 10 for sending the actions between the wheelchair part and the bed part to the control device 10; through the mutual communication of the communication device 70, the synchronization of the actions of the wheelchair part and the bed part can be realized. The handle 80 is used for the user to control the posture adjustment of the wheelchair part, the synchronous action after the wheelchair part and the bed part are merged, and the control of the moving speed and direction of the wheelchair part, so as to realize the precise control of the movement of the wheelchair part; the user can The posture adjustment of the wheelchair part is controlled by the handle 80, and the bed part is adjusted synchronously according to the posture adjustment of the wheelchair part. The display 90 is used for displaying a map for navigation and displaying an operation interface.
如图3所示，图3显示为本发明机器人护理床控制方法的一实施例的流程方框示意图。本发明还提供了一种机器人护理床控制方法，在本发明的一优选实施例中，处理器为ARM处理器，以ARM处理器为基础，可以配合嵌入式操作系统Linux的软件平台，更具开放性，可以随时对系统进行升级和修改，以及添加不同的新功能。采用ARM内核的控制器体积更小、成本更低。同时该系统软硬件架构具有模块化和开放性，便于新功能的添加等升级和修改。涉及上述的机器人护理床控制系统，包括步骤：As shown in FIG. 3 , FIG. 3 is a schematic flow block diagram of an embodiment of a method for controlling a robot nursing bed according to the present invention. The present invention also provides a kind of robot nursing bed control method, in a preferred embodiment of the present invention, processor is ARM processor, is based on ARM processor, can coordinate the software platform of embedded operating system Linux, more Openness, the system can be upgraded and modified at any time, and different new functions can be added. Controllers using the ARM core are smaller and less expensive. At the same time, the software and hardware architecture of the system is modular and open, which is convenient for upgrading and modification such as adding new functions. The above-mentioned robotic nursing bed control system includes steps:
显示器90显示导航的地图和操作界面；用户通过人机界面的控制模块对护理床进行操作；The display 90 displays a navigation map and an operation interface; the user operates the nursing bed through the control module of the man-machine interface;
图像采集装置60在轮椅部分回库时进行视觉定位；视觉定位入库模块通过处理器控制轮椅部分的回库；在本发明的一优选实施例中，图像采集装置60为工业相机，可以提高图像采集的精度，提高轮椅部分的回库效果。视觉定位入库模块在机器人护理床轮椅车部分在入库与床合并时，通过工业相机的视觉定位程序，实现轮椅车部分的精准回库。The image acquisition device 60 performs visual positioning when the wheelchair part is returned to the warehouse; the visual positioning module controls the return of the wheelchair part through the processor; in a preferred embodiment of the present invention, the image acquisition device 60 is an industrial camera, which can improve the image quality. The accuracy of collection improves the warehouse return effect of the wheelchair part. The visual positioning storage module realizes the accurate return of the wheelchair vehicle part through the visual positioning program of the industrial camera when the wheelchair part of the robot nursing bed is combined with the bed.
激光扫描测量装置50对轮椅部分的移动进行自主导航；导航控制模块通过处理器控制轮椅部分的自动导航；激光扫描器501通过激光扫描建立地图，自动导航单元502根据地图进行自主定位导航；The laser scanning measurement device 50 performs autonomous navigation on the movement of the wheelchair part; the navigation control module controls the automatic navigation of the wheelchair part through the processor; the laser scanner 501 establishes a map through laser scanning, and the automatic navigation unit 502 performs autonomous positioning and navigation according to the map;
电机201组件20控制轮椅部分的移动，轮椅部分回库；通过编码器203反馈所述电机201的速度信息和所述轮椅部分的位置信息。编码后驱动器202驱动电机201运转，电机201带动轮椅部分移动。The motor 201 component 20 controls the movement of the wheelchair part, and the wheelchair part returns to the warehouse; the speed information of the motor 201 and the position information of the wheelchair part are fed back through the encoder 203 . After encoding, the driver 202 drives the motor 201 to run, and the motor 201 drives the wheelchair part to move.
用户通过手柄80控制轮椅部分的姿态调整、所述轮椅部分与所述床部分合并后的同步动作以及所述轮椅部分移动速度和方向的控制，实现对轮椅部分运动的精确控制；轮椅姿态控制模块通过处理器控制电动推杆组件30的运动；控制装置10控制电动推杆组件30控制床部分的姿态变化和轮椅部分的姿态变化。The user controls the posture adjustment of the wheelchair part through the handle 80, the synchronous action after the wheelchair part and the bed part are combined, and the control of the moving speed and direction of the wheelchair part, so as to realize the precise control of the movement of the wheelchair part; the wheelchair posture control module The movement of the electric push rod assembly 30 is controlled by the processor; the control device 10 controls the electric push rod assembly 30 to control the posture change of the bed part and the posture change of the wheelchair part.
感应装置40感应床部分和轮椅部分的动作；通信装置将轮椅部分与床部分之间的动作发送至控制装置10；车床同步动作控制模块通过处理器控制轮椅部分和床部分同步动作；霍尔传感器401检测电动推杆组件30发出的信号，并将信号发送给控制装置10；压力传感器402感应床部分和轮椅部分的同步动作信号，并将信号发送给控制装置10；电动推杆驱动器202驱动电动推杆；电动推杆调整床部分和轮椅部分的姿态。限位开关403在轮椅部分入库后被触发后发出停止信号，停止护理床的动作。The sensing device 40 senses the actions of the bed part and the wheelchair part; the communication device sends the actions between the wheelchair part and the bed part to the control device 10; the synchronous action control module of the lathe controls the synchronous action of the wheelchair part and the bed part through the processor; the Hall sensor 401 detects the signal sent by the electric push rod assembly 30, and sends the signal to the control device 10; the pressure sensor 402 senses the synchronous action signal of the bed part and the wheelchair part, and sends the signal to the control device 10; the electric push rod driver 202 drives the electric push rod Push rod; the electric push rod adjusts the posture of the bed part and the wheelchair part. The limit switch 403 sends a stop signal after being triggered after the wheelchair part is put into storage, and stops the action of the nursing bed.
综上所述，本发明机器人护理床控制系统和方法，体积较小，比较稳定，可以实时控制，运动控制更精确，成本较低，且可以通过内嵌Linux系统，使得系统更加开放，便于添加新功能和升级产品。所以，本发明有效克服了现有技术中的种种缺点而具高度产业利用价值。In summary, the robot nursing bed control system and method of the present invention are small in size, relatively stable, capable of real-time control, more precise motion control, and lower cost, and can be embedded with a Linux system to make the system more open and easy to add New features and upgraded products. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial application value.
上述实施例仅例示性说明本发明的原理及其功效，而非用于限制本发明。任何熟悉此技术的人士皆可在不违背本发明的精神及范畴下，对上述实施例进行修饰或改变。因此，举凡所属技术领域中具有通常知识者在未脱离本发明所揭示的精神与技术思想下所完成的一切等效修饰或改变，仍应由本发明的权利要求所涵盖。The above-mentioned embodiments only illustrate the principles and effects of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed in the present invention shall still be covered by the claims of the present invention.
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| CN110162106A (en) * | 2019-05-16 | 2019-08-23 | 安徽三联机器人科技有限公司 | A kind of localization method of electric pushrod |
| CN110162106B (en) * | 2019-05-16 | 2022-04-22 | 安徽三联机器人科技有限公司 | Positioning method of electric push rod |
| CN110812008A (en) * | 2019-10-31 | 2020-02-21 | 上海长海医院 | Medical patient transport bed |
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