CN105997396A - Dual-core three-wheel-drive free-lifting high-speed robot electric hospital bed controller - Google Patents

Abstract

The invention discloses a dual-core three-wheel-drive free-lifting high-speed robot electric hospital bed controller which comprises a battery, a control board, a motor X, a motor Y, a motor Z, a motor R and a motor W. A dual-core controller is adopted for the control board. The control board comprises an ARM and an FPGA which are in communication. The advancing, running speed, running direction and lifting movement of a robot electric hospital bed are controlled by the motor X, the motor Y, the motor Z, the motor R and the motor W through a magnetism encoder. In this way, when the robot electric hospital bed needs more energy to climb a slope, an assist motor is started to achieve a power supplementing effect, and the labor amount and labor intensity of nursing works or nurses can be well reduced through electric assistance; meanwhile, by adding two shaft electric lifting devices to the head portion and the tail portion of the electric hospital bed respectively, the function of freely lifting the head, waist and legs of a patient is achieved, and the requirements of the patient for the hospital bed under different conditions can be met.

Description

A kind of double-core three-wheel drive is freely lifted the electric hospital bed controller of high speed robot

Technical field

The present invention relates to a kind of monokaryon three-wheel drive, can be with electric hospital bed the automatically controlling of automatic lifting high speed robot System, belongs to automatic electric sick bed 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 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 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) although Two-wheeled can weaken the some drawbacks of single wheel drive, but robot electric sick bed is climbing when If meeting power requirement by motor overload, long operation can injure the performance of motor, causes the reliability of system It is greatly lowered；

(11) robot electric sick bed needs quickly to accelerate and run with higher speed, at this bar under many state of emergency Under part, the power of system requirements is relatively big, meets the normal two-wheeled power of motor travelled and cannot meet acceleration request, and system cannot expire Power requirement under foot emergency；

(12) existing machinery sick bed is generally individually provided with a shake regulations and parameters at the head of sick bed, when client need lifts head Or when needing to steeve above the waist, all have nursing staff to shake regulations and parameters and reach the purpose of raised portion sick bed, sick bed automatic Change degree is relatively low, and has increased the weight of the amount of labour of nursing staff；

(13) existing machinery sick bed does not generally individually account for the requirement of patient's leg, the sick bed Machinery Ministry of the leg position of patient Divide and can not move up and down, cause the situations such as leg muscle atrophy to occur for the patient of long-time bed, be unfavorable for patient The state of an illness treatment；

(14) 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 and shape Condition how, and patient is all the most straight to lie on one's sick bed, does not has hommization to consider, sometimes the most serious to the menticide of patient；

(15) 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 processed due to single core processor are more, and arithmetic speed is not quickly, It is unfavorable for that robot runs up, and sometimes data are more causes robot sick bed out of control owing to processing；

(16) 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；

(17) 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；

(18) although the pwm control signal of multi-axle motor can be generated based on dedicated servo control chip, however it is necessary that main control Control parameter is inputted just it is achieved that cause integral operation speed to reduce after device and special chip communication；

(19) being affected by the internal servo programe of dedicated servo control chip, generally SERVO CONTROL pid parameter can not be real Shi Genggai, can not meet the requirement of electric hospital bed servo-control system real-time.

Summary of the invention

The technical problem that present invention mainly solves is to provide a kind of double-core three-wheel drive, and to be freely lifted high speed robot electronic Sick bed controller, for overcoming general hospital's sick bed can not meet patient's actual requirement, before absorbing external Dynamic matrix control thought Putting, independent research is a based on DSP(TMS320F2812)) the brand-new double-core single wheel drive of+FPGA (A3P250), permissible It is freely lifted four axle robot electric sick beds of part bed body.This robot control system is with FPGA (A3P250) for processing core The heart, it is achieved the synchronous servo of four axle DC brushless motors controls, and TMS320F2812 realizes the digital signal of multiple sensors signal Process in real time and storage, real-time corresponding various interruption protection requests, and realize and FPGA (A3P250) data communication.

For solving above-mentioned technical problem, the technical scheme that the present invention uses is: provide a kind of double-core three-wheel drive Be freely lifted the electric hospital bed controller of high speed robot, including battery, panel, motor X, motor Y, motor Z, motor R and Motor W, described battery is provided separately the panel described in electric current driving, and described panel uses dual-core controller, including ARM and FPGA, described ARM and FPGA are communicatively coupled, and robot electric sick bed is additionally provided with sensor, described FPGA Accept the sensor signal of sensor feedback, described FPGA send the first driving signal, two driving signal, the 3rd driving Signal, fourth drive signal and the 5th drive signal, described first driving signal, two driving signal, the 3rd drive signal, Fourth drive signal and the 5th drive signal drive respectively after drive amplification described motor X, motor Y, motor Z, motor R and Motor W, described motor X, motor Y, motor Z, motor R and motor W is provided with magnetism encoder, by magnetism encoder by Described motor X, motor Y, motor Z, motor R and motor W control described in the advance of robot electric sick bed, the speed of service, Traffic direction and elevating movement.

In a preferred embodiment of the present invention, described battery uses lithium ion battery.

In a preferred embodiment of the present invention, described motor X, motor Y, motor Z, motor R and motor W all use directly Stream brushless servo motor.

In a preferred embodiment of the present invention, described ARM uses STM32F407；Described FPGA uses A3P250.

In a preferred embodiment of the present invention, described sensor includes accelerometer and gyroscope.

In a preferred embodiment of the present invention, described first drives signal, two driving signal, the 3rd driving letter Number, fourth drive signal and the 5th drive signal be PWM ripple drive signal.

In a preferred embodiment of the present invention, it is electric hospital bed that described double-core three-wheel drive is freely lifted high speed robot Controller is additionally provided with man machine interface program and kinetic control system, and described man machine interface program includes man machine interface, region Planning and export online, described kinetic control system includes based on FPGA five axle DC brushless motor SERVO CONTROL, data Storage and I/O control, described based on FPGA five axle DC brushless motor SERVO CONTROL include based on FPGA two axle direct current without Brush motor two-wheel differential travels single-wheel power-assisted and drives SERVO CONTROL and control based on FPGA two axle DC brushless motor lift servo, Wherein, travel single-wheel power-assisted based on FPGA two axle DC brushless motor two-wheel differential and drive SERVO CONTROL and straight based on FPGA two axle Stream brushless electric machine lift servo controls all to include magnetism encoder module, accelerometer and gyroscope acceleration module, based on magnetic Photoelectric coder acceleration module and based on magnetism encoder displacement module.

The invention has the beneficial effects as follows: the double-core three-wheel drive of the present invention is freely lifted the electric hospital bed control of high speed robot Device, devises a double-core three-wheel drive based on on-site programmable gate array FPGA (A3P250), two axles are freely lifted sick bed Wu-zhi-shan pig electric hospital bed, this sick bed is on the premise of ensureing controller rapidity, stability and safety, by control Device processed changes its speed of travel, changes its direction by two wheel guide robot driving mode；When climbing needs more multi-energy, unlatching helps Force motor plays power back-off effect, can well be by electric boosted minimizing nurse or the amount of labour of Health care staff and labor Fatigue resistance, all adds an axle Motorized lift device at electric hospital bed head and afterbody simultaneously, plays and be freely lifted patient body The function of head, waist and leg；Multiple sensors combination makes robot electric sick bed have several functions, can meet not Patient's demand to sick bed under the conditions of Tong.

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 that the present invention five axles based on STM32F407+A3P250 are freely lifted the electric hospital bed schematic diagram of high speed robot；

Fig. 2 is double-core three-wheel drive of the present invention, is freely lifted the electric hospital bed flow chart of high speed wu-zhi-shan pig；

Fig. 3 is double-core three-wheel drive, is freely lifted five-shaft high-speed robot electric bed motion theory diagram；

Fig. 4 is double-core three-wheel drive, is freely lifted five-shaft high-speed robot electric sick bed by doorway, ward self-navigation principle Figure.

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.

As it is shown in figure 1, the present embodiment includes:

A kind of double-core three-wheel drive is freely lifted the electric hospital bed controller of high speed robot, including battery, panel, motor X, electricity Machine Y, motor Z, motor R and motor W, described battery is provided separately the panel described in electric current driving, described panel Use dual-core controller, be communicatively coupled including ARM and FPGA, described ARM and FPGA, robot electric sick bed also sets Have sensor, described FPGA to accept the sensor signal of sensor feedback, by described FPGA send the first driving signal, Two driving signal, the 3rd drive signal, fourth drive signal and the 5th to drive signal, described first driving signal, second drive Dynamic signal, the 3rd driving signal, fourth drive signal and the 5th drive signal to drive described motor after drive amplification respectively X, motor Y, motor Z, motor R and motor W, described motor X, motor Y, motor Z, motor R and motor W is provided with magnetoelectricity and compiles Code device, by magnetism encoder robot electric described in described motor X, motor Y, motor Z, motor R and motor W control The advance of sick bed, the speed of service, traffic direction and elevating movement.

In the present embodiment, described battery uses lithium ion battery；Described motor X, motor Y, motor Z, motor R and electricity Machine W all uses direct current brushless servo motor.

Further, described ARM uses STM32F407；Described FPGA uses A3P250.

STM32F4 series is in addition to pin and softwarecompatible high performance F2 series, and the dominant frequency (168MHz) of F4 is higher than F2 system Row (120MHz), and support monocycle DSP instruction and floating point unit, bigger SRAM capacity (192 KB, F2 are 128 KB), The more advanced peripheral hardwares such as the embedded flash memory of 512KB-1MB and image, network interface and data encryption.STM32F4 series base In up-to-date STM32F407 Cortex M4 kernel, in existing outstanding STM32 microcontroller products combination, increase letter newly Number process function, and improve the speed of service；STM32F405x is integrated with intervalometer, 3 ADC, 2 DAC, serial line interface, outer Deposit interface, real-time clock, CRC computing unit and simulation real random number generator at interior a whole set of advanced peripheral hardware.STM32F407 exists Multiple advanced peripheral hardware is added on the basis of STM32F405 product.These performances make F4 series can be easier to meet control and The Digital Signals demand of signal processing function mixing.Efficient signal processing function and Cortex-M4 processor family Low energy consumption, low cost and the combination of wieldy advantage so that STM32F407 performance is superior to far away general dsp chip, And STM32F407 can greatly design by peripheral circuits, reduces system cost and system complexity, also substantially increases The storage disposal ability of data.

FPGA is the product of development further on the basis of the programming devices such as PAL, GAL, EPLD, and FPGA makes user By specific placement-and-routing instrument, its inside can be reconfigured connection, the shortest according to the design needs of oneself Time in design oneself special IC, thus reduce cost, shorten the construction cycle.Owing to FPGA uses software The design philosophy changed realizes the design of hardware circuit, thus make system based on FPGA design have good reusable and Amendment property, this brand-new design philosophy is the most gradually applied and is driven in control at high performance AC and DC, and fast development. It is to occur as a kind of semi-custom circuit in special IC (ASIC) field, i.e. solves custom circuit not Foot, overcomes again the shortcoming that original programming device gate circuit number is limited, it may be said that fpga chip is that small lot system improves system System integrated level, one of optimum selection of reliability.The needs of cumulated volume invention, select FPGA as multiaxis brush DC servo electricity The SERVO CONTROL actuator of machine.

In order to the most mobile robot is electric hospital bed, the electric hospital bed drive part of the present invention uses wheeled construction, Because relative to walking, creeping or other non-wheeled mobile robot, wheeled robot has quick, work efficiency of taking action The advantages such as height, simple in construction, controllability are strong, safety is good.

Its speed of service should be considered owing to robot is electric hospital bed, consider its traffic direction and acceleration again and climb Power demand during slope, in order to optimize system energy utilization rate and meet the power demand under different situation, the present invention uses three Motor carrys out the completion system different demands to power: travelled the regulation and control realizing speed and direction by two spindle motor differentials, and And two powers of motor of two wheel guide robot traveling are equal in magnitude, power adds up power requirement when can meet normal traveling； When acceleration and climbing need electric boosted, system is opened the satisfied power of climbing of assist motor and is met.The most neither injury two-wheeled is poor Speed motor, it is also possible to reduce its power further.Under normal driving conditions, in order to adjust electric hospital bed travel direction, logical The velocity magnitude often changing two motors just can arbitrarily realize the change in direction.Due to direct current generator when high speed rotating once in a while Can produce spark, and hospital ward is a special occasion, any spark all may be to the oxygen cylinder of patient and oxygen uptake Device produces potential danger, and therefore, two differential running motor and the climbing of being responsible for robot ambulation function in the present invention help Force motor all uses direct current brushless servo motor, owing to direct current brushless servo motor uses Hall element to carry out electronic commutation, High speed rotating will not produce any spark, effectively eliminates potential safety hazard.

The present invention, in order to make robot sick bed automatic lifting part electric hospital bed machinery bed body, reaches to lift patient Head and the function of leg, given up traditional mechanical sick bed and used the artificial mode shaking regulations and parameters, when client need is raised the head When portion or needs are steeved above the waist, head servo based on single shaft direct current brushless servo motor controls part work and automatically rises The head of fall bed body；When client need lifts or transfers leg, leg based on single shaft direct current brushless servo motor is watched Clothes control the afterbody of part work automatic lifting bed body；The two can also work simultaneously, reaches the merit of lifting electric sick bed together Energy；When client need rest, as long as pressing resetkey, no matter the attitude of current power sick bed, bed body all returns to sick bed Initial condition, meets the minimum basic function of sick bed.

Owing to the robot electric sick bed in the present invention should adapt to the environment of relative clean in ward, adapt to ward again The outer dirty environments that dust is more relatively, carries the impact of speed and displacement transducer, the present invention to reduce dust on motor Given up in legacy system conventional photoelectric encoder, and use encoder M1 based on magnetoelectric transducer AS5040H, M2, M3, M4 and M5, sensor M1, M2, M3, M4 and M5 can effectively measure five axle direct current brushless servo motors motion time speed and Displacement, synchronizes three Close loop servo control for robot electric sick bed five axle and provides reliable feedback.

In the present embodiment, described sensor includes accelerometer and gyroscope；Described first driving signal, second drive Dynamic signal, the 3rd driving signal, fourth drive signal and the 5th drive signal to be PWM ripple and drive signal.

The acceierometer sensor measured value (determining pipe robot course) in the long period is correct, and shorter Due to the existence of signal noise in time, and there is certain error.Gyroscope is then the most accurate within a short period of time, and the long period Then can produce certain error, accordingly, it would be desirable to accelerometer and gyroscope are mutually adjusted and guaranteed course along with the existence of drift Correct.In order to improve the stability that robot electric sick bed navigates in the process of walking, it is achieved the most accurately adjusting of attitude And calculating the power needed when accelerating climbing, the present invention adds three axles in robot electric sick bed servo hardware system and adds Velometer A1 and three-axis gyroscope G1.Omnidistance unlatching accelerometer A1 and gyroscope G1 during robot electric sick bed is walked, Accelerometer A1 and G1 is used for acceleration and the speed of three directions of advance of robot measurement sick bed, and controller is right according to measured value Can be obtained by its displacement by integration afterwards, the Three-loop control for robot provides reliable criterion；Appearance when robot sick bed When state changes, controller can be obtained by its generally ramped angle, on the one hand according to its power demand of Angulation changes, another Aspect when attitude generation large change, controller a new sampling period immediately to its position compensation, it is to avoid robot Electric hospital bed in the process of walking because tilting excessive and cause danger, improve stability during its quick walking navigation；As Fruit carries out continuous integral and coupling to the value of accelerometer A1 and gyroscope G1, and it is transformed in navigational coordinate system, machine People is electric hospital bed can not relied on any external information and just can obtain its acceleration in hospital's navigational coordinate system, speed The information such as degree, yaw angle and position, produced navigation information seriality is good and noise is the lowest, can and magnetism encoder Sensor is mutually matched and then controls to provide acceleration, speed and Displacement Feedback for multiple-axis servo, greatly enhances robot sick The safety of the walking of bed and accuracy.

The present invention, for overcoming general hospital's sick bed can not meet patient's actual requirement, is absorbing external Dynamic matrix control thought Under premise, independent research is a based on ARM(STM32F407)+FPGA (A3P250) based on two wheel guide robot and single-wheel power-assisted Three-axis drive, that two axles are freely lifted wu-zhi-shan pig is electric hospital bed.This dual core machines people's control system is with FPGA (A3P250) For processing core, it is achieved the synchronous servo of five axle direct current brushless servo motors controls, and ARM (STM32F407) realizes multiple sensing The digital signal of device signal processes in real time and stores with data, and real-time corresponding various interruption protection requests, and realizes and FPGA (A3P250) data communication.

It is additionally provided with as in figure 2 it is shown, described double-core three-wheel drive is freely lifted the electric hospital bed controller of high speed robot Man machine interface program and kinetic control system, described man machine interface program includes man machine interface, regional planning and the most defeated Going out, described kinetic control system includes based on FPGA five axle DC brushless motor SERVO CONTROL, data storage and I/O control System, described includes based on FPGA two axle DC brushless motor two-wheel differential based on FPGA five axle DC brushless motor SERVO CONTROL Travel single-wheel power-assisted drive SERVO CONTROL and control, wherein, based on FPGA based on FPGA two axle DC brushless motor lift servo Two axle DC brushless motor two-wheel differentials travel single-wheel power-assisted and drive SERVO CONTROL and based on FPGA two axle DC brushless motor liter Fall SERVO CONTROL all includes magnetism encoder module, accelerometer and gyroscope acceleration module, based on magnetism encoder speed Module and based on magnetism encoder displacement module.

For reaching above-mentioned purpose, the present invention takes techniques below scheme, in order to improve arithmetic speed, it is ensured that Medical Robot The stability of electric hospital bed control system and reliability, the present invention uses 32 high-performance ARM (STM32F407) and the scene can Programming gate array FPGA (A3P250), has given up conventionally employed single single-chip microcomputer or the dsp chip of single 16, this controller Take into full account the accumulator effect in this system, it is achieved single dual-core controller Synchronization Control five axle direct current brushless servo motor Function.Robot electric sick bed gives full play to FPGA (A3P250) data processing speed feature faster, and by ARM (STM32F407) functions such as man machine interface, I/O control, path navigation, online output, Data acquisition and storage are realized, the most real The various interruption of Shi Xiangying.

For design herein based on ARM(STM32F407) the electric hospital bed control of+FPGA (A3P250) dual core machines people Device, under power-on state, man machine interface first works, if really needing mobile electric sick bed, nurse personnel, Health care staff Input respective web-privilege password Web, ARM(STM32F407) enable FPGA (A3P250) robot electric sick bed be only possible in room Mobile, otherwise robot electric sick bed just stays in original place and waits authority open command；If robot electric sick bed needs to release Ward, now hospital director needs to open the web-privilege password Web of oneself, and otherwise robot electric sick bed once moves to position, doorway Put and detected by doorway monitoring sensor, the sensor on detecting system meeting trigger controller, FPGA (A3P250) SERVO CONTROL The locked current robot electric sick bed of device also sends wrong operation alarm by ARM (STM32F407).At ordinary running condition Under, robot electric sick bed reads external environment condition than feedback parameter to FPGA (A3P250) by various sensors, by FPGA (A3P250) generate two axles be freely lifted, two axle differentials travel and single shaft power-assisted direct current brushless servo motor five axles synchronize control Pwm signal processed, PWM ripple signal completes head and the liter of leg sick bed part by DC brushless motor Z and R after drive amplification Fall, PWM ripple signal move before drive amplification rear drive DC brushless motor X and DC brushless motor Y-direction, its movement velocity with Displacement is fed back to FPGA (A3P250) by corresponding magnetism encoder M1 and M2, FPGA (A3P250) secondary adjust two axles same Step pwm control signal is to meet real work demand；Giving it the gun or under climbing state, robot electric sick bed is by various Sensor reads external environment condition than feedback parameter to FPGA (A3P250), FPGA (A3P250) generate three axle brush DC servos The Synchronization Control pwm signal of motor, PWM ripple signal through drive amplification rear drive DC brushless motor X, DC brushless motor Y and Direct current brushless servo motor W travels forward, and its movement velocity and displacement are fed back to by corresponding magnetism encoder M1, M2 and M3 FPGA (A3P250), is adjusted three axles by FPGA (A3P250) secondary and synchronizes pwm control signal to meet real work demand.Machine People's electric bed is in running, and man machine interface on-line storage also exports 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 and kinetic control system.Wherein man machine interface system Unite the functions such as man machine interface, path planning, online output；Electronic disease is completed based on FPGA (A3P250) kinetic control system The multiple-axis servo of bed controls, and ARM(STM32F407) realizing the functions such as data storage, I/O control, system gives full play to FPGA (A3P250) servo processing advantage faster, is processed various sensor signals in real time by ARM (STM32F407) simultaneously and data is deposited Storage.

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 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 connection of robot electric sick bed Line, ARM (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 authorities, when determine need mobile robot electric hospital bed time, as It is electric hospital bed that fruit simply moves robot inside ward, then need nurse personnel and nurse successively by man machine interface input power Walking mode within doors opened by limit password；If needing to promote robot electric sick bed to walk out ward, then need nurse personnel, protect Scholar 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 examine Survey supply voltage, if battery feed is abnormal, interrupt requests, STM32F407 will be sent to STM32F407 and A3P250 Can be to interrupting doing very first time response with A3P250, the place if the interrupt response of STM32F407 and A3P250 is not able to do in time Reason, 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, electric bed Robot will start normal work；

5) detecting that start key SS presses when FPGA (A3P250) 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 FPGA (A3P250) is according to servo controller Require button to be needed every time distance S run be converted into the acceleration of motor Z, speed and reference by location command value, FPGA (A3P250) speed and Displacement Feedback in conjunction with magnetoelectric transducer M3 corresponding for motor Z generate and drive direct current brushless servo motor The driving signal of Z, drives signal to amplify rear drive direct current brushless servo motor Z positive movement through power bridge, and robot electric is sick Bed starts slowly to rise, and in motor process, once the hands of nursing staff is not triggering start key or rising button SHF, The SERVO CONTROL of direct current brushless servo motor Z just terminates, and completes this uphill process；When the head of patient needs to decline, protect As long as reason personnel press start key SS and head declines button SHB simultaneously, robot electric sick bed does starting under sick bed head The motion of fall part, FPGA (A3P250) needs distance S run to be converted into button according to the requirement of servo controller every time The acceleration of motor Z, speed and reference by location command value, FPGA (A3P250) is in conjunction with magnetoelectric transducer M3 corresponding for motor Z Speed and Displacement Feedback generate drive direct current brushless servo motor Z driving signal, drive signal amplify rear-guard through power bridge Dynamic direct current brushless servo motor Z adverse movement, robot electric sick bed starts slowly to decline, in motor process, once nurses The hands of personnel is not triggering start key or is rising button SHB, and the SERVO CONTROL of direct current brushless servo motor Z just terminates, complete Become this time to decline process；The displacement SHS of current location and horizontal level recorded by FPGA (A3P250) servo controller；

6) detecting that start key SS presses when FPGA (A3P250) 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 FPGA (A3P250) is according to servo controller Require button to be needed every time distance S run be converted into the acceleration of motor R, speed and reference by location command value, FPGA (A3P250) speed and Displacement Feedback in conjunction with magnetoelectric transducer M4 corresponding for motor R generate and drive direct current brushless servo motor The driving signal of R, drives signal to amplify rear drive direct current brushless servo motor R positive movement through power bridge, and robot electric is sick Bed starts slowly to rise, and in motor process, once the hands of nursing staff is not triggering start key or rising button SLF, The SERVO CONTROL of direct current brushless servo motor R just terminates, and completes this uphill process；When the leg of patient needs to decline, protect As long as reason personnel press start key SS and head declines button SLB simultaneously, robot electric sick bed is hospital bed leg subordinate by starting The motion of fall part, FPGA (A3P250) needs distance S run to be converted into button according to the requirement of servo controller every time The acceleration of motor R, speed and reference by location command value, FPGA (A3P250) is in conjunction with magnetoelectric transducer M4 corresponding for motor R Speed and Displacement Feedback generate drive direct current brushless servo motor R driving signal, drive signal amplify rear-guard through power bridge Dynamic direct current brushless servo motor R adverse movement, robot electric sick bed starts slowly to decline, in motor process, once nurses The hands of personnel is not triggering start key or is rising button SLB, and the SERVO CONTROL of direct current brushless servo motor R just terminates, complete Become this time to decline process；The displacement SLS of current location and horizontal level recorded by FPGA (A3P250) servo controller；

7) detect that start key SS presses when FPGA (A3P250) controller, if now recovery button SFF is triggered, robot The electric hospital bed speed according to FPGA (A3P250) servo controller and acceleration requirement, be converted into motor displacement SLS and SHS Z and the acceleration of motor R, speed and reference by location command value, FPGA (A3P250) is in conjunction with magnetic corresponding with motor R for motor Z The speed of electric transducer M3, M4 and Displacement Feedback generate the driving signal driving direct current brushless servo motor Z and motor R, drive Signal amplifies rear drive direct current brushless servo motor Z and motor R motion through power bridge, and bed body is restored to naturalness；

8) detecting that start key SS presses when FPGA (A3P250) controller, FPGA (A3P250) controller turns lateral for detection Whether curved button SK is triggered；If lateral turning button SK is triggered, FPGA (A3P250) is according to robot motion's part need Want the anglec of rotationWith its internal trapezoidal generator, distance SX to be operated for direct current brushless servo motor X and Y is converted For acceleration, speed and reference by location command value, then FPGA (A3P250) is in conjunction with motor X and the magnetoelectric transducer of motor Y The feedback of M1, M2 generates the driving signal driving direct current brushless servo motor X and motor Y, drives signal after power bridge amplifies Direct current brushless servo motor X and motor Y is driven to move in a reverse direction, in motor process M1 and the fortune of M2 Real-time Feedback motor Line parameter controls letter to FPGA (A3P250), FPGA (A3P250) according to the PWM of feedback parameter secondary fine setting motor X and motor Y Number so that rotary system completes side at the appointed time and turnsTask, owing to being motor X and motor Y composition in the process Rotating part 90-degree rotation, do not change electric hospital bed direction, improve the robot electric sick bed reality at small space The property used；In motor process, FPGA adjusts the pid parameter of SERVO CONTROL program in real time with satisfied actual need according to extraneous circumstance , operational factor that ARM real time record is electric hospital bed also shows in man machine interface；

9) detect that start key SS presses when FPGA (A3P250) controller, if now forwarding button SF is triggered, system meeting Turbo SA is judged, if the system determine that turbo SA is triggered, illustrates that robot electric sick bed needs to add Speed or climbing, now controller can be optimized distribution to the power required for robot as required, is then turned on three Spindle motor synchronous servo control model；According to acceleration and rate request, FPGA (A3P250) combines DC brushless motor X, electricity The feedback of magnetism encoder M1, M2 and M3 that machine Y and motor W is equipped with generates the PWM driving letter driving dynamic triaxial DC brushless motor Number, driving signal to amplify rear drive three spindle motor through driver and travel forward, magnetism encoder M1, M2 and M3 is real in the process Time feed back its displacement signal to FPGA (A3P250), FPGA (A3P250) is converted into robot electric sick bed this displacement signal Actual motion distance；In motor process, front anti-collision ultrasonic sensor S9 and S10 that robot carries by work, and to FPGA (A3P250) the controller moment feeds back the distance of itself and preceding object thing；If anti-collision ultrasonic sensor S9 or S10 reads front when having barrier, FPGA (A3P250) through internal SERVO CONTROL program adjust direct current brushless servo motor X, Motor Y, the PWM output of motor W, control robot electric sick bed and stop in safety range, and controller also opens one three seconds Timing, if controller still reads barrier after three seconds, notify man machine interface change run trace；If after three seconds Obstacle signal message, then robot electric sick bed will continue to start advance according to current path；Transport at robot electric sick bed During Dong, magnetoelectric transducer M1, M2 and M3 can detect the motion speed of direct current brushless servo motor X, motor Y and motor W the moment Degree and displacement, and feed back to FPGA (A3P250), FPGA (A3P250) secondary adjust DC brushless motor X, motor Y and motor The PWM wave control signal of W is to meet actual demand；In motor process, FPGA adjusts SERVO CONTROL in real time according to extraneous circumstance The pid parameter of program is actually needed to meet, and operational factor that ARM real time record is electric hospital bed also shows in man machine interface；

10) detect that start key SS presses when FPGA (A3P250) controller, if now only having forwarding button SF to be triggered, Turbo SA is not triggered, and robot electric sick bed will start to move according to normal speed forward: motor X and motor Y is opened Dynamic, motor W is released；In motor process, front anti-collision ultrasonic sensor S9 and S10 that robot carries by work, and The distance of itself and preceding object thing is fed back to FPGA (A3P250) the controller moment；If anti-collision ultrasonic sensor S9 or Being that S10 reads front when having barrier, FPGA (A3P250) adjusts direct current brushless servo motor through internal SERVO CONTROL program The PWM output of X and motor Y, controls robot electric sick bed and stops in safety range, and controller also opens the meter of three seconds Time, if controller still reads barrier after three seconds, notify that man machine interface changes run trace；If obstacle after three seconds Thing signal message, then robot electric sick bed will continue to start advance according to current path；In robot electric bed motion mistake Cheng Zhong, magnetoelectric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and displacement, and feed back in the moment To FPGA (A3P250), FPGA (A3P250) secondary adjusts the PWM wave control signal of DC brushless motor X and motor Y to meet Actual demand；In motor process, FPGA adjusts the pid parameter of SERVO CONTROL program in real time with satisfied reality according to extraneous circumstance Border needs, and operational factor that ARM real time record is electric hospital bed also shows in man machine interface；

11) detect that start key SS presses when FPGA (A3P250) controller, if now back SB is also triggered, nothing Whether opinion turbo SA is triggered, and robot electric sick bed all will start setback, FPGA with the normal speed set (A3P250) adjust the PWM output of direct current brushless servo motor X and motor Y through internal SERVO CONTROL program, control robot electricity Dynamic sick bed slowly retreats according to setting speed；During setback, magnetoelectric transducer M1, M2 can moment detection brush DCs Servomotor X and the movement velocity of motor Y and displacement, and feed back to FPGA (A3P250), FPGA (A3P250) is according to magnetoelectricity The speed of sensor M1 and M2 and Displacement Feedback secondary adjust the PWM output of direct current brushless servo motor X and motor Y, it is ensured that machine Device people is electric hospital bed to be run in the range of safe speed, prevents excessive velocities robot electric sick bed from pushing over nurse personnel；In fortune During Dong, FPGA adjusts the pid parameter of SERVO CONTROL program in real time and is actually needed to meet according to extraneous circumstance, and ARM is real-time Record electric hospital bed operational factor and show in man machine interface；

12) detect that start key SS presses when FPGA (A3P250) controller, if now turning button SK and forwarding button SF Being triggered, no matter whether turbo SA is triggered, and robot electric sick bed all will start laterally with the normal speed set Moving to right, in motor process, the side anti-collision ultrasonic sensor S6 that robot carries is by work, and to FPGA (A3P250) The controller moment feeds back the distance of itself and preceding object thing；If anti-collision ultrasonic sensor S6 reads right barrier Time, FPGA (A3P250) adjusts the PWM output of direct current brushless servo motor X and motor Y through internal SERVO CONTROL program, controls Robot electric sick bed stops in safety range, and controller also opens the timing of three seconds, if controller depends on after three seconds The old barrier that reads exists and will send parking warning to man machine interface；If three seconds obstruction signal messages, then robots Electric hospital bed will continue laterally to move to right according to current track；During robot electric sick bed laterally moves to right, 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 FPGA (A3P250) , FPGA (A3P250) secondary adjusts motor X and the kinematic parameter of motor Y, it is ensured that system meets walking requirement；In motor process In, FPGA adjusts the pid parameter of SERVO CONTROL program in real time and is actually needed to meet according to extraneous circumstance, ARM real time record electricity Move the operational factor of sick bed and show in man machine interface；

13) detect that start key SS once presses when FPGA (A3P250) controller, if now turning button SK and advance are pressed Button SB is triggered, and no matter whether turbo SA is triggered, and robot electric sick bed all will start with the normal speed set Laterally move to left；In motor process, the side anti-collision ultrasonic sensor S7 that robot carries is by work, and to FPGA (A3P250) the controller moment feeds back the distance of itself and preceding object thing；If anti-collision ultrasonic sensor S7 reads motion When there is barrier in front, FPGA (A3P250) adjusts direct current brushless servo motor X's and motor Y 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 existence and will send parking warning to man machine interface；If obstruction signal disappeared in three seconds Breath, then robot electric sick bed will continue laterally to move to left according to current track；During robot electric sick bed laterally moves to left, 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 FPGA (A3P250), FPGA (A3P250) secondary adjusts motor X and the kinematic parameter of motor Y, it is ensured that system meets actual need Ask；In motor process, FPGA adjusts the pid parameter of SERVO CONTROL program in real time and is actually needed to meet according to extraneous circumstance, Operational factor that ARM real time record is electric hospital bed also shows in man machine interface；

14) when robot electric sick bed needs to remove ward, Xian You hospital director opens walking web-privilege password Web, can protect Workman person releases room, it is possibility to have nurse personnel shift the position with area navigation mark, machine onto robot electric sick bed Device people electric hospital bed entrance automatic navigation mode: photoelectric sensor S1, S2, S3, S4, S5 of its navigation are by work, surface mark The photosignal reflected feeds back to FPGA (A3P250), determines that robot offsets after FPGA (A3P250) judgement processes The deviation of navigation track, FPGA (A3P250) is converted into acceleration to be run for motor X and motor Y, speed this deviation signal And displacement commands, FPGA (A3P250) produces driving direct current brushless servo motor in conjunction with the feedback of magnetism encoder M1 and M2 The driving signal of X and motor Y, drives signal to move before amplifying rear drive DC brushless motor X and motor Y-direction, quickly adjusts machine Device people is electric hospital bed rapidly returns back to orbit centre of navigating；Robot electric sick bed is along track travel process, FPGA (A3P250) The driving signal of the feedback fine setting motor X and motor Y according to surface mark and magnetism encoder M1 and M2, makes robot along setting The track reserved passes through doorway, ward；After the track laid disappears, robot electric sick bed is just parked in original place and waits people For movable signal, prevent maloperation；In motor process, FPGA adjusts the PID of SERVO CONTROL program in real time according to extraneous circumstance Parameter is actually needed to meet, and operational factor that ARM real time record is electric hospital bed also shows in man machine interface；

15) robot electric hospital bed motor process in order to prevent nurse maloperation and run into emergency stop, add Entered to stop in emergency automatic car locking function；In case of emergency, after emergency button ESW1 is pressed, controller once detects Urgent interrupt request can send original place cutoff command, FPGA (A3P250) servo-driver block direct current brushless servo motor X, electricity The PWM ripple signal of machine Y and motor W, though electric hospital bed multiple universal wheel all in can with sliding mode, due to movable motor X, Motor Y and motor W is in locking state, and such robot electric sick bed also will not move, it is ensured that robot is in emergency Under safety；

16) present invention adds dust humidity detection system on robot electric sick bed；This dust humidity detection system by moisture sensor, Measuring circuit and display several parts such as recording equipment composition, be respectively completed acquisition of information, change, show and the function such as process, this Sample is when patient-sized is the most out of control, and dust humidity detection system can work, and will send alarm signal, and nurse personnel are defeated by man machine interface Go out to find failure cause, then change bedding；

17) this electric bed is equipped with multiple anti-barrier warning system, and robot barrier physical prospecting examining system can be sick in robot Bed automatically detects the existence of barrier and assists automatic stopping by controller before colliding barrier, and according to barrier Character determine restarting or stay in as you were always, this ensures that there robot sick bed in motor process to week The adaptation in collarette border, decreases the environment interference to it；

18) in robot electric sick bed walking process, direct current brushless servo motor is often disturbed by extraneous factor, in order to The impact on robot ambulation of the pulsating torque of minimizing motor, controller adds motor on the basis of considering motor characteristic The on-line identification of torque, and utilize motor torque to compensate in time with the relation of electric current, weaken external environment to robot The impact of motion；

19) during robot electric sick bed is walked, servo controller whole process opens accelerometer A1 and gyroscope G1, acceleration Meter A1 and gyroscope G1 can accurately measure the acceleration of three directions of advance of robot sick bed, according to the acceleration recorded and Speed control can be obtained by its displacement by continuous integral, and the Three-loop control for robot provides reliable criterion；Simultaneously When the attitude of robot sick bed changes, controller can be obtained by its generally ramped angle and acceleration requirement, controls Device just can substantially calculate power demand according to angle of inclination and acceleration demand, then adjusts each brush DC servo electricity The power of machine is with satisfied climbing and accelerates needs；Controller by accelerometer A1 and gyroscope G1 is carried out continuous integral, and It is transformed in hospital's navigational coordinate system, and robot electric sick bed can not rely on any external information just can obtain it The information such as acceleration, speed, yaw angle and position in hospital's navigational coordinate system, controller stores in real time and shows.

The invention have the advantages that:

1: during controlling, taken into full account battery effect in this system, based on ARM(STM32F407)+FPGA (A3P250) the controller moment is all to the running status of robot electric sick bed with power source is monitored and computing, works as friendship During stream dump, sick bed can be self-locking in fixed position by certainly carrying battery feed, until there being the switch of Mobile sickbed to believe Number 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 are both needed to It is electric hospital bed that authority to be opened just can start robot, 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, if patient Just can be automatically controlled sick bed robot by computer contact screen, thus can need not nursing and oneself solve part simply Daily life；

4: add dynamic booster based on accumulator owing to this is electric hospital bed, even if encountering patient body obesity or protecting During reason personnel's asthenic body, sick bed this can be nurse personnel under conditions of power supply abundance and Health care staff moves in room Dynamic sick bed provides power, decreases nurse or the physical demands of nurse personnel Mobile sickbed in room and labor intensity；

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 is permissible In room, interior-excess now moves freely, and decreases 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 single motor Power be substantially reduced, and the contact point on power and ground has 2 points, handling when being conducive to improving electric hospital bed traveling；

7: add single shaft based on direct current brushless servo motor owing to this is electric hospital bed and accelerate force aid system so that two differentials The power of running motor can reduce further, and the contact point on power and ground has 3 points, accelerates or climbing at needs Time can meet power requirement by opening assist motor, can discharge when normal traveling and add speed motor, play a contact Left and right, handling when being conducive to improving electric hospital bed traveling；

8: owing to adding two wheel guide robot drive system based on direct current brushless servo motor, permissible in very narrow space Make the shifted laterally of sick bed robot, reduce robot and rotate the negative issue brought；

9: when robot electric sick bed runs into climbing, due to the self-contained dynamic energy, it is possible to pass through power-assisted Motor well plays power-assisted effect, and the dynamic trait of three-wheel drive is superior to far away Two-wheeled, further reduces Requirement to nurse personnel muscle power；

10: processed two axle differentials travelings, single shaft power-assisted and two axles by FPGA (A3P250) and lift the full-digital servo of five spindle motors Control, substantially increase arithmetic speed, solve monokaryon controller and run slower bottleneck, shorten the construction cycle short, and Program transportability ability is strong；

11: invention fully achieves veneer control, not only save panel and take up room, but also fully achieve multiaxis The synchronization of motor control signal, is conducive to improving stability and the dynamic property of medical robot electric sick bed；

12: owing to this controller uses FPGA (A3P250) to process substantial amounts of multiple-axis servo data and algorithm, and take into full account Interference source around, frees ARM (STM32F407) from complicated calculating, effectively prevent " race flies " of program, 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 urgent in run into Situation, controller can send original place cutoff command, and locked two wheel guide robot running motor, even if multiple universal wheel is all in permissible Sliding mode, but owing to driving wheel is in locking state, such robot also will not move；

14: in order to enable robot sick bed to move freely out doorway, ward, controller adds multiple navigation sensor, machine Device people removal ward during once read surface mark will self-navigation, reduce the error that artificial Mobile sickbed brings；

15: the multiple warning system of this electric bed robotic equipment, before colliding barrier automatic stopping, thus ensure Safety in motor process, decreases 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, the most further Improve the safety of system, it is also possible to improve the utilization rate of the energy, add robot electric sick bed to carry the energy certain Under conditions of the distance that once moves；

17: owing to robot electric sick bed system uses direct current brushless servo motor, when motor is produced arteries and veins by external interference During dynamic torque, direct current brushless servo motor can utilize moment to compensate rapidly with the relation of electric current, greatly reduces the external world The interference impact on robot electric sick bed；

18: robot is electric hospital bed adds dust humidity detection system；This dust humidity detection system is by moisture sensor, measuring circuit With display several parts such as recording equipment composition, it is respectively completed acquisition of information, changes, show and the function such as process, so work as patient When defecation is out of control or sheet is moist, dust humidity detection system can work, and sends replacement request；

19: head servo control part based on single shaft direct current brushless servo motor can well meet client need and raise the head Portion or activity above the waist of steeving, nursing staff can reach to rise sick bed front portion, automatization's journey of sick bed by button Degree gets a promotion further, decreases the amount of labour of nursing staff；

20: leg SERVO CONTROL part based on single shaft direct current brushless servo motor can well meet client need leg or The activity of person's lower part of the body, nursing staff can reach to rise or reduce sick bed rear portion by button, and the automaticity of sick bed is entered One step gets a promotion, and decreases the amount of labour of nursing staff；

21: make robot electric sick bed have various machinery group based on front and back two axle brush DC servo lowering or hoisting gear combination Close, when pushing away patient and leaving ward, can freely regulate the posture of sick bed according to the state of an illness of patient, meet different patient's Psychology requirement；

22: owing to being directly produced multiaxis driven by Brush-Less DC motor signal by FPGA, it is not necessary to ARM inputs any parameter to it, The processing speed making system is accelerated, and beneficially system high-speed runs；

23:FPGA controller adjusts the pid parameter of servo-control system in real time according to peripheral environment, meets electric hospital bed different shape The requirement that under condition, fast response servo control system adjusts；

24: accelerometer A1 and the gyroscope G1 acceleration being used for three directions of advance of robot measurement sick bed and speed, according to Measured value controller can be obtained by its speed and displacement by continuous integral, and the Three-loop control offer for robot is reliably sentenced According to；

25: accelerometer A1 and gyroscope G1 can improve the stability that robot electric sick bed navigates in the process of walking, real The power needed during climbing is accelerated in the most accurately adjustment of existing attitude, calculating.

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 (7)

1. a double-core three-wheel drive is freely lifted the electric hospital bed controller of high speed robot, it is characterised in that include battery, control Making sheet, motor X, motor Y, motor Z, motor R and motor W, described battery is provided separately the panel described in electric current driving, Described panel uses dual-core controller, is communicatively coupled including ARM and FPGA, described ARM and FPGA, robot electricity Being additionally provided with sensor on dynamic sick bed, described FPGA accepts the sensor signal of sensor feedback, described FPGA send the One drives signal, two driving signal, the 3rd driving signal, fourth drive signal and the 5th to drive signal, and described first drives Dynamic signal, two driving signal, the 3rd driving signal, fourth drive signal and the 5th drive signal to drive respectively after drive amplification Dynamic described motor X, motor Y, motor Z, motor R and motor W, on described motor X, motor Y, motor Z, motor R and motor W It is provided with magnetism encoder, is controlled by described motor X, motor Y, motor Z, motor R and motor W described by magnetism encoder The advance of robot electric sick bed, the speed of service, traffic direction and elevating movement.

Double-core three-wheel drive the most according to claim 1 is freely lifted the electric hospital bed controller of high speed robot, its feature Being, described battery uses lithium ion battery.

Double-core three-wheel drive the most according to claim 1 is freely lifted the electric hospital bed controller of high speed robot, its feature Being, described motor X, motor Y, motor Z, motor R and motor W all use direct current brushless servo motor.

Double-core three-wheel drive the most according to claim 1 is freely lifted the electric hospital bed controller of high speed robot, its feature Being, described ARM uses STM32F407；Described FPGA uses A3P250.

Double-core three-wheel drive the most according to claim 1 is freely lifted the electric hospital bed controller of high speed robot, its feature Being, described sensor includes accelerometer and gyroscope.

Double-core three-wheel drive the most according to claim 1 is freely lifted the electric hospital bed controller of high speed robot, its feature It is, described the first driving signal, two driving signal, the 3rd driving signal, fourth drive signal and the 5th driving signal It is PWM ripple and drives signal.

Double-core three-wheel drive the most according to claim 1 is freely lifted the electric hospital bed controller of high speed robot, its feature Be, described double-core three-wheel drive be freely lifted the electric hospital bed controller of high speed robot be additionally provided with man machine interface program and Kinetic control system, described man machine interface program includes man machine interface, regional planning and exports online, described motion control System processed includes controlling based on FPGA five axle DC brushless motor SERVO CONTROL, data storage and I/O, described based on FPGA Five axle DC brushless motor SERVO CONTROL include that travelling single-wheel power-assisted based on FPGA two axle DC brushless motor two-wheel differential drives SERVO CONTROL and based on FPGA two axle DC brushless motor lift servo control, wherein, based on FPGA two axle DC brushless motor Two-wheel differential travels single-wheel power-assisted and drives SERVO CONTROL and control all to include based on FPGA two axle DC brushless motor lift servo Magnetism encoder module, accelerometer and gyroscope acceleration module, based on magnetism encoder acceleration module and based on magnetoelectricity Encoder displacement module.