CN105997398A

CN105997398A - Wireless single-core three-wheel drive multifunctional electric sickbed

Info

Publication number: CN105997398A
Application number: CN201610600771.3A
Authority: CN
Inventors: 张好明
Original assignee: Jiangsu Ruobo Robot Technology Co Ltd
Current assignee: Jiangsu Ruobo Robot Technology Co Ltd
Priority date: 2016-07-28
Filing date: 2016-07-28
Publication date: 2016-10-12

Abstract

The invention discloses a wireless single-core three-wheel drive multifunctional electric sickbed. A sickbed frame assembly is connected with a bed body assembly and arranged on the top of the bed body assembly. A sickbed plate assembly comprises two hard bed plates and a bendable bed plate. The bendable bed plate is arranged between the two hard bed plates. Supporting rods are arranged at the bottoms of the two hard bed plates. A support rack is arranged at the bottoms of the bed plates. Rotary tables are arranged on the joints of the support rack and the bed plates. A sickbed brake control unit is disposed on a supporting base. Baffles are arranged on the two sides of a bed body, and the baffles are provided with screen display controllers connected with a sickbed automatic control unit. The rotation direction of the sickbed can be freely adjusted when the sickbed is moved, stability of the sickbed is improved, and labor and time of medical staff are saved.

Description

A kind of wireless monokaryon three-wheel drive multifunctional motor-driven sick bed

Technical field

The present invention relates to machine sick bed field, particularly relate to a kind of wireless monokaryon three-wheel drive multifunctional motor-driven sick bed.

Background technology

Medical hospital bed system is a kind of equipment providing carrying patient in hospital ward.At present in hospital of developed country The medical hospital bed substantially all automatization used, hospital bed set up at a patient's home, community hospital's sick bed have used Multifunctional electric bed.Portion Dividing the medical hospital bed purpose that can be reached auxiliary adjustment patient body position by external force change shape, some of which adnexa has promotion The effect of Rehabilitation；Can control electric hospital bed is the most senior automated production, has time saving and energy saving advantage.Due to electricity The feature controlled, control key may be mounted at any permission ward bed by the range of signal, improves the degree of freedom of control. Upgraded by adnexa, it is also possible to realize authority distribution.Motorized motions Product Precision is higher, it is simple to assembly line work, as ICU The specific medical sick bed used in intensive care unit, operating room, radiography room etc..

China's research and development in Medical electric sick bed field relatively lag behind, and integral level is the highest, existing domestic situation of all-level hospitals It is all to use common mechanical sick bed: be made up of footpost, bed body and bed surface.In order to conveniently moving moves, generally individually on footpost Machinery rolling pulley is set；Patient sits up for convenience, all arranges mechanical hand in head of a bed part and shakes lifting device.For this type Sick bed, generally individually needs nursing staff to help, and is difficult to complete alone, and sick bed function singleness simultaneously, Practical Performance is the strongest.

Long-play finds to there is a lot of potential safety hazard and inconvenience, it may be assumed that

(1) existing part sick bed is contacted with ground by four fixed station feet and plays a supporting role, and patient is all fixed on certain In one environment closed, along with patient is in hospital for a long time, the body and mind of patient is caused injury greatly.

(2) although part sick bed has changed fixed station foot as mechanically gimbaled wheel into, can be arrived by medical personnel's Mobile sickbed Certain space, but owing to sick bed moves randomness relatively greatly, sometimes there will be maloperation, the most sometimes can hurt disease People.

(3) along with the increase of modern humans's quality of life, adiposis patient rolls up, and Health care staff typically compares Slight of stature, makes Health care staff very painstaking by mechanically gimbaled removing patient of taking turns, has increased the weight of labor intensity.

(4) increasing the weight of along with aging, substantial amounts of old man has also increased the weight of the demand to sick bed, present nurse personnel again than Less, the sick bed of mechanically-based universal wheel has increased the weight of the labor intensity of nurse personnel.

(5) all of machinery sick bed is generally individually fixed on certain position, and once needing moves or change direction is required to External staff completes, and has increased the weight of the amount of labour of nurse personnel.

(6) even if present mechanical sick bed can be pulled in external environment condition by doorway, ward by external force, due to people Automaticity ratio for operation is relatively low, is required for an attitude for time adjustment sick bed by doorway, ward and just can pass through.

(7) even if present mechanical sick bed can arrive the environment beyond ward by the mechanically gimbaled support taken turns, adjusting While having saved patient's body and mind, also increase the amount of labour of nurse personnel, especially by climbing local time, to nurse personnel Muscle power have higher requirement.

(8) although the electric hospital bed decoupling that can well meet sick bed speed and direction of single wheel drive, but single The movable motor power of wheel drive is relatively big, and the phenomenon of low load with strong power sometimes can be caused to occur.

(9) due to electric hospital bed power and the contact point only one of which on ground of single wheel drive, artificial being difficult to accurately is caused Controlling its direction moved, slight some interference just can cause bigger direction to change.

(10) although Two-wheeled can weaken the some drawbacks of single wheel drive, but robot electric sick bed is in climbing If time meet power requirement by motor overload, long operation can injure the performance of motor, and that causes system can It is greatly lowered by property.

(11) robot electric sick bed needs quickly to accelerate and run with higher speed, at this under many state of emergency Under the conditions of Zhong, the power of system requirements is relatively big, meets the normal two-wheeled power of motor travelled and cannot meet acceleration request, system without Method meets the power requirement under emergency.

(13) sick bed easy for part once adds electric boosted part and can be easily away from ward, the most electronic Even if sick bed leave the electric hospital bed body in ward go wrong and patient cause danger, it is any that medical personnel again cannot obtain it Information.

(14) increasing the weight of due to aging, nurse is the shortest, for the patient of part SC oneself in short-term, Also cannot link up in time with medical personnel and nurse even if causing danger in ward, sometimes can cause certain injury.

(15) in order to protect and electric hospital bed be not misused, robot sick bed has been switched on multiple protection authority, this Make medical personnel need on-the-spot these authorities of opening to start, increase the workload of medical personnel, and the most time-consuming.

(16) in simple electric sick bed moving process, parameter monitoring great majority for sick bed are on-the-spot also in field monitoring The control model of storage, the most electric hospital bed breaking down needs producers check to scene and manipulate, is unfavorable for robot Electric hospital bed supermatic development.

(15) existing machinery sick bed is generally individually provided with a shake regulations and parameters at the head of sick bed, when client need lifts When head or needs are steeved above the waist, all there is nursing staff to shake regulations and parameters and reach the purpose of raised portion sick bed, sick bed Automaticity is relatively low, and has increased the weight of the amount of labour of nursing staff.

(16) existing machinery sick bed does not generally individually account for the requirement of patient's leg, the sickbed machine of the leg position of patient Tool part can not move up and down, and causes the situations such as leg muscle atrophy to occur, be unfavorable for for the patient of long-time bed The state of an illness treatment of patient.

(17) existing machinery sick bed or the most electric hospital bed when pushing away patient and leaving ward, no matter the state of an illness of patient With situation how, patient is all the most straight to lie on one's sick bed, does not has hommization to consider, sometimes the tightest to the menticide of patient Weight.

Summary of the invention

The technical problem that present invention mainly solves is to provide a kind of wireless monokaryon three-wheel drive multifunctional motor-driven sick bed.

For solving above-mentioned technical problem, the technical scheme that the present invention uses is: provide a kind of wireless monokaryon three wheel driving Dynamic multifunctional motor-driven sick bed, including: sick bed automatic control unit, sick bed board component, bed body assembly,

Described sick foundation assembly for beds is connected with described bed body assembly, and described sick foundation assembly for beds is arranged at described bed body The top of assembly,

Described sick bed board component includes that two pieces of hard bed boards, one piece of flexible bed board are constituted, two pieces of described hard bed boards it Between be provided with one piece of flexible bed board, the bottom of two pieces of described hard bed boards is provided with support bar, and the bottom of described bed board sets Being equipped with bracing frame, described bracing frame is provided with turntable with the junction of described bed board, described support seat is provided with Sick bed brak control unit, the both sides of described bed body are provided with baffle plate, described baffle plate is provided with and automatically controls with sick bed The screen display controller that unit is connected.

In a preferred embodiment of the present invention, described turntable be internally provided with cylinder.

In a preferred embodiment of the present invention, the both sides of described bed body are provided with a bar guardrail.

In a preferred embodiment of the present invention, described sick bed automatic control unit includes ARM controller, without traditional thread binding Put, magnetoelectric transducer, image collecting device, man machine interface, three axle direct current brushless servo motors, accumulator, driving means, described Driving means be connected with ARM controller and wireless device, ARM controller and magnetoelectric transducer and image collecting device, Man machine interface and three axle direct current brushless servo motors and accumulator are connected.

The invention has the beneficial effects as follows: the present invention is wireless monokaryon three-wheel drive multifunctional motor-driven sick bed, can enter at sick bed The when that row being mobile, freely regulate the direction of rotation of sick bed, improve the stationarity of sick bed, alleviate medical personnel energy and Time.

Accompanying drawing explanation

For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings Accompanying drawing, wherein:

Fig. 1 is the perspective view of a preferred embodiment of the present invention wireless monokaryon three-wheel drive multifunctional motor-driven sick bed；

Fig. 2 is that the present invention is based on the electric hospital bed schematic diagram of WLAN three-axis robot；

Fig. 3 is the electric hospital bed flow chart of three-axis robot of the present invention；

Fig. 4 is monokaryon three-axis robot electric hospital bed motion principle block diagram；

Fig. 5 is that robot electric sick bed is by doorway, ward self-navigation schematic diagram.

Detailed description of the invention

Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement Example is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area is common All other embodiments that technical staff is obtained under not making creative work premise, broadly fall into the model of present invention protection Enclose.

Referring to Fig. 1-Fig. 5, the embodiment of the present invention includes: a kind of wireless monokaryon three-wheel drive multifunctional motor-driven sick bed, its It is characterised by, including: sick bed automatic control unit, sick bed board component 1, bed body assembly,

Described sick foundation assembly for beds 1 is connected with described bed body assembly 4, and described sick foundation assembly for beds 1 is arranged at described The top of bed body assembly 4,

Described sick bed board component 1 includes that two pieces of hard bed boards, one piece of flexible bed board are constituted, two pieces of described hard bed boards it Between be provided with one piece of flexible bed board, the bottom of two pieces of described hard bed boards is provided with support bar, and the bottom of described bed board sets Being equipped with bracing frame, described bracing frame is provided with turntable 2 with the junction of described bed board, described support seat is provided with Sick bed brak control unit 3, the both sides of described bed body are provided with baffle plate, described baffle plate is provided with and automatically controls with sick bed The screen display controller 5 that unit is connected.

Robot electric sick bed controller, under power-on state, man machine interface first works, if really needing mobile Electric hospital bed, nurse personnel, Health care staff can be on-the-spot or input respective web-privilege password Web, robot by wireless device Electric hospital bed being only possible to is moved in room, and otherwise robot electric sick bed just stays in original place and waits authority open command；If Robot electric sick bed needs to release ward, now hospital director scene or the authority by wireless device unlatching oneself Password, otherwise robot electric sick bed once moves to position, doorway and is detected by doorway monitoring sensor, and detecting system can be touched Sending out the alarm sensor on controller, the locked current robot electric sick bed of STM32F407, image acquisition system opened by controller Unite and pass through wireless network local network transport to nursing master station so that medical personnel understand the field conditions of robot electric sick bed. Under ordinary running condition, robot electric sick bed reads external environment condition by various sensors and gives than feedback parameter STM32F407, STM32F407 be that two axles are freely lifted, two axle differentials travel and the direct current of single shaft power-assisted after converting after processing The Synchronization Control pwm signal of brushless servo motor, PWM ripple signal completes head by DC brushless motor Z and R after drive amplification Portion and the lifting of leg sick bed part, PWM ripple signal is through drive amplification rear drive DC brushless motor X and DC brushless motor Y Travelling forward, its movement velocity and displacement are fed back to STM32F407 by corresponding magnetism encoder M1 and M2, by STM32F407 adjusts two-axis synchronization pwm control signal to meet real work demand according to running state parameter secondary；Accelerating Travelling or under climbing state, robot electric sick bed reads external environment condition by various sensors and gives than feedback parameter STM32F407, STM32F407 be the Synchronization Control pwm signal of three axle direct current brushless servo motors after converting after processing, PWM Ripple signal travels forward through drive amplification rear drive DC brushless motor X, DC brushless motor Y and direct current brushless servo motor W, Its movement velocity and displacement are fed back to STM32F407 by corresponding magnetism encoder M1, M2 and M3, by STM32F407 according to Running state parameter secondary adjusts three axles and synchronizes pwm control signal to meet real work demand.Electric bed in running, The various electric hospital bed parameter of man machine interface on-line storage, when needed can be by WLAN output current state to nursing Master station so that process fairly simple.

Being embodied as step is:

Medical electric bed control system is divided into two parts: human-computer interface system and kinetic control system.Wherein man machine interface system Unite the functions such as man machine interface, path planning, online output；Kinetic control system completes five electric hospital bed axle servo controls The functions such as system, data storage, I/O control, system gives full play to ARM(STM32F407) advantage that signal handling capacity is stronger, Process various sensor signals the most in real time, and realize robot electric sick bed and nursing master station by Wireless LAN device Between data communication.

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) once nursing master station need removing patient, by WLAN nursing master station first with robot electric sick bed Communication, receives during master station sends and has no progeny, based on TMS320F2812 robot electric sick bed main controller automatically disconnect line with The connection of alternating current power supply, prevents the mobile infringement charging connection wire of robot electric sick bed, and robot electric sick bed transfers electric power storage to Pond power supply state.

3) in order to prevent maloperation, the present invention uses three grades to start authority, needs mobile robot electric hospital bed when determining Time, if simply mobile robot is electric hospital bed inside ward, then need nurse personnel and nurse successively to pass through man machine interface Or Wireless LAN device inputs web-privilege password Web and opens walking mode within doors；If needing to promote robot electric sick bed Walk out ward, then need nurse personnel, nurse and hospital director successively defeated by man machine interface or control device of wireless Enter web-privilege password Web and open walking mode outside room.

4) after walking mode opened by robot electric sick bed, once start key SS presses, and first system completes to initialize And detect supply voltage, and if battery feed is abnormal, interrupt requests will be sent to STM32F407, STM32F407 can be right Interrupting doing very first time response, if the interrupt response of STM32F407 does not have enough time to process, the self-locking device on car body will Being triggered, and then reach the function of self-locking, prevent maloperation from preventing maloperation, then STM32F407 passes through wireless device to protecting Reason master station sends fault interrupting request, electric hospital bed by the further robot for overhauling of master station；If power supply is normal, electric bed machine People will start normal work.

5) detecting that start key SS presses when STM32F407 controller, being touched if now only having head to rise button SHF Sending out, robot electric sick bed will start to do the motion of sick bed head rising part, and STM32F407 is according to the requirement of servo controller Button is needed every time distance S run be converted into the acceleration of motor Z, speed and reference by location command value, then in conjunction with The speed of magnetoelectric transducer M3 corresponding for motor Z and Displacement Feedback generate the driving signal driving direct current brushless servo motor Z, drive Dynamic signal amplifies rear drive direct current brushless servo motor Z positive movement through power bridge, and robot electric sick bed starts slowly to rise, In motor process, once the hands of nursing staff is not triggering start key or is rising button SHF, direct current brushless servo motor The SERVO CONTROL of Z just terminates, and completes this uphill process；When the head of patient needs to decline, as long as nursing staff presses simultaneously Lower start key SS and head decline button SHB, and robot electric sick bed will start to do the motion of sick bed head sloping portion, STM32F407 needs distance S run to be converted into the acceleration of motor Z, speed button according to the requirement of servo controller every time Degree and reference by location command value, then speed and Displacement Feedback in conjunction with magnetoelectric transducer M3 corresponding for motor Z generate and drive The driving signal of direct current brushless servo motor Z, drives signal to amplify rear drive direct current brushless servo motor Z through power bridge and reversely transports Dynamic, robot electric sick bed starts slowly to decline, in motor process, once the hands of nursing staff not trigger start key or Being to rise button SHB, the SERVO CONTROL of direct current brushless servo motor Z just terminates, and completes this decline process.STM32F407 watches Take controller and record the displacement SHS of current location and horizontal level.

6) detecting that start key SS presses when STM32F407 controller, being touched if now only having leg to rise button SLF Sending out, robot electric sick bed will start to do the motion of sick bed leg rising part, and STM32F407 is according to the requirement of servo controller Button is needed every time distance S run be converted into the acceleration of motor R, speed and reference by location command value, then in conjunction with The speed of magnetoelectric transducer M4 corresponding for motor R and Displacement Feedback generate the driving signal driving direct current brushless servo motor R, drive Dynamic signal amplifies rear drive direct current brushless servo motor R positive movement through power bridge, and robot electric sick bed starts slowly to rise, In motor process, once the hands of nursing staff is not triggering start key or is rising button SLF, direct current brushless servo motor The SERVO CONTROL of R just terminates, and completes this uphill process；When the leg of patient needs to decline, as long as nursing staff presses simultaneously Lower start key SS and head decline button SLB, and robot electric sick bed will start to do the motion of hospital bed leg portion sloping portion, STM32F407 needs distance S run to be converted into the acceleration of motor R, speed button according to the requirement of servo controller every time Degree and reference by location command value, then speed and Displacement Feedback in conjunction with magnetoelectric transducer M4 corresponding for motor R generate and drive The driving signal of direct current brushless servo motor R, drives signal to amplify rear drive direct current brushless servo motor R through power bridge and reversely transports Dynamic, robot electric sick bed starts slowly to decline, in motor process, once the hands of nursing staff not trigger start key or Being to rise button SLB, the SERVO CONTROL of direct current brushless servo motor R just terminates, and completes this decline process.STM32F407 watches Take controller and record the displacement SLS of current location and horizontal level.

7) detect that start key SS presses when STM32F407 controller, if now recovery button SFF is triggered, machine The electric hospital bed speed according to STM32F407 servo controller of people and acceleration requirement, be converted into motor Z displacement SLS and SHS With acceleration, speed and the reference by location command value of motor R, then in conjunction with the magnetoelectric transducer that motor Z is corresponding with motor R The speed of M3, M4 and Displacement Feedback generate the driving signal driving direct current brushless servo motor Z and motor R, drive signal through merit Rate bridge amplifies rear drive direct current brushless servo motor Z and motor R motion, and bed body is restored to naturalness.

8) detecting that start key SS presses when STM32F407 controller, STM32F407 controller is turned lateral for detection Whether button SK is triggered.If lateral turning button SK is triggered, STM32F407 needs rotation according to robot motion's part GyrationNeed, distance SX to be operated for direct current brushless servo motor X and Y is converted into acceleration, speed and position Reference instruction value, then STM32F407 generates driving direct current in conjunction with the feedback of magnetoelectric transducer M1, M2 of motor X and motor Y The driving signal of brushless servo motor X and motor Y, drive signal through power bridge amplify rear drive direct current brushless servo motor X and Motor Y moves in a reverse direction, in the operational factor of motor process M1 and M2 Real-time Feedback motor to STM32F407, STM32F407 is according to feedback parameter secondary fine setting motor X and the pwm control signal of motor Y so that rotary system is in the stipulated time Inside complete side to turnTask, owing to being the rotating part 90-degree rotation of motor X and motor Y composition in the process, does not change Become electric hospital bed direction, improve the robot electric sick bed practicality at small space.

9) detect that start key SS presses when STM32F407 controller, if now forwarding button SF is triggered, system Turbo SA can be judged, if the system determine that turbo SA is triggered, robot electric sick bed needs are described Accelerating 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 models.According to acceleration and rate request, STM32F407 combines DC brushless motor X, motor The feedback of magnetism encoder M1, M2 and M5 that Y and motor W is equipped with generates the PWM drive signal driving dynamic triaxial DC brushless motor, Driving signal to amplify rear drive three spindle motor through driver to travel forward, magnetism encoder M1, M2 and M5 is real-time in the process Feeding back its displacement signal to STM32F407, STM32F407 is converted into the actual motion of robot electric sick bed this displacement signal Distance；In motor process, front anti-collision ultrasonic sensor S9 and S10 that robot carries is by work, and to STM32F407 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, STM32F407 adjusts direct current brushless servo motor X, motor Y, the PWM of motor W through internal SERVO CONTROL program Output, controls robot electric sick bed and stops in safety range, and controller also opens the timing of three seconds, if after three seconds Controller still reads barrier and then notifies that man machine interface changes run trace；If three seconds obstruction signal message, then Robot electric sick bed will continue to start according to current path and advance.During robot electric bed motion, magnetic-electric sensing Device M1, M2 and M5 can detect direct current brushless servo motor X, motor Y and the movement velocity of motor W and displacement in the moment, and feed back to STM32F407, is adjusted the PWM wave control signal of DC brushless motor X, motor Y and motor W for bis-times to meet by STM32F407 Actual demand.

10) detect that start key SS presses when STM32F407 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 Z 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 the STM32F407 controller moment.If anti-collision ultrasonic sensor S9 or S10 reads front when having barrier, and STM32F407 adjusts direct current brushless servo motor X and electricity through internal SERVO CONTROL program The PWM output of machine Y, controls robot electric sick bed and stops in safety range, and controller also opens the timing of three seconds, as Really after three seconds, controller still reads barrier and then notifies that man machine interface changes run trace；If three seconds obstruction signals Message, then robot electric sick bed will continue to start advance according to current path.During robot electric bed motion, magnetic Electric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and displacement in the moment, and feed back to STM32F407, is adjusted the PWM wave control signal of DC brushless motor X and motor Y for bis-times with satisfied actual need by STM32F407 Ask.

11) detect that start key SS presses when STM32F407 controller, if now back SB is also triggered, nothing Whether opinion turbo SA is triggered, and robot electric sick bed all will start setback with the normal speed set, STM32F407 adjusts the PWM output of direct current brushless servo motor X and motor Y through internal SERVO CONTROL program, controls robot Electric hospital bed slowly retreat according to setting speed；During setback, magnetoelectric transducer M1, M2 can the moment detection direct current without Brush servomotor X and the movement velocity of motor Y and displacement, and feed back to STM32F407, STM32F407 is according to magnetic-electric sensing The speed of device 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 robot Electric hospital bed operation in the range of safe speed, prevents excessive velocities robot electric sick bed from pushing over nurse personnel.

12) detect that start key SS presses when STM32F407 controller, if now turning button SK and forwarding button SF is triggered, and no matter whether turbo SA is triggered, and robot electric sick bed is all by the normal speed starting side to set Moving right, in motor process, the side anti-collision ultrasonic sensor S6 that robot carries is by work, and controls to STM32F407 The device moment processed feeds back the distance of itself and preceding object thing.If anti-collision ultrasonic sensor S6 reads right when having barrier, STM32F407 adjusts the PWM output of direct current brushless servo motor X and motor Y through internal SERVO CONTROL program, controls robot Electric hospital bed parking in safety range, controller also opens the timing of three seconds, if controller still reads after three seconds Exist will send parking warning to man machine interface to barrier；If three seconds obstruction signal messages, then robot electric is sick 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 meeting Moment detects direct current brushless servo motor X and the movement velocity of motor Y and displacement, and feeds back to STM32F407, by Bis-adjustment motor X of STM32F407 and the kinematic parameter of motor Y, it is ensured that system meets walking requirement.

13) detect that start key SS once presses when STM32F407 controller, if now turning button SK and advance Button SB is triggered, and no matter whether turbo SA is triggered, and robot electric sick bed all will be opened with the normal speed set Begin laterally to move to left.In motor process, the side anti-collision ultrasonic sensor S7 that robot carries by work, and to The STM32F407 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, STM32F407 adjusts direct current brushless servo motor X and the PWM of motor Y through internal SERVO CONTROL program Output, controls robot electric sick bed and stops in safety range, and controller also opens the timing of three seconds, if after three seconds Controller still reads barrier and exists and will send parking warning to man machine interface；If three seconds obstruction signal messages, 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, magnetic Electric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and displacement in the moment, and feed back to STM32F407, by bis-adjustment motor X of STM32F407 and the kinematic parameter of motor Y, it is ensured that system meets actual demand.

14) when robot electric sick bed needs to remove ward, Xian You hospital director opens walking web-privilege password Web, permissible Nurse personnel are had to release room, it is possibility to have nurse personnel shift the position with area navigation mark onto robot electric sick bed Putting, robot electric sick bed enters automatic navigation mode: photoelectric sensor S1, S2, S3, S4, S5 of its navigation are by work, ground The photosignal that sign back is returned feeds back to STM32F407, determines that robot skew is led after STM32F407 judgement processes The deviation of boat track, STM32F407 is converted into acceleration, speed and position to be run for motor X and motor Y this deviation signal Moving instruction, STM32F407 produces driving direct current brushless servo motor X and motor Y in conjunction with the feedback of magnetism encoder M1 and M2 Driving signal, drive signal to move before amplifying rear drive DC brushless motor X and motor Y-direction, quickly adjust robot electric Sick bed rapidly returns back to orbit centre of navigating.Robot electric sick bed is marked along track travel process, STM32F407 according to ground The driving signal of the feedback fine setting motor X and motor Y of will and magnetism encoder M1 and M2, makes robot along the track set Pass through doorway, ward.After the track laid disappears, robot electric sick bed is just parked in original place and waits artificial movable signal, Prevent maloperation.

15), after once robot electric sick bed is pushed out ward, wireless communication mode will be opened based on TMS320F2812, When robot electric sick bed starts mobile, and magnetoelectric transducer M1 and M2 can Real-time Feedback DC brushless motor X and the speed of motor Y And moving displacement, the parameter of motor X and motor Y is by radioing to master station, and once motor speed has surmounted setting value, master station Hypervelocity alarm can be sent to robot electric sick bed by wireless device；Once promptly asking occur in robot sick bed or patient During topic, nurse personnel can trigger robot electric sick bed alarm key, while button is pressed, and image acquisition based on CCD Image can be opened, then by being wirelessly transferred to master station's transmission fault information.

16) when patient start in short-term oneself nursing emergency occurs time, patient oneself triggers robot electric sick bed Alarm key, while button is pressed, image acquisition image based on CCD can be opened, then by radio transmitting device to Master station sends interrupt requests transmission fault information, and master station nursing staff can first time handling failure information.

17) robot electric hospital bed in motor process in order to prevent the maloperation of nurse and run into emergency and stop Car, adds automatic car locking function of stopping in emergency.In case of emergency, after emergency button ESW1 is pressed, controller is once Detecting that urgent interrupt request can send original place cutoff command, STM32F407 blocks direct current brushless servo motor by driver The PWM ripple signal of X, motor Y and motor W, even if electric hospital bed multiple universal wheel is all in can be with sliding mode, due to walking electricity Machine X, motor Y and motor W are in locking state, and such robot electric sick bed also will not move, it is ensured that robot is promptly Safety under situation.

18) present invention adds dust humidity detection system on robot electric sick bed.This dust humidity detection system is passed by wet sensitive Several parts such as sensor, measuring circuit and display recording equipment composition, is respectively completed acquisition of information, changes, shows and the merit such as process Can, so when patient-sized is the most out of control, dust humidity detection system can work, and will send alarm signal, and nurse personnel are by man-machine Interface output can find failure cause, then changes bedding.

19) this electric bed is equipped with multiple anti-barrier warning system, and robot barrier physical prospecting examining system can be at machine People's sick bed automatically detects the existence of barrier and assists automatic stopping by controller before colliding barrier, and according to barrier The character hindering thing determines restarting or stays in as you were always, this ensures that theres robot sick bed in motor process Adaptation to surrounding, decreases the environment interference to it.

20) in robot electric sick bed walking process, direct current brushless servo motor is often disturbed by extraneous factor, In order to reduce the pulsating torque impact on robot ambulation of motor, it is right that controller adds on the basis of considering motor characteristic The on-line identification of motor torque, and utilize motor torque to compensate in time with the relation of electric current, weaken external environment to machine The impact of device people motion.

The present invention is wireless, and monokaryon three-wheel drive multifunctional motor-driven sick bed provides the benefit that:

1, during controlling, battery effect in this system has been taken into full account, based on ARM(STM32F407) controller Moment all to the running status of robot electric sick bed with power source is monitored and computing, when Ac Dump, Sick bed can be self-locking in fixed position by certainly carrying battery feed, until there being the switching signal of Mobile sickbed to input, it is ensured that The naturalness of sick bed.

2: use for convenience, reduce the interference of outer bound pair sick bed, nurse personnel, Health care staff and administrators of the hospital Being required to open authority, just can to start robot electric hospital bed, decreases the danger of maloperation.

3: patient takes care of oneself for convenience, reduces the dependence of condition to external world, and native system adds human-machine interface function, patient As long as sick bed robot just can be automatically controlled by computer contact screen, thus can need not nurse and oneself solution part Easy daily life.

4: add dynamic booster based on accumulator owing to this is electric hospital bed, though encounter patient body fat or During person nursing staff's asthenic body, sick bed this can be that nurse personnel and Health care staff are in room under conditions of power supply abundance In Mobile sickbed power is provided, decrease nurse or nurse the personnel physical demands of Mobile sickbed and work in room strong Degree.

5: add two wheel guide robot drive system based on direct current brushless servo motor owing to this is electric hospital bed so that sick bed Can now move freely at room interior-excess, decrease patient's sense of depression in some fixed position.

6: add two wheel guide robot drive system based on direct current brushless servo motor owing to this is electric hospital bed so that separate unit The power of motor is substantially reduced, and the contact point on power and ground has 2 points, is conducive to improving behaviour during electric hospital bed traveling Control property.

7: 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 The power of differential running motor can reduce further, and the contact point on power and ground has 3 points, in needs acceleration or Power requirement can be met by opening assist motor during climbing, can discharge when normal traveling and add speed motor, play one The left and right of contact, 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, in very narrow space Sickbed machine device people's shifted laterally can be made, 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 Assist motor well plays power-assisted effect, and the dynamic trait of three-wheel drive is superior to far away Two-wheeled, subtracts further Lack the requirement to nurse personnel muscle power.

10: processed two spindle motor differentials by STM32F407 and travel and the full Digitized Servo Control of assist motor, be greatly improved Arithmetic speed, solves single single-chip microcomputer and runs slower bottleneck, shorten the construction cycle short, and program transportability ability By force.

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

12: owing to this controller uses STM32F407 to process substantial amounts of data and algorithm, and taken into full account around Interference source, effectively prevent " race flies " of program, and capacity of resisting disturbance is greatly enhanced.

13: robot is electric hospital bed adds automatic car locking function, when sick bed robot is in moving process, as run into Emergency, controller can send original place cutoff command, and locked two wheel guide robot running motor, even if multiple universal wheel all in Can be with sliding mode, but owing to driving wheel is in locking state, such robot also will not move.

14: in order to enable robot sick bed to move freely out doorway, ward, controller adds multiple navigation sensing Device, robot removal ward during once read surface mark will self-navigation, reduce what artificial Mobile sickbed brought Error.

15: the multiple warning system of this electric bed robotic equipment, before colliding barrier automatic stopping, thus Ensure that the safety in motor process, decrease the environment interference to it.

16: owing to robot electric sick bed system uses direct current brushless servo motor to instead of direct current generator, not only enter One step improves the safety of system, it is also possible to improves the utilization rate of the energy, adds robot electric sick bed and carrying the energy The distance once moved under conditions of Yi Ding.

17: owing to robot electric sick bed system uses direct current brushless servo motor, when motor is produced by external interference During raw pulsating torque, direct current brushless servo motor can utilize moment to compensate rapidly with the relation of electric current, greatly reduce The external interference impact on robot electric sick bed.

18: robot is electric hospital bed adds dust humidity detection system.This dust humidity detection system is by moisture sensor, measurement Circuit and display several parts such as recording equipment composition, be respectively completed acquisition of information, change, show and the function such as process, so when When patient-sized is the most out of control or sheet is moist, dust humidity detection system can work, and sends replacement request.

19: owing to robot electric sick bed has wireless receiving and emission function so that medical personnel can be as required The remote authority opening robot sick bed startup, decreases the workload of medical personnel.

20: owing to robot electric sick bed has wireless receiving and emission function, once oneself nurses the disease of oneself in short-term People runs into emergency and can link up with medical personnel at any time, it is ensured that the safety of patient.

21: owing to robot electric sick bed has wireless receiving and emission function, and be equipped with image acquisition based on CCD System so that medical personnel can monitor the electric hospital bed timely situation leaving specialized hospital at any time, and once running into emergency can To immediately treat, it is ensured that the electric hospital bed and safety of patient.

22: head servo control part based on single shaft direct current brushless servo motor can well meet client need and lift Playing head or activity above the waist of steeving, nursing staff can reach to rise sick bed front portion by button, sick bed automatic Change degree gets a promotion further, decreases the amount of labour of nursing staff.

23: leg SERVO CONTROL part based on single shaft direct current brushless servo motor can well meet client need lower limb Portion or the activity of the lower part of the body, nursing staff can reach to rise or reduce sick bed rear portion, automatization's journey of sick bed by button Degree gets a promotion further, decreases the amount of labour of nursing staff.

24: make robot electric sick bed have various machinery based on front and back two axle brush DC servo lowering or hoisting gear combination Combination, when pushing away patient and leaving ward, can freely regulate the posture of sick bed according to the state of an illness of patient, meets different patient Psychological requirement.

The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this Equivalent structure or equivalence flow process that bright description is made convert, or are directly or indirectly used in other relevant technology necks Territory, is the most in like manner included in the scope of patent protection of the present invention.

Claims

1. a wireless monokaryon three-wheel drive multifunctional motor-driven sick bed, it is characterised in that including: sick bed automatic control unit, disease Chair assembly, bed body assembly,

Wireless monokaryon three-wheel drive multifunctional motor-driven sick bed the most according to claim 1, it is characterised in that described rotation Platform be internally provided with cylinder.

Wireless monokaryon three-wheel drive multifunctional motor-driven sick bed the most according to claim 1, it is characterised in that described bed body Both sides be provided with a bar guardrail.

Wireless monokaryon three-wheel drive multifunctional motor-driven sick bed the most according to claim 1, it is characterised in that described sick bed It is straight that automatic control unit includes ARM controller, wireless device, magnetoelectric transducer, image collecting device, man machine interface, three axles Stream brushless servo motor, accumulator, driving means, described driving means is connected with ARM controller and wireless device, ARM controller and magnetoelectric transducer and image collecting device, man machine interface and three axle direct current brushless servo motor and accumulator It is connected.