CN106074049A - A kind of double-core single wheel drive is freely lifted the electric hospital bed controller of high speed robot - Google Patents
A kind of double-core single wheel drive is freely lifted the electric hospital bed controller of high speed robot Download PDFInfo
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- CN106074049A CN106074049A CN201610600792.5A CN201610600792A CN106074049A CN 106074049 A CN106074049 A CN 106074049A CN 201610600792 A CN201610600792 A CN 201610600792A CN 106074049 A CN106074049 A CN 106074049A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/018—Control or drive mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/05—Parts, details or accessories of beds
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/16—Touchpads
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
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- Nursing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention discloses a kind of double-core single wheel drive and be freely lifted the electric hospital bed controller of high speed robot, including battery, panel, motor X, motor Y, motor Z, motor R and robot electric sick bed, described panel uses dual-core controller, including DSP and FPGA, described DSP and FPGA is communicatively coupled, by the magnetism encoder advance of robot electric sick bed, the speed of service, traffic direction and elevating movement described in described motor X, motor Y, motor Z and motor R control.By the way, the present invention can reduce nurse or the amount of labour of Health care staff and labor intensity；Head and afterbody at robot electric sick bed respectively add an axle Motorized lift device simultaneously, play the function being freely lifted patient body head, waist and leg；Multiple sensors combination makes robot electric sick bed have several functions, can meet patient's demand to sick bed under different condition.
Description
Technical field
The present invention relates to a kind of double-core single wheel drive, be freely lifted electric hospital bed the automatically controlling of medical high speed robot and be
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) 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；
(9) 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；
(10) 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；
(11) 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；
(12) 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；
(13) 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；
(14) 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；
(15) 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 single 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 single 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
Robot electric sick bed, described battery is provided separately the panel described in electric current driving, and described panel uses double-core control
Device processed, is communicatively coupled including DSP and FPGA, described DSP and FPGA, and described robot electric sick bed is provided with sensing
Device, described FPGA accepts the sensor signal of sensor feedback, described FPGA send the first driving signal, the second driving
Signal, the 3rd driving signal and fourth drive signal, described first drives signal, two driving signal, the 3rd driving signal
After drive amplification, described motor X, motor Y, motor Z and motor R is driven respectively with fourth drive signal, described motor X,
It is provided with magnetism encoder, by magnetism encoder by described motor X, motor Y, motor Z on motor Y, motor Z and motor R
With the advance of robot electric sick bed, the speed of service, traffic direction and the elevating movement described in motor R control.
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 and motor R all use brush DC
Servomotor.
In a preferred embodiment of the present invention, described DSP uses TMS320F2812；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 signal
It is PWM ripple with fourth drive signal and drives signal.
In a preferred embodiment of the present invention, it is electric hospital bed that described double-core single 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 tetra-axle DC brushless motor SERVO CONTROL, data
Storage and I/O control, described based on FPGA tetra-axle DC brushless motor SERVO CONTROL include based on FPGA two axle direct current without
Brush motor single wheel drive SERVO CONTROL and controlling based on FPGA two axle DC brushless motor lift servo, wherein, described based on
FPGA two axle DC brushless motor single wheel drive SERVO CONTROL and controlling all based on FPGA two axle DC brushless motor lift servo
Including magnetism encoder module, accelerometer and gyroscope acceleration module, based on magnetism encoder acceleration module and based on
Magnetism encoder displacement module.
The invention has the beneficial effects as follows: the double-core single wheel drive of the present invention is freely lifted the electric hospital bed control of high speed robot
Device, devises a double-core single wheel drive based on FPGA (A3P250), two axles are freely lifted the four-shaft high-speed robot of sick bed
Electric hospital bed, this dual core machines people is on the premise of meeting sick bed high speed, stability and safety, sick by single wheel drive
Bed travels, and plays electric boosted effect, it is possible to reduce nurse or the amount of labour of Health care staff and labor intensity；Simultaneously at electricity
Head and the afterbody of dynamic sick bed respectively add an axle Motorized lift device, play and are freely lifted patient body head, waist and leg
Function；Multiple sensors combination makes robot electric sick bed have several functions, can meet patient couple under different condition
The demand of sick bed.
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 is freely lifted high speed sick bed schematic diagram based on DSP+ FPGA double-core single wheel drive；
Fig. 2 is that the present invention is freely lifted the electric hospital bed flow chart of high speed robot based on DSP+ FPGA double-core single wheel drive；
Fig. 3 is for be freely lifted high speed robot's electric hospital bed motion principle block diagram based on DSP+ FPGA double-core single wheel drive；
It is electric hospital bed by doorway, ward self-navigation schematic diagram that Fig. 4 is that double-core single wheel drive is freely lifted high speed robot.
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 single 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 robot electric sick bed, described battery is provided separately the panel described in electric current driving, described
Panel use dual-core controller, be communicatively coupled including DSP and FPGA, described DSP and FPGA, described robot
The electric hospital bed sensor that is provided with, described FPGA accepts the sensor signal of sensor feedback, described FPGA send
One drive signal, two driving signal, the 3rd drive signal and fourth drive signal, described the first driving signal, second drive
Dynamic signal, the 3rd signal and fourth drive signal is driven to drive described motor X, motor Y, motor Z after drive amplification respectively
With motor R, described motor X, motor Y, motor Z and motor R is provided with magnetism encoder, by magnetism encoder by described
Motor X, motor Y, motor Z and motor R control described in the advance of robot electric 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 and motor R are equal
Use direct current brushless servo motor.
Further, described DSP uses TMS320F2812；Described FPGA uses A3P250.
Along with microelectric technique and the development of Automated library system chip fabrication techniques and maturation, digital signal processor core
Sheet DSP, due to its quick computing capability, is not only widely used in communication and video frequency signal processing, the most gradually applies at various height
In the control system of level.TMS320F2812 is the fixed point 32 bit DSP core on the C2000 platform that American TI company releases
Sheet, runs clock also fast up to 150MHz, and process performance is up to 150MIPS, every instruction cycle 6.67ns.TMS320F2812
I/O port the abundantest, there are two serial ports, there is the AD conversion etc. of the 0 ~ 3.3v of 12, there is the sheet of 128k × 16 in sheet
Interior FLASH, the SRAM of 18K × 16, general application system can not wanted outer extension memory, can greatly be simplified periphery
Circuit design, 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, frees TMS320F2812 from complicated multiple-axis servo control algolithm.
In order to more preferable Mobile sickbed, the robot electric sick bed drive part of invention uses wheeled construction, because
Relative to walking, creeping or other non-wheeled mobile robot, wheeled robot has take action quick, work efficiency height, knot
The advantages such as structure is simple, controllability is strong, safety is good.
Its speed of service should be considered owing to robot is electric hospital bed, consider its traffic direction again, only the two it
Between be capable of decoupling, it is possible to moving freely in ward, accordingly, it would be desirable to two motors complete this action, single-wheel is driven
The dynamic decoupling that can well realize velocity magnitude and direction, therefore single wheel drive is a good selection.Due to unidirectional current
Machine occasional when high speed rotating produces spark, and hospital ward is a special occasion, and any spark all may be right
The oxygen cylinder of patient and inhalation device produce potential danger, and therefore, the travel driving motor in the present invention and being responsible for turns to
Motor all uses direct current brushless servo motor, owing to using Hall element to carry out electronic commutation, 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
Give up photoelectric encoder conventional in legacy system, and use encoder M1, M2, M3 of based on magnetoelectric transducer AS5040H
And M4, sensor M1, M2, M3 and M4 can effectively measure four axle direct current brushless servo motors motion time speed and displacement,
Reliable feedback is provided for robot electric sick bed four axle three Close loop servo control.
In the present embodiment, described sensor includes accelerometer and gyroscope；Described first driving signal, second drive
Dynamic signal, the 3rd driving signal and fourth drive signal are 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 DSP(TMS320F2812)) the brand-new double-core single wheel drive of+FPGA (A3P250), can
To be 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.
It is additionally provided with as in figure 2 it is shown, described double-core single 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 tetra-axle DC brushless motor SERVO CONTROL, data storage and I/O control
System, described includes based on FPGA two axle DC brushless motor single wheel drive based on FPGA tetra-axle DC brushless motor SERVO CONTROL
SERVO CONTROL and controlling based on FPGA two axle DC brushless motor lift servo, wherein, described based on FPGA two axle direct current without
Brush motor single wheel drive SERVO CONTROL and based on FPGA two axle DC brushless motor lift servo control all include magnetism encoder
Module, accelerometer and gyroscope acceleration module, based on magnetism encoder acceleration 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 DSP (TMS320F2812) and FPGA
(A3P250), having given up conventionally employed single single-chip microcomputer or the dsp chip of single 16, this controller takes into full account accumulator
Effect in this system, it is achieved the function of Single Controller Synchronization Control four axle direct current brushless servo motor.Robot electric
Sick bed gives full play to FPGA (A3P250) as servo processor data processing speed feature faster, and by TMS320F2812
Realize the functions such as man machine interface, I/O control, path navigation, online output, Data acquisition and storage, the most various
Interrupt.
For design herein based on DSP(TMS320F2812) 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, DSP(TMS320F2812) enable FPGA (A3P250) robot electric sick bed be only possible in room
In move, otherwise robot electric sick bed just stay in original place wait authority open command；If robot electric sick bed needs to push away
Going out ward, now hospital director needs to open the web-privilege password Web of oneself, and otherwise robot electric sick bed once moves to doorway
Position is detected by doorway monitoring sensor, the sensor on detecting system meeting trigger controller, and FPGA (A3P250) is locked to be worked as
Front robot electric sick bed also sends wrong operation alarm by DSP.Under ordinary running condition, robot electric sick bed passes through
Various sensors read external environment condition than feedback parameter to FPGA (A3P250), FPGA (A3P250) generate four axle brush DCs
The Synchronization Control pwm signal of servomotor, PWM ripple signal after drive amplification by DC brushless motor Z and R complete head and
The lifting of leg sick bed part, then drives sick bed to travel forward by DC brushless motor X, DC brushless motor Y, its motion
Speed and displacement are fed back to FPGA (A3P250) by corresponding magnetism encoder M1, M2, M3, M4, raw by FPGA (A3P250)
Become secondary to adjust synchronization pwm control signal and meet real work demand.Electric bed in running, man machine interface on-line storage
And export 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 DSP(TMS320F2812) realizing the functions such as data storage, I/O control, system gives full play to
FPGA (A3P250) processes data advantage faster, is processed various sensor signals simultaneously by DSP (TMS320F2812) in real time and adopts
Collection and 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, DSP (TMS320F2812) controller can disconnect the connection of line and alternating current power supply automatically, and robot electric sick bed transfers to
Storage battery power supply state；
3) in order to prevent maloperation, the present invention uses three grades to start 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
Surveying supply voltage, if battery feed is abnormal, will send interruption to DSP (TMS320F2812) and FPGA (A3P250) please
Asking, interruption can be done very first time response by DSP (TMS320F2812) and FPGA (A3P250), if DSP (TMS320F2812)
Not having enough time to process with the interrupt response of FPGA (A3P250), the self-locking device on car body will be triggered, and then reach self-locking
Function, 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 is turned lateral for detection
Whether button SK is triggered；If lateral turning button SK is triggered, FPGA (A3P250) is according to robot motion's part needs
The anglec of rotationWith its internal trapezoidal generator, distance SX to be operated for direct current brushless servo motor Y is converted into acceleration
Degree, speed and reference by location command value, then FPGA (A3P250) is raw in conjunction with the feedback of magnetoelectric transducer M2 corresponding for motor Y
Become to drive the driving signal of direct current brushless servo motor Y, drive signal to amplify rear drive direct current brushless servo motor Y through power bridge
Motion, owing to DC brushless motor Y drives direct current brushless servo motor X to move by gear structure in rotary course；When directly
Stream brushless servo motor Y completes current servo motion, and direct current brushless servo motor X is complete side and turnsTask, due to
During this, simply motor Y drives motor X 90-degree rotation, and for changing electric hospital bed direction, improves robot electric sick
Bed is in the practicality of small space；In motor process, FPGA adjusts the PID ginseng of SERVO CONTROL program in real time according to extraneous circumstance
Number is actually needed to meet, and operational factor that DSP 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 only having forwarding button SF to be triggered, machine
Device people is electric hospital bed to travel forward starting, in motor process, the front anti-collision ultrasonic sensor S9 that robot carries and
S10 is by work, and feeds back the distance of itself and preceding object thing to FPGA (A3P250) the controller moment；If crashproof ultrasound wave passes
Sensor S9 or S10 reads front when having barrier, FPGA (A3P250) through internal SERVO CONTROL program adjust direct current without
The PWM output of brush servomotor X, controls robot electric sick bed and stops 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 can detect direct current brushless servo motor X and the movement velocity of motor Y and displacement the moment, and
Feed back to FPGA (A3P250)；In motor process, FPGA adjusts the pid parameter of SERVO CONTROL program in real time according to extraneous circumstance
Being actually needed to meet, operational factor that DSP 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 back SB to be also triggered,
Robot electric sick bed will start setback, and FPGA (A3P250) adjusts brush DC servo electricity through internal SERVO CONTROL program
The PWM output of machine X and Y, controls robot electric sick bed and slowly retreats according to setting speed；During setback, magnetoelectricity
Sensor M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and displacement and feed back to FPGA in the moment
(A3P250), FPGA (A3P250) adjusts brush DC servo according to speed and the Displacement Feedback secondary of magnetoelectric transducer M1 and M2
The PWM output of motor X and motor Y, it is ensured that robot electric sick bed runs in the range of safe speed, prevents excessive velocities machine
People is electric hospital bed pushes over nurse personnel；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 DSP 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 turning button SK and forwarding button SF
Being triggered, starting side is moved right by robot electric sick bed, and in motor process, the crashproof ultrasound wave in side that robot carries passes
Sensor S6 is by work, and feeds back the distance of itself and preceding object thing to FPGA (A3P250) the controller moment；If it is crashproof ultrasonic
Wave sensor S6 reads right when having barrier, and FPGA (A3P250) adjusts brush DC servo through internal SERVO CONTROL program
The PWM output of motor X, controls robot electric sick bed and stops in safety range, and controller also opens the timing of three seconds,
If controller still reads barrier existence and will send parking warning to man machine interface after three seconds；If three seconds obstructions
Signal message, then robot electric sick bed will continue laterally to move to right according to current track；Laterally move to right at robot electric sick bed
During, magnetoelectric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y the moment and displacement is the most anti-
Feed FPGA (A3P250), and FPGA (A3P250) secondary adjusts motor X and the kinematic parameter of motor Y；In motor process, FPGA
The pid parameter adjusting SERVO CONTROL program according to extraneous circumstance in real time is actually needed to meet, and DSP real time record is electric hospital bed
Operational factor also shows in man machine interface；
12) 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 robot electric sick bed is by starting side to moving to left, and in motor process, the side that robot carries is crashproof ultrasonic
Wave sensor S7 is by work, and feeds back the distance of itself and preceding object thing to FPGA (A3P250) the controller moment；If it is crashproof
Ultrasonic sensor S7 reads left when having barrier, and FPGA (A3P250) adjusts brush DC through internal SERVO CONTROL program
The PWM output of servomotor X, controls robot electric sick bed and stops in safety range, and controller also opens one three seconds
Timing, if after three seconds controller still read barrier exist will to man machine interface send parking report to the police；If after three seconds
Obstacle signal message, then robot electric sick bed will continue laterally to move to left according to current track；In robot electric sick bed side
During moving to the left, magnetoelectric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and position in the moment
Moving, and feed back to FPGA (A3P250), FPGA (A3P250) secondary adjusts motor X and the kinematic parameter of motor Y；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, DSP real time record electricity
Move the operational factor of sick bed and show in man machine interface；
13) when robot electric sick bed needs to remove ward, existing hospital director opens walking web-privilege password Web, then nurse
Personnel shift the position with surface mark onto robot electric sick bed, and robot electric sick bed enters automatic navigation mode: its
Photoelectric sensor S1, S2, S3, S4, S5 of navigation are by work, and the photosignal that surface mark reflects feeds back to FPGA
(A3P250), through FPGA (A3P250) judgement process after determine robot skew navigation track deviation, FPGA (A3P250)
This deviation signal is converted into acceleration, speed and displacement commands to be run for motor X and motor Y, FPGA (A3P250) in conjunction with
The feedback of magnetism encoder M1 and M2 produces the driving signal driving direct current brushless servo motor X and motor Y, drives signal to amplify
Move before rear drive DC brushless motor X and motor Y-direction, quickly adjust robot electric sick bed and rapidly return back to navigate in track
The heart；Robot electric sick bed is along track travel process, and FPGA (A3P250) is according to surface mark and magnetism encoder M1 and M2
Feedback fine setting motor X and motor Y driving signal, make robot pass through doorway, ward along the track set；When
After the track laid disappears, robot electric sick bed is just parked in original place and waits artificial driving signal, prevents maloperation；It is being moved through
Cheng Zhong, FPGA adjust the pid parameter of SERVO CONTROL program in real time and are actually needed to meet according to extraneous circumstance, DSP real time record
Electric hospital bed operational factor also shows in man machine interface；
14) 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, and FPGA (A3P250) passes through driver locked movable motor X, though electronic disease
The multiple universal wheel W of bed are all in can be with sliding mode, owing to movable motor X is in locking state, such robot electric sick bed
Also will not move；
15) 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；
16) this electric bed is equipped with multiple anti-barrier warning system, and bed carries obstacle spy side system can collide barrier
Automatically detect existence the automatic stopping of barrier before, and determine that restarting or is waited until according to the character of barrier
As you were, this ensures that there the adaptation to surrounding in motor process, decrease the environment interference to it；
17) in robot electric sick bed walking process, motor often receives extraneous factor interference, in order to reduce the arteries and veins of motor
The dynamic torque impact on robot ambulation, controller adds distinguishing online motor torque on the basis of considering motor characteristic
Know, and utilize motor torque to compensate with the relation of electric current, weaken the external environment impact on robot motion；
18) 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 DSP(TMS320F2812)+FPGA
(A3P250) the dual-core controller moment is all to the running status of robot electric sick bed with power source is monitored and computing,
When Ac Dump, sick bed automatically can be automatically locked in fixed position, until there being mobile opening by carrying battery feed
OFF signal inputs, it is ensured that the naturalness of sick bed；
2: 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；
3: 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；
4: add single wheel drive system based on direct current brushless servo motor owing to this is electric hospital bed so that sick bed can be in room
Sub-interior-excess now moves freely, and decreases patient's sense of depression in some fixed position；
5: add single wheel drive system based on direct current brushless servo motor owing to this is electric hospital bed so that electric hospital bed permissible
In room, original place rotates freely according to any direction, decreases the space that Mobile sickbed needs, is particularly suitable for space
Narrow and small ward；
6: owing to adding single wheel drive system based on direct current brushless servo motor, disease can be made in very narrow space
The shifted laterally of bed robot, reduces robot and rotates the negative issue brought；
7: in order to enable sick bed robot 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；
8: when robot electric sick bed runs into climbing, due to the self-contained dynamic energy, it is possible to well rise
To power-assisted effect, decrease the requirement to nurse personnel muscle power；
9: the full Digitized Servo Control being processed multi-axle motor by FPGA (A3P250), substantially increase arithmetic speed, solve list
Single-chip microcomputer runs slower bottleneck, shortens the construction cycle short, and program transportability ability is strong；
10: 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；
11: 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 TMS320F2812 from complicated calculating, effectively prevent " race flies " of program, anti-
Interference performance is greatly enhanced；
12: 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 main motion motor, even if multiple universal wheel is all in the shape that can slide
State, but owing to driving wheel is in locking state, such robot also will not move；
13: the present invention adds multiple unlatching authority in robot electric sick bed system, it is therefore prevented that the maloperation of sick bed；
14: 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；
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: 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；
19: 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；
20: 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；
21: owing to being directly produced multiaxis driven by Brush-Less DC motor signal by FPGA, it is not necessary to DSP inputs any parameter to it,
The processing speed making system is accelerated, and beneficially system high-speed runs；
22: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；
23: 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；
24: 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 single 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 robot electric sick bed, described battery is provided separately electric current and drives described
Panel, described panel uses dual-core controller, communicates even including DSP and FPGA, described DSP and FPGA
Connecing, described robot electric sick bed is provided with sensor, and described FPGA accepts the sensor signal of sensor feedback, by institute
The FPGA stated sends the first driving signal, two driving signal, the 3rd driving signal and fourth drive signal, and described first drives
Dynamic signal, two driving signal, the 3rd driving signal and fourth drive signal drive described motor after drive amplification respectively
X, motor Y, motor Z and motor R, described motor X, motor Y, motor Z and motor R is provided with magnetism encoder, passes through magnetic
The advance of photoelectric coder robot electric sick bed described in described motor X, motor Y, motor Z and motor R control, operation speed
Degree, traffic direction and elevating movement.
Double-core single 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 single 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 and motor R all use direct current brushless servo motor.
Double-core single wheel drive the most according to claim 1 is freely lifted the electric hospital bed controller of high speed robot, its feature
Being, described DSP uses TMS320F2812；Described FPGA uses A3P250.
Double-core single 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 single wheel drive the most according to claim 1 is freely lifted the electric hospital bed controller of high speed robot, its feature
Being, described the first driving signal, two driving signal, the 3rd driving signal and fourth drive signal are PWM ripple and drive
Signal.
Double-core single 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 single 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 tetra-axle DC brushless motor SERVO CONTROL, data storage and I/O, described based on FPGA
Four axle DC brushless motor SERVO CONTROL include based on FPGA two axle DC brushless motor single wheel drive SERVO CONTROL and based on
FPGA two axle DC brushless motor lift servo controls, wherein, described based on FPGA two axle DC brushless motor single wheel drive
SERVO CONTROL and based on FPGA two axle DC brushless motor lift servo control all include magnetism encoder module, accelerometer and
Gyroscope acceleration module, based on magnetism encoder acceleration module and based on magnetism encoder displacement module.
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| CN110215363A (en) * | 2019-06-12 | 2019-09-10 | 中国医学科学院北京协和医院 | Hospital bed head of a bed elevation and subsidence regulating device, adjusting method and lifting type sickbed |
| CN112274357A (en) * | 2020-10-28 | 2021-01-29 | 苏州工艺美术职业技术学院 | Household nursing robot |
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Application publication date: 20161109 |