CN106137604A

CN106137604A - A kind of double-core electric hospital bed controller of Two-wheeled high speed robot

Info

Publication number: CN106137604A
Application number: CN201610600766.2A
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: 2016-11-23

Abstract

The invention discloses a kind of double-core electric hospital bed controller of Two-wheeled high speed robot, including alternating current power supply, battery, panel, first motor, second motor and robot electric sick bed, described panel uses dual-core controller, including ARM and FPGA, described FPGA accepts the sensor signal of sensor feedback, the first driving signal and two driving signal is sent by described FPGA, it is provided with magnetism encoder on the first described motor and the second motor, advance by magnetism encoder robot electric sick bed described in the first described motor and the second motor control, the speed of service and traffic direction.By the way, the present invention is on the premise of ensureing robot rapidity, stability and safety, its speed of travel is changed by controller, its direction can be changed again by two wheel guide robot driving mode, can well be by electric boosted minimizing nurse or the amount of labour of Health care staff and labor intensity.

Description

A kind of double-core electric hospital bed controller of Two-wheeled high speed robot

Technical field

The present invention relates to a kind of double-core electric hospital bed automatic control system of Two-wheeled high speed robot, belong to automatic electric Sick bed field.

Background technology

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

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

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

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

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

(3) along with the increase of modern humans's quality of life, adiposis patient rolls up, and Health care staff is the thinnest Little, make Health care staff very painstaking by mechanically gimbaled removing patient of taking turns, increase the weight of labor intensity；

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

(5) all of machinery sick bed is generally individually fixed on certain position, and once needing moves or change direction is required to outside Personnel complete, and have increased the weight of the amount of labour of nurse personnel；

(6) even if present mechanical sick bed can be pulled in external environment condition by doorway, ward by external force, due to artificial behaviour The automaticity ratio made is relatively low, is required for an attitude for time adjustment sick bed by doorway, ward and just can pass through；

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

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

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

(10) 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；

(11) 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；

(12) 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；

(13) 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；

(14) 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 electric hospital bed control of Two-wheeled high speed robot Device, for overcoming general hospital's sick bed can not meet patient's actual requirement, on the premise of absorbing external Dynamic matrix control thought, independently Have developed a based on ARM(STM32F407) the two wheel guide robot driven machine people of+FPGA (A3P250) is electric hospital bed.This machine People's control system is with FPGA for processing core, it is achieved the synchronous servo of two axle DC brushless motors controls, and STM32F407 realizes many The digital signal of kind of sensor signal processes in real time, real-time corresponding various interruption protection requests, and with FPGA data communication.

For solving above-mentioned technical problem, the technical scheme that the present invention uses is: provide a kind of double-core Two-wheeled The electric hospital bed controller of high speed robot, including alternating current power supply, battery, panel, the first motor, the second motor and robot Electric hospital bed, described alternating current power supply and battery provide the panel described in electric current driving, and described panel uses double-core control Device processed, is communicatively coupled including ARM and FPGA, described ARM 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 and second and drive Dynamic signal, the first described driving signal and two driving signal are through the first motor described in drive amplification rear drive and the second electricity Machine, the first described motor and the second motor are provided with magnetism encoder, by magnetism encoder by the first described motor With the advance of robot electric sick bed, the speed of service and the traffic direction described in the second motor control.

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

In a preferred embodiment of the present invention, the first described motor and the second motor all use that High-speed DC is brushless to be watched Take motor.

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

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

In a preferred embodiment of the present invention, the first described driving signal and two driving signal are PWM ripple control Signal processed.

In a preferred embodiment of the present invention, the described double-core electric hospital bed controller of Two-wheeled high speed robot is also Be provided with man machine interface program and kinetic control system, described man machine interface program include man machine interface, path planning and Online output, described kinetic control system includes based on FPGA two axle DC brushless motor two-wheel SERVO CONTROL, data storage And I/O controls, wherein, described includes magnetism encoder mould based on FPGA two axle DC brushless motor two-wheel SERVO CONTROL Block, accelerometer and gyroscope acceleration module, based on magnetoelectric transducer acceleration module and based on magnetoelectric transducer displacement mould Block.

The invention has the beneficial effects as follows: the double-core electric hospital bed controller of Two-wheeled high speed robot of the present invention, design A double-core Two-wheeled high speed robot based on FPGA is electric hospital bed, and this sick bed is ensureing robot rapidity, steady On the premise of qualitative and safety, change its speed of travel by controller, can be changed by two wheel guide robot driving mode again Its direction, can well be by electric boosted minimizing nurse or the amount of labour of Health care staff and labor intensity, and robot is sick The multiple sensors combination that bed carries makes it have several functions, can meet patient's demand to sick bed under different condition.

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 based on the ARM+ FPGA medical hospital bed schematic diagram of double-core two-wheel drive；

Fig. 2 is that the present invention is based on ARM+ FPGA double-core two-wheel drive robot electric sick bed flow chart；

Fig. 3 is based on ARM+ FPGA double-core two-wheel drive robot electric bed motion theory diagram；

Fig. 4 is by doorway, ward self-navigation schematic diagram based on ARM+ FPGA double-core two-wheel drive robot electric sick bed.

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 electric hospital bed controller of Two-wheeled high speed robot, including alternating current power supply, battery, panel, the first electricity Machine, the second motor and robot electric sick bed, described alternating current power supply and battery provide the panel described in electric current driving, institute The panel stated uses dual-core controller, is communicatively coupled including ARM and FPGA, described ARM and FPGA, described machine The electric hospital bed sensor that is provided with of people, described FPGA accepts the sensor signal of sensor feedback, described FPGA sends First drives signal and two driving signal, and the first described driving signal and two driving signal are through drive amplification rear drive institute The first motor stated and the second motor, the first described motor and the second motor are provided with magnetism encoder, are compiled by magnetoelectricity The code device advance of robot electric sick bed, the speed of service and operation side described in the first described motor and the second motor control To.

In the present embodiment, described battery uses lithium ion battery；The first described motor and the second motor all use height Speed direct current brushless servo motor.

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

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

FPGA is the product of development further on the basis of the programming devices such as PAL, GAL, EPLD, and FPGA makes user By specific placement-and-routing instrument, its inside can be reconfigured connection, the shortest according to the design needs of oneself Time in design oneself special IC, thus reduce cost, shorten the construction cycle.Owing to FPGA uses software The design philosophy changed realizes the design of hardware circuit, thus make system based on FPGA design have good reusable and Amendment property, this brand-new design philosophy is the most gradually applied and is driven in control at high performance AC and DC, and fast development. It is to occur as a kind of semi-custom circuit in special IC (ASIC) field, i.e. solves custom circuit not Foot, overcomes again the shortcoming that original programming device gate circuit number is limited, it may be said that fpga chip is that small lot system improves system System integrated level, one of optimum selection of reliability.The needs of cumulated volume invention, select FPGA as multiaxis brush DC servo electricity The SERVO CONTROL actuator of machine, frees STM32F407 from complicated multiple-axis servo control algolithm.

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

Its speed of service should be considered owing to robot is electric hospital bed, consider its traffic direction again, accordingly, it would be desirable to two Individual motor completes this action, and being travelled by two wheel guide robot and realizing the regulation and control of speed and direction is a kind of selection, and two Two powers of motor that wheel differential travels are equal in magnitude, and power adds up power requirement when can meet normal traveling, Two motor of short duration overloads can be passed through when climbing needs electric boosted meet.Under normal driving conditions, in order to adjust electricity The travel direction of dynamic sick bed, the velocity magnitude generally changing two motors just can arbitrarily realize the change in direction.Due to direct current Motor occasional when high speed rotating produces spark, and hospital ward is a special occasion, and any spark all may Oxygen cylinder and inhalation device to patient produce potential danger, therefore, be responsible for robot ambulation function in the present invention two Differential running motor all uses direct current brushless servo motor, owing to direct current brushless servo motor uses Hall element to carry out electronics Commutation, high speed rotating will not produce any spark, effectively eliminate potential safety hazard.

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 of based on magnetoelectric transducer AS5040H, magnetic Electricity code sensor M1, M2 can effectively measure speed when two axle direct current brushless servo motors move and displacement, for machine People's electric hospital bed two-axis synchronization three Close loop servo control provides reliable feedback.

In the present embodiment, described sensor includes accelerometer and gyroscope；The first described driving signal and second Signal is driven to be PWM wave control signal.

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

The present invention, for overcoming general hospital's sick bed can not meet patient's actual requirement, is absorbing external Dynamic matrix control thought Under premise, independent research is a based on ARM(STM32F407) the two wheel guide robot driven machine people of+FPGA (A3P250) is electronic Sick bed.This robot control system is with FPGA for processing core, it is achieved the synchronous servo of two axle DC brushless motors controls, STM32F407 realizes the digital signal of multiple sensors signal and processes in real time, real-time corresponding various interruption protection requests, and with FPGA data communicates.

As in figure 2 it is shown, the described double-core electric hospital bed controller of Two-wheeled high speed robot is additionally provided with man machine interface Program and kinetic control system, described man machine interface program includes man machine interface, path planning and exports online, described Kinetic control system includes controlling based on FPGA two axle DC brushless motor two-wheel SERVO CONTROL, data storage and I/O, its In, described includes magnetism encoder module, accelerometer and top based on FPGA two axle DC brushless motor two-wheel SERVO CONTROL Spiral shell instrument acceleration module, based on magnetoelectric transducer acceleration module and based on magnetoelectric transducer displacement module.

For reaching above-mentioned purpose, the present invention takes techniques below scheme, in order to improve arithmetic speed, it is ensured that Medical Robot The stability of electric hospital bed control system and reliability, the present invention uses 32 high-performance ARM(STM32F407) and 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 dual-core controller Synchronization Control two axle direct current brushless servo motor.Robot electric Sick bed gives full play to FPGA as servo processor data processing speed feature faster, and by ARM(STM32F407) realize people The function such as machine interface, I/O control, path navigation, online output, Data acquisition and storage, the most real-time corresponding various interruptions.

For design herein based on ARM(STM32F407) the electric hospital bed control of+FPGA (A3P250) dual core machines people Device, under power-on state, man machine interface first works, if really needing mobile electric sick bed, nurse personnel, Health care staff Inputting respective web-privilege password Web, STM32F407 enables A3P250 robot electric sick bed and is only possible to move in room, otherwise machine The electric hospital bed original place that just stays in of device people waits authority open command；If robot electric sick bed needs to release ward, now cure Institute director needs to open the web-privilege password Web of oneself, and otherwise robot electric sick bed once moves to position, doorway and monitored by doorway Sensor detects, and the sensor on detecting system meeting trigger controller, the locked current robot of A3P250 is electric hospital bed and leads to Cross STM32F407 and send wrong operation alarm.Under ordinary running condition, outside robot electric sick bed is read by various sensors Portion's environment feedback parameter, to A3P250, are converted into, through the internal trapezoidal generator of servo, the direct current that two axle differentials travel by A3P250 The Synchronization Control pwm signal of brushless servo motor, PWM ripple signal through drive amplification rear drive DC brushless motor X and direct current without Moving before brush motor Y-direction, its movement velocity and displacement are fed back to A3P250 by corresponding magnetism encoder M1 and M2, by A3P250 adjusts two-axis synchronization pwm control signal to meet real work demand according to running state parameter secondary.Electric bed exists In running, man machine interface on-line storage also exports current state so that process more directly perceived.

With reference to Fig. 2, being embodied as step is:

Robot electric bed control system is divided into two parts: human-computer interface system and kinetic control system.Wherein man machine interface system Unite the functions such as man machine interface, path planning, online output；Electronic disease is completed based on FPGA (A3P250) kinetic control system The multiple-axis servo of bed controls, and ARM (STM32F407) realizes the functions such as data storage, I/O control, and system gives full play to The advantage of A3P250 servo processor, is processed various interruption in real time simultaneously by STM32F407.

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, STM32F407 controller can disconnect the connection of line and alternating current power supply automatically, and robot electric sick bed transfers accumulator to 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 Survey supply voltage, if battery feed is abnormal, interrupt requests, STM32F407 will be sent to STM32F407 and A3P250 Can be to interrupting doing very first time response with A3P250, the place if the interrupt response of STM32F407 and A3P250 is not able to do in time Reason, the self-locking device on car body will be triggered, and then reach the function of self-locking, prevent maloperation；If power supply is normal, electric bed Robot will start normal work；

5) detecting that start key SS presses when A3P250 controller, whether A3P250 controller will detect lateral turning button SK It is triggered；If lateral turning button SK is triggered, A3P250 needs the anglec of rotation according to robot motion's partWith Its internal trapezoidal generator, is converted into acceleration, speed and position distance SX to be operated for direct current brushless servo motor X and Y Reference instruction value, then A3P250 in conjunction with magnetoelectric transducer M1, M2 of motor X and motor Y feedback generate drive direct current without The driving signal of brush servomotor X and motor Y, drives signal to amplify rear drive direct current brushless servo motor X and electricity through power bridge Machine Y moves in a reverse direction, motor process M1 and M2 Real-time Feedback motor operational factor to A3P250, A3P250 according to Feedback parameter secondary fine setting motor X and the pwm control signal of motor Y so that rotary system completes side at the appointed time and turns Task, owing to being the rotating part 90-degree rotation of motor X and motor Y composition in the process, does not change electric hospital bed Direction, improves the robot electric sick bed practicality at small space；In motor process, A3P250 is real according to extraneous circumstance Time adjust SERVO CONTROL program pid parameter with meet be actually needed, the operational factor that STM32F407 real time record is electric hospital bed And show in man machine interface；

6) detect that start key SS presses when A3P250 controller, if now only having forwarding button SF to be triggered, robot electricity Dynamic sick bed travels forward starting, and in motor process, front anti-collision ultrasonic sensor S9 and S10 that robot carries is by work Make, and feed back the distance of itself and preceding object thing to the A3P250 controller moment；If anti-collision ultrasonic sensor S9 or S10 reads front when having barrier, and A3P250 adjusts direct current brushless servo motor X and motor Y through internal SERVO CONTROL program PWM output, control robot electric sick bed stop in safety range, 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 obstruction signal disappeared in three seconds Breath, then robot electric sick bed will continue to start advance according to current path；During robot electric bed motion, magnetoelectricity Sensor M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and displacement in the moment, and send A3P250 to, The PWM wave control signal of DC brushless motor X and motor Y is adjusted for bis-times to meet actual demand by A3P250；In motor process In, A3P250 adjusts the pid parameter of SERVO CONTROL program in real time and is actually needed to meet according to extraneous circumstance, and STM32F407 is real Operational factor that Shi Jilu is electric hospital bed also shows in man machine interface；

7) detect that start key SS presses when A3P250 controller, if now only having back SB to be also triggered, robot Electric hospital bed will start setback, A3P250 adjusts direct current brushless servo motor X and motor Y through internal SERVO CONTROL program PWM output, control robot electric sick bed slowly retreat according to setting speed；During setback, magnetoelectric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and displacement in the moment, and send A3P250 to, A3P250 Speed and the PWM of Displacement Feedback secondary adjustment direct current brushless servo motor X and motor Y according to magnetoelectric transducer M1 and M2 are defeated Go out, it is ensured that robot electric sick bed runs in the range of safe speed, prevent excessive velocities robot electric sick bed from pushing over nurse Personnel；In motor process, A3P250 adjusts the pid parameter of SERVO CONTROL program in real time with satisfied actual need according to extraneous circumstance , operational factor that STM32F407 real time record is electric hospital bed also shows in man machine interface；

8) detect that start key SS presses when STM32F407 controller, if now turning button SK and forwarding button SF is touched Sending out, starting side is moved right by robot electric sick bed, in motor process, and the side anti-collision ultrasonic sensor that robot carries S6 is by work, and feeds back the distance of itself and preceding object thing to the STM32F407 controller moment；If crashproof supersonic sensing Device S6 reads right when having barrier, and A3P250 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 existence and will send parking warning to man machine interface；If three seconds obstruction letters Number message, then robot electric sick bed will continue laterally to move to right according to current track；Laterally moved to right at robot electric sick bed Cheng Zhong, magnetoelectric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and displacement, and transmit in the moment To A3P250, A3P250 adjust motor X and the kinematic parameter of motor Y according to offset deviation signal secondary, it is ensured that system meets Walking requirement；In motor process, A3P250 adjusts the pid parameter of SERVO CONTROL program in real time with satisfied reality according to extraneous circumstance Border needs, and operational factor that STM32F407 real time record is electric hospital bed also shows in man machine interface；

9) detect that start key SS once presses when STM32F407 controller, if now turning button SK and forwarding button SB Being triggered, robot electric sick bed is by starting side to moving to left, and in motor process, the crashproof ultrasound wave in side that robot carries passes Sensor S7 is by work, and feeds back the distance of itself and preceding object thing to the STM32F407 controller moment；If crashproof ultrasound wave Sensor S7 reads motion front when having barrier, and A3P250 adjusts brush DC servo electricity through internal SERVO CONTROL program The PWM output of machine X and motor Y, controls robot electric sick bed and stops in safety range, and controller also opens one three seconds Timing, if after three seconds controller still read barrier exist will to man machine interface send parking report to the police；If after three seconds Obstacle signal message, then robot electric sick bed will continue laterally to move to 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 Move, and send A3P250 to, by bis-adjustment motor X of A3P250 and the kinematic parameter of motor Y, it is ensured that system meets actual need Ask；In motor process, A3P250 adjusts the pid parameter of SERVO CONTROL program in real time with satisfied actual need according to extraneous circumstance , operational factor that STM32F407 real time record is electric hospital bed also shows in man machine interface；

10) when robot electric sick bed needs to remove ward, Xian You hospital director opens walking web-privilege password Web, can protect Workman person releases room, it is possibility to have nurse personnel shift the position with area navigation mark, machine onto robot electric sick bed Device people electric hospital bed entrance automatic navigation mode: photoelectric sensor S1, S2, S3, S4, S5 of its navigation are by work, surface mark The photosignal reflected feeds back to A3P250, determines the inclined of robot skew navigation track after A3P250 judgement processes Difference, A3P250 is converted into acceleration, speed and displacement commands to be run for motor X and motor Y this deviation signal, and A3P250 is again Feedback in conjunction with magnetism encoder M1 and M2 produces the driving signal of driving direct current brushless servo motor X and motor Y, drives signal Move before amplifying rear drive DC brushless motor X and motor Y-direction, quickly adjust robot electric sick bed and rapidly return back to the track that navigates Center；Robot electric sick bed is along track travel process, and A3P250 is anti-according to surface mark and magnetism encoder M1's and M2 The driving signal of feedback fine setting motor X and motor Y, makes robot pass through doorway, ward along the track set；Work as laying Track disappear after, robot electric sick bed be just parked in original place wait artificial movable signal, prevent maloperation；In motor process In, A3P250 adjusts the pid parameter of SERVO CONTROL program in real time and is actually needed to meet according to extraneous circumstance, and STM32F407 is real Operational factor that Shi Jilu is electric hospital bed also shows in man machine interface；

11) 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 A3P250 is by driver block direct current brushless servo motor X's and motor Y PWM ripple signal, even if electric hospital bed multiple universal wheel is all in can be with sliding mode, owing to movable motor X and motor Y is in lock Death situation state, such robot electric sick bed also will not move, it is ensured that robot safety in an emergency situation；

12) 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；

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

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

15) 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, during based on ARM+FPGA dual-core controller Carve 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, until there being the switching signal of Mobile sickbed to input by certainly carrying battery feed, it is ensured that sick The naturalness of bed；

2: use for convenience, reduce the interference of outer bound pair sick bed, nurse personnel, Health care staff and administrators of the hospital are both needed to It is electric hospital bed that authority to be opened just can start robot, decreases the danger of maloperation；

3: patient takes care of oneself for convenience, reduces the dependence of condition to external world, and native system adds human-machine interface function, if patient Just can be automatically controlled sick bed robot by computer contact screen, thus can need not nursing and oneself solve part simply Daily life；

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

5: add two wheel guide robot drive system based on direct current brushless servo motor owing to this is electric hospital bed so that sick bed is permissible In room, interior-excess now moves freely, and decreases patient's sense of depression in some fixed position；

6: add two wheel guide robot drive system based on direct current brushless servo motor owing to this is electric hospital bed so that single motor Power be substantially reduced, and the contact point on power and ground has 2 points, handling when being conducive to improving electric hospital bed traveling；

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

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

9: 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, and the dynamic trait of Two-wheeled is superior to far away single wheel drive, further reduces nurse's personnel's body The requirement of power；

10: processed, by FPGA, the full Digitized Servo Control that two axle direct current brushless servo motor differentials travel, substantially increase computing Speed, solves single single-chip microcomputer and runs slower bottleneck, shorten the construction cycle short, and program transportability ability is strong；

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

12: owing to this controller uses FPGA to process substantial amounts of servo control data and algorithm, and taken into full account the dry of surrounding Disturbing source, ARM is freed from complicated calculating, effectively prevent " race flies " of program, capacity of resisting disturbance is greatly enhanced；

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

14: robot is electric hospital bed adds dust humidity detection system；This dust humidity detection system is by moisture sensor, 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: owing to being directly produced multiaxis driven by Brush-Less DC motor signal by FPGA, it is not necessary to ARM inputs any parameter to it, The processing speed making system is accelerated, and beneficially system high-speed runs；

19: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；

20: 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；

21: 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

1. the double-core electric hospital bed controller of Two-wheeled high speed robot, it is characterised in that include alternating current power supply, battery, Panel, the first motor, the second motor and robot electric sick bed, described alternating current power supply and battery provide electric current to drive institute The panel stated, described panel uses dual-core controller, communicates even including ARM and FPGA, described ARM 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 and two driving signal, and the first described driving signal and two driving signal are through driving Amplify the first motor described in rear drive and the second motor, the first described motor and the second motor are provided with magnetoelectricity coding Device, by magnetism encoder by the advance of robot electric sick bed described in the first described motor and the control of the second motor, fortune Line speed and traffic direction.

The double-core electric hospital bed controller of Two-wheeled high speed robot the most according to claim 1, it is characterised in that described Battery use lithium ion battery.

The double-core electric hospital bed controller of Two-wheeled high speed robot the most according to claim 1, it is characterised in that described The first motor and the second motor all use High-speed DC brushless servo motor.

The double-core electric hospital bed controller of Two-wheeled high speed robot the most according to claim 1, it is characterised in that described ARM use STM32F407；Described FPGA uses A3P250.

The double-core electric hospital bed controller of Two-wheeled high speed robot the most according to claim 1, it is characterised in that described Sensor include accelerometer and gyroscope.

The double-core electric hospital bed controller of Two-wheeled high speed robot the most according to claim 1, it is characterised in that described First driving signal and two driving signal be PWM wave control signal.

The double-core electric hospital bed controller of Two-wheeled high speed robot the most according to claim 1, it is characterised in that described The double-core electric hospital bed controller of Two-wheeled high speed robot be additionally provided with man machine interface program and kinetic control system, described Man machine interface program include man machine interface, path planning and export online, described kinetic control system include based on The storage of FPGA two axle DC brushless motor two-wheel SERVO CONTROL, data and I/O control, wherein, described based on FPGA two axle DC brushless motor two-wheel SERVO CONTROL includes magnetism encoder module, accelerometer and gyroscope acceleration module, based on magnetic Electric transducer acceleration module and based on magnetoelectric transducer displacement module.