CN106137606A - A kind of double-core single wheel drive robot electric hospital bed controlling system - Google Patents

A kind of double-core single wheel drive robot electric hospital bed controlling system Download PDF

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Publication number
CN106137606A
CN106137606A CN201610600776.6A CN201610600776A CN106137606A CN 106137606 A CN106137606 A CN 106137606A CN 201610600776 A CN201610600776 A CN 201610600776A CN 106137606 A CN106137606 A CN 106137606A
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CN
China
Prior art keywords
hospital bed
servo motor
direct current
core
brushless servo
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CN201610600776.6A
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Chinese (zh)
Inventor
张好明
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Jiangsu Ruobo Robot Technology Co Ltd
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Jiangsu Ruobo Robot Technology Co Ltd
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Priority to CN201610600776.6A priority Critical patent/CN106137606A/en
Publication of CN106137606A publication Critical patent/CN106137606A/en
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/05Parts, details or accessories of beds
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1669Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0421Multiprocessor system
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/10General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/16Touchpads
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/10General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/22General 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
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/30General characteristics of devices characterised by sensor means
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/30General characteristics of devices characterised by sensor means
    • A61G2203/36General characteristics of devices characterised by sensor means for motion
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/70General characteristics of devices with special adaptations, e.g. for safety or comfort

Abstract

The invention discloses a kind of double-core single wheel drive robot electric hospital bed controlling system, including controlling device, kinetic control system and direct current brushless servo motor X, direct current brushless servo motor Y, described kinetic control system includes dsp chip controller and motion control chip, dsp chip controller and motion control chip all communicate to connect with described control device, communicate to connect between dsp chip controller and motion control chip, direct current brushless servo motor X and direct current brushless servo motor Y all communicates to connect with dsp chip controller, navigation photoelectric sensor it is provided with on electric hospital bed, start button SS, lateral turning button SK, back SB and acceleration transducer.It is fast that the double-core single wheel drive robot electric hospital bed controlling system of the present invention calculates speed, easy to operate, safety and stability, and motor control is accurate, can alleviate the amount of labour and the labor intensity of nursing staff.

Description

A kind of double-core single wheel drive robot electric hospital bed controlling system
Technical field
The present invention relates to a kind of double-core single wheel drive medical robot electric sick bed automatic control system, belong to automatic electric Sick bed technical 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) the robot electric sick bed controlled based on monokaryon, should process the SERVO CONTROL of multi-axle motor, again handling machine people The multiple sensors sampled data of sick bed, the data processed due to single core processor are more, and arithmetic speed is not quickly, is unfavorable for Robot runs up, and sometimes owing to processing, data are more causes robot sick bed out of control;
(9) 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;
(10) 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.
Summary of the invention
The technical problem that present invention mainly solves is to provide a kind of double-core single wheel drive robot electric hospital bed controlling system, It is fast that this double-core single wheel drive robot electric hospital bed controlling system calculates speed, easy to operate, safety and stability, motor control essence Really, nurse or the amount of labour of Health care staff and labor intensity can be alleviated.
For solving above-mentioned technical problem, the technical solution used in the present invention is: provide a kind of double-core single wheel drive robot Electric hospital bed control system, including control device, kinetic control system and make the electric hospital bed direct current moved along different directions without Brush servomotor X, direct current brushless servo motor Y, described kinetic control system includes dsp chip controller and motor control core Sheet, described dsp chip controller and motion control chip all with described control device communicate to connect, described dsp chip controller And communicating to connect between motion control chip, described direct current brushless servo motor X and direct current brushless servo motor Y is all with described Dsp chip controller communicate to connect, described electric hospital bed on be provided with navigation photoelectric sensor, start button SS, laterally turn Button SK, back SB and acceleration transducer, described navigation photoelectric sensor, start button SS, lateral turning button SK, Back SB and acceleration transducer communicate to connect with described dsp chip controller all simultaneously.
In a preferred embodiment of the present invention, also include for described kinetic control system and electric hospital bed offer power supply Battery supply and alternating current power supply, described kinetic control system electric hospital bed with electronic disease all with described battery supply and/or exchange Power supply is electrically connected with.
In a preferred embodiment of the present invention, described direct current brushless servo motor X is provided with magnetoelectric transducer M1, institute Stating and be provided with magnetoelectric transducer M2 on direct current brushless servo motor Y, described magnetoelectric transducer M1 and magnetoelectric transducer M2 is all and institute State dsp chip controller to be electrically connected with.
In a preferred embodiment of the present invention, also include that warning system, described warning system control with described dsp chip Device is electrically connected with.
In a preferred embodiment of the present invention, described electric hospital bed on be provided with anti-collision ultrasonic sensor S9 and crashproof Ultrasonic sensor S10.
In a preferred embodiment of the present invention, also include that dust humidity detection system, described dust humidity detection system include wet sensitive Sensor, measuring circuit and display recording equipment, described dust humidity detection system is electrically connected with described dsp chip controller.
The invention has the beneficial effects as follows: the double-core single wheel drive robot electric hospital bed controlling system of the present invention is ensureing electricity On the premise of dynamic sick bed stability and safety, reduce nurse or the amount of labour of Health care staff by electric boosted being possible not only to And labor intensity, and multiple sensors combination makes robot electric sick bed have the several functions such as movement and navigation, and permissible Meeting patient's demand to sick bed under different condition, easy to operate, motor control is accurate, calculates speed fast.
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 DSP+ MC2320 double-core single wheel drive robot electric sick bed schematic diagram;
Fig. 2 is that the present invention is based on DSP+ MC2320 double-core single wheel drive robot electric sick bed flow chart;
Fig. 3 is based on DSP+ MC2320 double-core single wheel drive robot electric bed motion theory diagram;
Fig. 4 is by ward self-navigation schematic diagram based on DSP+ MC2320 double-core single wheel drive robot electric sick bed;
Fig. 5 is the double-core single wheel drive robot electric hospital bed controlling system structural representation of the present invention.
In accompanying drawing, the labelling of each parts is as follows: 1, control device, and 2, kinetic control system, 3, dsp chip controller, 4, fortune Dynamic control chip, 5, battery supply, 6, alternating current power supply, 7, direct current brushless servo motor X, 8, direct current brushless servo motor Y, 9, wet Degree detecting system, 10, magnetoelectric transducer M1,11, magnetoelectric transducer M2,12, navigation photoelectric sensor, 13, start button SS, 14, lateral turning button SK, 15, back SB, 16, warning system, 17, acceleration transducer, 18, crashproof supersonic sensing Device S9,19, anti-collision ultrasonic sensor S10,20, moisture sensor, 21, measuring circuit, 22, display recording equipment.
Detailed description of the invention
Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement Example is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area is common All other embodiments that technical staff is obtained under not making creative work premise, broadly fall into the model of present invention protection Enclose.
Referring to Fig. 1 to Fig. 5, the embodiment of the present invention includes: a kind of double-core single wheel drive robot electric sick bed controls system System, including control device 1, kinetic control system 2 and make electric hospital bed move along different directions direct current brushless servo motor X7, Direct current brushless servo motor Y8, described kinetic control system 2 includes dsp chip controller 3 and motion control chip 4, described DSP Chip controller 3 and motion control chip 4 all communicate to connect with described control device 1, described dsp chip controller 3 and motion Between control chip 4 communicate to connect, described direct current brushless servo motor X7 and direct current brushless servo motor Y8 all with described DSP core Sheet controller 3 communicates to connect, described electric hospital bed on be provided with navigation photoelectric sensor 12, start button SS13, laterally turn Button SK14, back SB15 and acceleration transducer 17, described navigation photoelectric sensor 12, start button SS13, lateral Turning button SK14, back SB15 and acceleration transducer 17 communicate to connect with described dsp chip controller 3 all simultaneously.
Preferably, the double-core single wheel drive robot electric hospital bed controlling system of the present invention also includes for described motor control System 2 and the battery supply 5 of electric hospital bed offer power supply and alternating current power supply 6, described kinetic control system 2 and electric hospital bed all with Described battery supply 5 and alternating current power supply 6 are electrically connected with.
Preferably, described direct current brushless servo motor X7 is provided with magnetoelectric transducer M1 10, described brush DC servo Be provided with on motor Y8 magnetoelectric transducer M2 11, described magnetoelectric transducer M1 10 and magnetoelectric transducer M2 11 all with described DSP Chip controller 3 is electrically connected with.
Preferably, also include that warning system 16, described warning system 16 are electrically connected with described dsp chip controller 3.? Electric hospital bed occur sending warning during motion fault.
Preferably, described electric hospital bed on be provided with anti-collision ultrasonic sensor S9 18 and anti-collision ultrasonic sensor S10 19。
Preferably, also include that dust humidity detection system 9, described dust humidity detection system 9 include moisture sensor 20, measuring circuit 21 and display recording equipment 22, described dust humidity detection system 9 is electrically connected with described dsp chip controller 3.It is respectively completed information Obtain, change, show and the function such as process, so when patient-sized is the most out of control or sheet is moist, dust humidity detection system 9 Meeting work, sends bed sheet replacing request.
The present invention uses dsp chip controller 3(chip model TMS320F2812)+motion control chip 4(chip model MC2320) dual-core controller carries out electric hospital bed control, under power-on state, controls device 1 i.e. computer man-machine circle Face first works, if really needing mobile electric sick bed, nurse personnel, Health care staff input respective web-privilege password Web, robot Electric hospital bed being only possible to is moved in room, and otherwise robot electric sick bed just stays in original place and waits authority open command;If Robot electric sick bed needs to release ward, and now hospital director needs to open the web-privilege password Web of oneself, otherwise robot electricity Dynamic sick bed once moves to position, doorway and is detected by doorway monitoring sensor, the sensing on detecting system meeting trigger controller Device, MC2320 can locked current robot electric sick bed send wrong operation alarm by TMS320F2812.At proper motion Under state, robot electric sick bed reads external environment condition feedback parameter to dsp chip controller 3 by various sensors, by With MC2320 communication after converting after dsp chip controller 3 process, MC2320 generate the synchronization of two axle direct current brushless servo motors Controlling pwm signal, PWM ripple signal travels forward through drive amplification rear drive DC brushless motor X7 and DC brushless motor Y8, Its movement velocity and displacement are fed back to MC2320 by corresponding magnetoelectric transducer M1 10 and magnetoelectric transducer M2 11, by MC2320 adjusts synchronization pwm control signal for bis-times and meets real work demand.Electric bed is in running, and man machine interface is online Store and export current state so that processing 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 i.e. controls device 1 and kinetic control system 2.Its Middle human-computer interface system completes the functions such as man machine interface, path planning, online output;Complete based on MC2320 kinetic control system Electric hospital bed multiple-axis servo controls, and dsp chip controller 3(TMS320F2812) realize the merits such as data storage, I/O control Can, system gives full play to the advantage of MC2320 fast servo processor, is processed various sensor in real time by TMS320F2812 simultaneously Signal.
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 i.e. accumulator of battery supply 5 in system is charged by alternating current power supply 6, it is ensured that robot electric sick bed has The enough energy completes task.
2) after once receiving the work order that control device 1 sends, in order to prevent the mobile infringement of robot electric sick bed Charging connection wire, TMS320F2812 controller can disconnect the connection of line and alternating current power supply automatically, and robot electric sick bed turns For storage battery power supply state.
3) in order to prevent maloperation, the present invention uses three grades to start authority, needs mobile robot electric hospital bed when determining Time, if simply mobile robot is electric hospital bed inside ward, then need nurse personnel and nurse successively to pass through man machine interface Input web-privilege password Web opens walking mode within doors;If needing to promote robot electric sick bed to walk out ward, then need nurse Personnel, nurse 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 button SS13 is pressed, and first system completes DSP The initialization of chip controller 3 and MC2320 also detects supply voltage, if battery feed is abnormal, and will be to TMS320F2812 sends interrupt requests, and TMS320F2812 can be to interrupting doing very first time response, if in TMS320F2812 Disconnected response does not have enough time to process, and 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 button SS13 is pressed when TMS320F2812 controller, TMS320F2812 controller will detect side Whether it is triggered to turning button SK14.If lateral turning button SK14 is triggered, TMS320F2812 transports according to robot Dynamic part needs anglec of rotation θ=90 ° and its internal trapezoidal generator, distance SX to be operated for direct current brushless servo motor Y8 Be converted into acceleration, speed and reference by location command value, TMS320F2812 will in MC2320 communication, MC2320 then in conjunction with The feedback of magnetoelectric transducer M2 11 corresponding for direct current brushless servo motor Y8 generates the driving driving direct current brushless servo motor Y8 Signal, drives signal to amplify rear drive direct current brushless servo motor Y8 motion through power bridge, owing to DC brushless motor Y8 is in rotation Direct current brushless servo motor X7 is driven to move by gear structure during Zhuaning.When direct current brushless servo motor Y8 completes to watch specifically Clothes motion, direct current brushless servo motor X7 is complete side and turns the task of 90 °, due in the process be brush DC servo Motor Y8 drives direct current brushless servo motor X7 90-degree rotation, and for changing electric hospital bed direction, improves robot electric Sick bed is in the practicality of small space.
6) detect that start button SS13 is pressed when TMS320F2812 controller, if now only having forwarding button SF quilt Triggering, robot electric sick bed travels forward starting, in motor process, and the crashproof supersonic sensing in front that robot carries Device S9 18 and anti-collision ultrasonic sensor S10 19 is by work, and feeds back itself and front barrier to the TMS320F2812 controller moment Hinder the distance of thing.If anti-collision ultrasonic sensor S9 18 or anti-collision ultrasonic sensor S10 19 reads front have During barrier, TMS320F2812 will be with MC2320 communication, and MC2320 adjusts brush DC servo electricity through internal SERVO CONTROL program The PWM output of machine X7, controls robot electric sick bed and stops in safety range, and controller also opens the timing of three seconds, If controller still reads barrier after three seconds, notify that man machine interface changes run trace;If three seconds obstruction letters Number message, then robot electric sick bed will continue to start according to current path and advance.During robot electric bed motion, Magnetoelectric transducer M1 10 and magnetoelectric transducer M2 11 can moment detection direct current brushless servo motor X7 and brush DC servo electricity The movement velocity of machine Y8 and displacement, and feed back to MC2320 by TMS320F2812, MC2320 according to displacement, speed and add Speed deviation signal secondary adjusts direct current brushless servo motor X7 and the control signal of direct current brushless servo motor Y8.
7) detect that start button SS13 is pressed when TMS320F2812 controller, if now only having back SB15 Being triggered, robot electric sick bed will start setback, and TMS320F2812 will watch through inside in MC2320 communication, MC2320 Take control program and adjust the PWM output of direct current brushless servo motor X7 and direct current brushless servo motor Y8, control robot electric Sick bed slowly retreats according to setting speed;During setback, magnetoelectric transducer M1 10 and magnetoelectric transducer M2 11 meeting Moment detects direct current brushless servo motor X7 and the movement velocity of direct current brushless servo motor Y8 and displacement, and passes through TMS320F2812 feeds back to MC2320, MC2320 adjust brush DC according to displacement, speed and acceleration bias signal secondary Servomotor X7 and the control signal of direct current brushless servo motor Y8, it is ensured that robot electric sick bed is transported in the range of safe speed OK, prevent excessive velocities robot electric sick bed from pushing over nurse personnel.
8) detect that start button SS13 is pressed when TMS320F2812 controller, if now turning button SK14 and front Entering button SF to be triggered, starting side is moved right by robot electric sick bed, and in motor process, the side that robot carries is crashproof Ultrasonic sensor S6 is by work, and feeds back the distance of itself and preceding object thing to the TMS320F2812 controller moment.If it is anti- Hitting ultrasonic sensor S6 and read right when having barrier, TMS320F2812 will watch through inside in MC2320 communication, MC2320 Take control program and adjust the PWM output of direct current brushless servo motor X, control robot electric sick bed and stop in safety range, Controller also opens the timing of three seconds, if after three seconds controller still read barrier exist will send out to man machine interface Going out stops reports to the police;If three seconds obstruction signal messages, then robot electric sick bed will continue lateral right according to current track Move.During robot electric sick bed laterally moves to right, magnetoelectric transducer M1 10, magnetoelectric transducer M2 11 can detect straight in the moment Flow brushless servo motor X7 and the movement velocity of direct current brushless servo motor Y8 and displacement, and fed back to by TMS320F2812 MC2320, is adjusted motor X7 and direct current brushless servo motor by MC2320 according to displacement, speed and acceleration bias signal secondary The control signal of Y8.
9) detect that start button SS13 is once pressed when TMS320F2812 controller, if the most laterally turning button SK14 and forwarding button SB is triggered, and robot electric sick bed is by starting side to moving to left, and in motor process, robot carries Side anti-collision ultrasonic sensor S7 by work, and to the TMS320F2812 controller moment feed back its with preceding object thing away from From.If anti-collision ultrasonic sensor S7 reads left when having barrier, TMS320F2812 will in MC2320 communication, MC2320 adjusts the PWM output of direct current brushless servo motor X through internal SERVO CONTROL program, controls robot electric sick bed in peace Stopping in gamut, controller also opens the timing of three seconds, if controller still reads barrier existence after three seconds Parking will be sent to man machine interface to report to the police;If three seconds obstruction signal messages, then robot electric sick bed will be according to currently Track continues laterally to move to left.During robot electric sick bed laterally moves to left, magnetoelectric transducer M1 10, magnetoelectric transducer M2 11 can detect direct current brushless servo motor X7 and the movement velocity of direct current brushless servo motor Y8 and displacement in the moment, and pass through TMS320F2812 feeds back to MC2320, by bis-adjustment motor X of MC2320 and the kinematic parameter of motor Y.
10) 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 self-navigation shape State: navigation photoelectric sensor 12(includes navigate photoelectric sensor S1, S2, S3, S4, S5, S6, S7, S8) by work, ground is marked The photosignal that will reflects feeds back to TMS320F2812, and after TMS320F2812 judgement processes, TMS320F2812 will be in MC2320 communication, MC2320 determines the deviation of robot skew navigation track, and the trapezoidal generator of MC2320 connecting inner is inclined this Difference signal is converted into acceleration, speed and displacement to be run for direct current brushless servo motor X7 and direct current brushless servo motor Y8 and refers to Order, MC2320 produces driving direct current brushless servo motor in conjunction with the feedback of magnetoelectric transducer M1 10, magnetoelectric transducer M2 11 The driving signal of X7 and direct current brushless servo motor Y8, drive signal amplify rear drive direct current brushless servo motor X7 and direct current without Brush servomotor Y8 travels forward, and quickly adjusts robot electric sick bed and rapidly returns back to orbit centre of navigating.Robot electric is sick Bed is along track travel process, and MC2320 is according to surface mark and magnetoelectric transducer M1 10, the feedback of magnetoelectric transducer M2 11 The driving signal of fine setting direct current brushless servo motor X7 and direct current brushless servo motor Y8, makes robot along the track set Pass through doorway, ward.After the track laid disappears, robot electric sick bed is just parked in original place and waits artificial driving signal, Prevent maloperation.
11) robot electric hospital bed in motor process in order to prevent the maloperation of nurse and run into emergency and stop Car, adds automatic car locking function of stopping in emergency.In case of emergency, after emergency button ESW1 is pressed, motor control core Sheet 4 once detects that urgent interrupt request can send original place cutoff command, and MC2320 passes through driver locked walking brush DC Servomotor X7, even if electric hospital bed multiple universal wheel is all in can be with sliding mode, due to walking direct current brushless servo motor X7 is in locking state, and such robot electric sick bed also will not move.
12) present invention adds dust humidity detection system 9 on robot electric sick bed.This dust humidity detection system 9 is by wet sensitive Several parts compositions such as sensor 20, measuring circuit 21 and display recording equipment 22, when patient-sized is the most out of control, Humidity Detection system System meeting work, will send alarm signal, and nurse personnel can find failure cause by man machine interface output, then changes bed Cotton-padded mattress.
13) this electric bed is equipped with multiple anti-barrier warning system 16, and bed carries obstacle spy side system and can collide Automatically detect existence the automatic stopping of barrier before barrier, and according to the character of barrier determine restarting or Stay in as you were always, this ensures that there the adaptation to surrounding in motor process, decrease environment and it is done Disturb.
14) in robot electric sick bed walking process, motor often receives extraneous factor interference, in order to reduce motor The pulsating torque impact on robot ambulation, controller add on the basis of considering motor characteristic to motor torque Line identification, and utilize motor torque to compensate with the relation of electric current, weaken the external environment impact on robot motion.
15) during robot electric sick bed is walked, servo controller whole process opens acceleration transducer 17, and acceleration passes Sensor 17 can be with the acceleration of three directions of advance of robot measurement sick bed, and control system is passed through continuously according to the acceleration recorded Integration can be obtained by its speed and displacement, and the Three-loop control for robot provides reliable criterion;Simultaneously when robot sick bed Attitude when changing, control system can be obtained by its generally ramped angle and acceleration requirement, and control system is according to inclining Rake angle and acceleration demand just can substantially calculate power demand, then adjust the power of each direct current brushless servo motor With satisfied climbing and acceleration needs;Control system is by carrying out continuous integral to acceleration transducer, and it is transformed to hospital In navigational coordinate system, robot electric sick bed can not rely on any external information just can obtain it at hospital's navigation coordinate The information such as acceleration, speed, yaw angle and position in system, controller stores in real time and shows.
By technique scheme, there is advantages that
1, during controlling, battery effect in this system has been taken into full account, based on DSP(TMS320F2812)+ The MC2320 controller moment all to the running status of robot electric sick bed with power source is monitored and computing, works as exchange During dump, sick bed automatically can be automatically locked in fixed position, until there being moving switch signal by carrying battery feed Input, 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, patient As long as sick bed robot just can be automatically controlled by computer contact screen, thus can need not nurse and oneself solution part Easy daily life.
3, add dynamic booster based on accumulator owing to this is electric hospital bed, though encounter patient body fat or During person nursing staff's asthenic body, sick bed this can be that nurse personnel and Health care staff are in room under conditions of power supply abundance In Mobile sickbed power is provided, decrease nurse or nurse the personnel physical demands of Mobile sickbed and work in room strong Degree.
4, single wheel drive system based on direct current brushless servo motor is added 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.
5, single wheel drive system based on direct current brushless servo motor is added owing to this is electric hospital bed so that electric hospital bed Can rotate freely according to any direction in original place in room, decrease the space that Mobile sickbed needs, be particularly suitable for The ward of narrow space.
6, owing to adding single wheel 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.
7 in order to enable sick bed robot to move freely out doorway, ward, and controller adds multiple navigation sensing Device, robot removal ward during once read surface mark will self-navigation, reduce what artificial Mobile sickbed brought Error.
8, when robot electric sick bed runs into climbing, due to the self-contained dynamic energy, it is possible to very well Play power-assisted effect, decrease to nurse personnel muscle power requirement.
9, processed the full Digitized Servo Control of multiaxis direct current brushless servo motor by MC2320, substantially increase computing speed Degree, solves single single-chip microcomputer and runs slower bottleneck, shorten 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 The synchronization of multiaxis direct current brushless servo motor control signal, is conducive to improving stability and the dynamic of robot electric sick bed Energy.
11, use MC2320 to process substantial amounts of multiple-axis servo data and algorithm due to this controller, and take into full account week The interference source enclosed, frees TMS320F2812 from complicated calculating, effectively prevent " race flies " of program, anti-dry The ability of disturbing is greatly enhanced.
12, robot is electric hospital bed adds automatic car locking function, when sick bed robot is in moving process, as run into Emergency, controller can send original place cutoff command, and locked main motion motor, even if multiple universal wheel is all in sliding Dynamic 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.
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 (6)

1. a double-core single wheel drive robot electric hospital bed controlling system, it is characterised in that include controlling device, motor control System and make electric hospital bed direct current brushless servo motor X, the direct current brushless servo motor Y moved along different directions, described motion Control system includes dsp chip controller, image capture module, Wireless LAN module and motion control chip, described DSP core Sheet controller and motion control chip all communicate to connect with described control device, described dsp chip controller and motor control core Between sheet communicate to connect, described direct current brushless servo motor X and direct current brushless servo motor Y all with described dsp chip controller Communication connection, described electric hospital bed on be provided with navigation photoelectric sensor, start button SS, lateral turning button SK, retreat press Button SB and acceleration transducer, described navigation photoelectric sensor, start button SS, lateral turning button SK, back SB and Acceleration transducer communicates to connect with described dsp chip controller all simultaneously.
Double-core single wheel drive robot electric hospital bed controlling system the most according to claim 1, it is characterised in that also include For described kinetic control system and the battery supply of electric hospital bed offer power supply and alternating current power supply, described kinetic control system and electricity Dynamic disease is electric hospital bed to be all electrically connected with described battery supply and/or alternating current power supply.
Double-core single wheel drive robot electric hospital bed controlling system the most according to claim 1, it is characterised in that described directly It is provided with magnetoelectric transducer M1 on stream brushless servo motor X, described direct current brushless servo motor Y is provided with magnetoelectric transducer M2, described magnetoelectric transducer M1 and magnetoelectric transducer M2 are all electrically connected with described dsp chip controller.
Double-core single wheel drive robot electric hospital bed controlling system the most according to claim 1, it is characterised in that also include Warning system, described warning system is electrically connected with described dsp chip controller.
Double-core single wheel drive robot electric hospital bed controlling system the most according to claim 1, it is characterised in that described electricity It is provided with anti-collision ultrasonic sensor S9 and anti-collision ultrasonic sensor S10 on dynamic sick bed.
Double-core single wheel drive robot electric hospital bed controlling system the most according to any one of claim 1 to 5, its feature It is, also includes that dust humidity detection system, described dust humidity detection system include moisture sensor, measuring circuit and display record dress Putting, described dust humidity detection system is electrically connected with described dsp chip controller.
CN201610600776.6A 2016-07-28 2016-07-28 A kind of double-core single wheel drive robot electric hospital bed controlling system Pending CN106137606A (en)

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US7949437B2 (en) * 2007-03-12 2011-05-24 Tamkang University Omnidirectional movement control system
CN102824255A (en) * 2012-09-17 2012-12-19 苏州工业园区职业技术学院 Dual-core medical electric bed controller
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