CN106137618A

CN106137618A - A kind of wireless monokaryon two-wheel-drive multifunctional is electric hospital bed

Info

Publication number: CN106137618A
Application number: CN201610600778.5A
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 wireless monokaryon two-wheel-drive multifunctional electric hospital bed, including: described bedstead includes a frame, bed board, bed bracket, described bed board is divided into upper board and lower panel, described upper board is divided into left bed board and right bedboard, described left bed board and right bedboard are arranged and the side of described lower panel, described bed board is connected with described bed frame, and the junction of described left bed board and described right bedboard and bed frame is provided with bed bracket, the junction of described bed bracket and described bed frame is provided with left bed board and stirs crank and right bedboard stirs crank, described mattress is detachable mattress, described mattress is that memory foam is made, and the outside of described mattress is provided with one layer of dirt-proof boot, it is connected by frenulum between described mattress and described bed board.This device in use can help user to carry out standing up activity, and preventing couches for a long time causes bedding skin ulcer, user-friendly.

Description

A kind of wireless monokaryon two-wheel-drive multifunctional is electric hospital bed

Technical field

The present invention relates to automatic electric sick bed field, particularly relate to a kind of wireless electronic disease of monokaryon two-wheel-drive multifunctional Bed.

Background technology

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Summary of the invention

The technical problem that present invention mainly solves is to provide a kind of wireless monokaryon Two-wheeled and is freely lifted electric hospital bed.

For solving above-mentioned technical problem, the technical scheme that the present invention uses is: provide a kind of wireless monokaryon two-wheel to drive Dynamic multifunctional motor-driven sick bed, including: mattress and bedstead and sick bed control unit, described sick bed control unit and described bed Frame is connected,

Described bedstead includes that a frame, bed board, bed bracket, described bed board are divided into upper board and lower panel, described upper board to divide For left bed board and right bedboard, described left bed board and the size of right bedboard are consistent, described left bed board and right bedboard arrange with The side of described lower panel, described bed board is connected with described bed frame, and described left bed board and described right bedboard The junction of bed frame is provided with bed bracket, the junction of described bed bracket and described bed frame be provided with left bed board stir crank and Right bedboard stirs crank,

Described mattress is detachable mattress, and described mattress is that memory foam is made, and the outside of described mattress is provided with One layer of dirt-proof boot, is connected by frenulum between described mattress and described bed board,

Two side roof parts of described bed frame are provided with the ABS head of a bed and ABS tailstock, and the other both sides of described bed frame are provided with can The guardrail folded, described guardrails of both sides is provided with the dining table that can remove.

In a preferred embodiment of the present invention, described bed frame is provided with drip stand.

In a preferred embodiment of the present invention, the bottom of described bed frame is provided with universal quiet take turns.

In a preferred embodiment of the present invention, described sick bed control unit includes arm processor, man machine interface, CCD Image collecting device, four axle DC brushless motors, radio receiver, battery and driving means, described driving means and institute The four axle DC brushless motors stated and radio receiver are connected, and described arm processor, interpersonal interface, ccd image are adopted Acquisition means and driving means are connected.

The invention has the beneficial effects as follows: the present invention is wireless, and monokaryon two-wheel-drive multifunctional is electric hospital bed, this device can be During use, helping user to carry out standing up activity, preventing couches for a long time causes bedding skin ulcer, user-friendly.

Accompanying drawing explanation

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

Fig. 1 is the stereochemical structure signal that the present invention wireless monokaryon Two-wheeled is freely lifted an electric hospital bed preferred embodiment Figure；

Fig. 2 is that the present invention is based on controlled in wireless monokaryon two-wheel four axle robot electric sick bed schematic diagram；

Fig. 3 is that the present invention is based on controlled in wireless monokaryon two-wheel four axle robot electric sick bed flow chart；

Fig. 4 is based on controlled in wireless monokaryon two-wheel four axle robot electric bed motion theory diagram；

Fig. 5 is by doorway, ward self-navigation schematic diagram based on controlled in wireless monokaryon two-wheel four axle 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.

A kind of wireless monokaryon two-wheel-drive multifunctional of the present invention is electric hospital bed, including: mattress and bedstead and sick bed control Unit, described sick bed control unit 6 is connected with described bedstead,

Described bedstead includes that a frame 1, bed board 2, bed bracket 3, described bed board 2 are divided into upper board and lower panel, described top Plate is divided into left bed board and right bedboard, and described left bed board and the size of right bedboard are consistent, and described left bed board and right bedboard set Putting and the side of described lower panel, described bed board 2 is connected with described bed frame 1, and described left bed board and described The junction of right bedboard and bed frame is provided with bed bracket, and the junction of described bed bracket 3 and described bed frame 1 is provided with left bed board and turns over Shake 4 and right bedboard stir and shake 4,

Described mattress 5 is detachable mattress, and described mattress 5 is made for memory foam, and the outside setting of described mattress 5 There is one layer of dirt-proof boot, be connected by frenulum between described mattress 5 and described bed board 2,

Two side roof parts of described bed frame 1 are provided with the ABS head of a bed and ABS tailstock, and the other both sides of described bed frame 1 are provided with Folding guardrail, described guardrails of both sides is provided with the dining table that can remove.

In a preferred embodiment of the present invention, described bed frame 1 is provided with drip stand.

In a preferred embodiment of the present invention, the bottom of described bed frame 1 is provided with universal quiet take turns.

In a preferred embodiment of the present invention, described sick bed control unit 6 include arm processor, man machine interface, Ccd image harvester, four axle DC brushless motors, radio receiver, battery and driving means, described driving means It is connected with four described axle DC brushless motors and radio receiver, described arm processor, interpersonal interface, CCD figure As harvester and driving means are connected.

ARM(STM32F407) robot electric sick bed controller, under power-on state, man machine interface first works, If really needing mobile electric sick bed, nurse personnel, Health care staff can be on-the-spot or respective by wireless device input Web-privilege password Web, robot electric sick bed is only possible to move in room, otherwise robot electric sick bed just stay in original place wait Authority open command；If robot electric sick bed needs to release ward, now hospital director is on-the-spot or passes through wireless Device opens oneself web-privilege password Web, and otherwise robot electric sick bed once moves to position, doorway and visited by doorway monitoring sensor Measure, the alarm sensor on detecting system meeting trigger controller, the locked current robot electric sick bed of STM32F407, control Device processed opens image capturing system and by wireless network local network transport to nursing master station so that medical personnel understand robot electricity The field conditions of dynamic sick bed.Under at ordinary running condition, robot electric sick bed reads external environment condition by various sensors Than feedback parameter to ARM(STM32F407), by ARM(STM32F407) process after convert after be four axle brush DC servos electricity The Synchronization Control pwm signal of machine, PWM ripple signal completes head by DC brushless motor Z and R after drive amplification and leg is sick The lifting of bed part, then controls to drive sick bed to travel forward by DC brushless motor X, DC brushless motor Y two wheel guide robot, Its movement velocity and displacement are fed back to ARM(STM32F407 by corresponding magnetism encoder M1, M2, M3, M4), by ARM (STM32F407) secondary adjustment synchronization pwm control signal meets real work demand.Electric bed in running, man-machine boundary The various electric hospital bed parameter of face on-line storage, when needed can by WLAN output current state to nurse master station, Make to process fairly simple.

Being embodied as step is:

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

Its concrete functional realiey is as follows:

1) before any instruction do not received by robot electric sick bed, it typically can be consolidated with common medical hospital bed as broad as long Being scheduled on some region, the accumulator in system is charged by alternating current power supply, it is ensured that robot electric sick bed has the enough energy complete One-tenth task.

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

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

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

5) detect that start key SS presses when TMS320F2812 controller, if now only having head to rise button SHF quilt Triggering, robot electric sick bed will start to do the motion of sick bed head rising part, and TMS320F2812 is according to servo controller Require button to be needed every time distance S run be converted into the acceleration of motor Z, speed and reference by location command value, the most again Speed and Displacement Feedback in conjunction with magnetoelectric transducer M3 corresponding for motor Z generate and drive the driving of direct current brushless servo motor Z to believe Number, drive signal to amplify rear drive direct current brushless servo motor Z positive movement through power bridge, robot electric sick bed starts slowly Rising, in motor process, once the hands of nursing staff is not triggering start key or is rising button SHF, and brush DC is watched The SERVO CONTROL taking motor Z just terminates, and completes this uphill process；When the head of patient needs to decline, if nursing staff Pressing start key SS simultaneously and head declines button SHB, robot electric sick bed will start to do the fortune of sick bed head sloping portion Dynamic, TMS320F2812 needs distance S run to be converted into the acceleration of motor Z button according to the requirement of servo controller every time Degree, speed and reference by location command value, then speed and Displacement Feedback in conjunction with magnetoelectric transducer M3 corresponding for motor Z generate Drive the driving signal of direct current brushless servo motor Z, drive signal to amplify rear drive direct current brushless servo motor Z through power bridge anti- To motion, robot electric sick bed starts slowly to decline, and in motor process, once the hands of nursing staff is not triggering start key Or rising button SHB, the SERVO CONTROL of direct current brushless servo motor Z just terminates, and completes this decline process. The displacement SHS of current location and horizontal level recorded by TMS320F2812 servo controller.

6) detect that start key SS presses when TMS320F2812 controller, if now only having leg to rise button SLF quilt Triggering, robot electric sick bed will start to do the motion of sick bed leg rising part, and TMS320F2812 is according to servo controller Require button to be needed every time distance S run be converted into the acceleration of motor R, speed and reference by location command value, the most again Speed and Displacement Feedback in conjunction with magnetoelectric transducer M4 corresponding for motor R generate and drive the driving of direct current brushless servo motor R to believe Number, drive signal to amplify rear drive direct current brushless servo motor R positive movement through power bridge, robot electric sick bed starts slowly Rising, in motor process, once the hands of nursing staff is not triggering start key or is rising button SLF, and brush DC is watched The SERVO CONTROL taking motor R just terminates, and completes this uphill process；When the leg of patient needs to decline, if nursing staff Pressing start key SS simultaneously and head declines button SLB, robot electric sick bed will start to do the fortune of hospital bed leg portion sloping portion Dynamic, TMS320F2812 needs distance S run to be converted into the acceleration of motor R button according to the requirement of servo controller every time Degree, speed and reference by location command value, then speed and Displacement Feedback in conjunction with magnetoelectric transducer M4 corresponding for motor R generate Drive the driving signal of direct current brushless servo motor R, drive signal to amplify rear drive direct current brushless servo motor R through power bridge anti- To motion, robot electric sick bed starts slowly to decline, and in motor process, once the hands of nursing staff is not triggering start key Or rising button SLB, the SERVO CONTROL of direct current brushless servo motor R just terminates, and completes this decline process. The displacement SLS of current location and horizontal level recorded by TMS320F2812 servo controller.

7) detect that start key SS presses when TMS320F2812 controller, if now recovery button SFF is triggered, machine The electric hospital bed speed according to TMS320F2812 servo controller of device people and acceleration requirement, be converted into displacement SLS and SHS Motor Z and the acceleration of motor R, speed and reference by location command value, then pass in conjunction with magnetoelectricity corresponding with motor R for motor Z The speed of sensor M3, M4 and Displacement Feedback generate the driving signal driving direct current brushless servo motor Z and motor R, drive signal Amplifying rear drive direct current brushless servo motor Z and motor R motion through power bridge, bed body is restored to naturalness.

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

9) detect that start key SS presses when STM32F407 controller, if now only having forwarding button SF to be triggered, Robot electric sick bed travels forward starting, in motor process, and the front anti-collision ultrasonic sensor S9 that robot carries With S10 by work, and feed back the distance of itself and preceding object thing to the STM32F407 controller moment.If crashproof ultrasound wave passes Sensor S9 or S10 reads front when having barrier, and STM32F407 adjusts brush DC through internal SERVO CONTROL program The PWM output of servomotor X and motor Y, controls robot electric sick bed and stops in safety range, and controller also opens one The timing of three seconds, if controller still reads barrier after three seconds, notifies that man machine interface changes run trace；If three Second obstruction signal message, then robot electric sick bed will continue to start advance according to current path.Sick at robot electric During bed motion, 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 feed back to STM32F407, by STM32F407 adjust for bis-times the PWM wave control signal of DC brushless motor X and motor Y with Meet actual demand.

10) detect that start key SS presses when STM32F407 controller, if now only having back SB also to be touched Sending out, robot electric sick bed will start setback, and STM32F407 adjusts brush DC servo through internal SERVO CONTROL program The PWM output of motor X and motor Y, controls robot electric sick bed and slowly retreats according to setting speed；In setback process In, magnetoelectric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and displacement in the moment, and feed back to STM32F407, STM32F407 adjust brush DC servo according to speed and the Displacement Feedback secondary of magnetoelectric transducer M1 and M2 The PWM output of motor X and motor Y, it is ensured that robot electric sick bed runs in the range of safe speed, prevents excessive velocities machine People is electric hospital bed pushes over nurse personnel.

11) detect that start key SS presses when STM32F407 controller, if now turning button SK and forwarding button SF is triggered, and starting side is moved right by robot electric sick bed, in motor process, and the crashproof ultrasound wave in side that robot carries Sensor S6 is by work, and feeds back the distance of itself and preceding object thing to the STM32F407 controller moment.If it is crashproof ultrasonic Wave sensor S6 reads right when having barrier, and STM32F407 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 right according to current track.In robot electric sick bed side During moving right, 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 feed back to STM32F407, by bis-adjustment motor X of STM32F407 and the kinematic parameter of motor Y, it is ensured that system meets Walking requirement.

12) detect that start key SS once presses when STM32F407 controller, if now turning button SK and advance Button SB is triggered, and robot electric sick bed is by starting side to moving to left, and in motor process, the side that robot carries is crashproof super Sonic sensor S7 is by work, and feeds back the distance of itself and preceding object thing to the STM32F407 controller moment.If it is crashproof Ultrasonic sensor S7 reads motion front when having barrier, STM32F407 through internal SERVO CONTROL program adjust direct current without The PWM output of brush servomotor X and motor Y, controls robot electric sick bed and stops in safety range, and controller also opens one The timing of individual three seconds, if after three seconds controller still read barrier exist will to man machine interface send parking report to the police；As Really three seconds obstruction signal messages, then robot electric sick bed will continue laterally to move to left according to current track.At robot electricity During dynamic sick bed laterally moves to left, magnetoelectric transducer M1, M2 can moment detection direct current brushless servo motor X and the motions of motor Y Speed and displacement, and feed back to STM32F407, by bis-adjustment motor X of STM32F407 and the kinematic parameter of motor Y, it is ensured that System meets actual demand.

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

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

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

16) robot electric hospital bed in motor process in order to prevent the maloperation of nurse and run into emergency and stop Car, adds automatic car locking function of stopping in emergency.In case of emergency, after emergency button ESW1 is pressed, controller is once Detecting that urgent interrupt request can send original place cutoff command, STM32F407 blocks direct current brushless servo motor by driver The PWM ripple signal of X and motor Y, though electric hospital bed multiple universal wheel all in can with sliding mode, due to movable motor X and Motor Y is in locking state, and such robot electric sick bed also will not move, it is ensured that robot safety in an emergency situation Property.Controller sends failed request by wireless device to master station simultaneously, and master station nursing staff can process emergency for the first time.

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

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

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

The present invention is wireless, and monokaryon two-wheel-drive multifunctional is electric hospital bed provides the benefit that:

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

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

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

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

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

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

7: owing to adding two wheel guide robot drive system based on direct current brushless servo motor, in very narrow space Sickbed machine device people's shifted laterally can be made, reduce robot and rotate the negative issue brought.

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

9: when robot electric sick bed runs into climbing, due to the self-contained dynamic energy, it is possible to very well Power-assisted effect of playing, and the dynamic trait of Two-wheeled is superior to far away single wheel drive, further reduces nurse people The requirement of member's muscle power.

10: processed, by STM32F407, the full Digitized Servo Control that four spindle motor differentials travel, 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.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Claims

1. a wireless monokaryon two-wheel-drive multifunctional is electric hospital bed, it is characterised in that including: mattress and bedstead and sick bed control Unit processed, described sick bed control unit is connected with described bedstead,

Wireless monokaryon two-wheel-drive multifunctional the most according to claim 1 is electric hospital bed, it is characterised in that described bed frame On be provided with drip stand.

Wireless monokaryon two-wheel-drive multifunctional the most according to claim 1 is electric hospital bed, it is characterised in that described bed frame Bottom be provided with universal quiet take turns.

Wireless monokaryon two-wheel-drive multifunctional the most according to claim 1 is electric hospital bed, it is characterised in that described sick bed Control unit include arm processor, man machine interface, ccd image harvester, four axle DC brushless motors, radio receiver, Battery and driving means, described driving means is connected with four described axle DC brushless motors and radio receiver, Described arm processor, interpersonal interface, ccd image harvester and driving means are connected.