CN106880449A - A kind of robot care bed synchronization system and method - Google Patents
A kind of robot care bed synchronization system and method Download PDFInfo
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- CN106880449A CN106880449A CN201510957280.XA CN201510957280A CN106880449A CN 106880449 A CN106880449 A CN 106880449A CN 201510957280 A CN201510957280 A CN 201510957280A CN 106880449 A CN106880449 A CN 106880449A
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- bed
- control device
- wheelchair
- electric pushrod
- push rod
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/018—Control or drive mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/16—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto converting a lying surface into a chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nursing (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The present invention provides a kind of robot care bed synchronization system and method, and robot care bed includes wheelchair part and bed part, and wheelchair part includes：Wheel-chair control device, for controlling wheelchair part to be synchronized with bed part；First induction installation, the change of the attitude for sensing wheelchair part；First push rod device, the attitudes vibration for controlling wheelchair part；First driving means, for being moved according to the push rod device of order-driven first of wheel-chair control device；First communication device, for carrying out data syn-chronization communication with bed part；Bed part includes：Bed control device, for controlling bed part to be synchronized with wheelchair part；Second induction installation, the change of the attitude for sensing bed part；Second push rod device, the attitudes vibration for controlling bed part；Second drive device, for being moved according to the push rod device of order-driven second of bed control device；Secondary communication device, for carrying out data syn-chronization communication with wheelchair part.
Description
Technical field
The present invention relates to nursing field, more particularly to a kind of robot care bed synchronization system and method.
Background technology
It is multifunction nursing bed to have good development prospect in future with the aggravation of Chinese population astogeny.Market has at present
A variety of common electric care bed products, also achieve the elemental motion of bed, but because current product is also based only on one
Complete care bed, thus lift carry on the back, bend one's legs etc. act implement it is not difficult.And the present invention be directed to many work(of lathe one
Can care bed, whole bed is made up of wheel-chair part and bed part, it is achieved that the lift back of the body of bed body, bend one's legs action when difficulty more
It is big, it is necessary to consider wheel-chair part-structure with it is synchronous in the mechanical structure of bed part, when so just can guarantee that lathe merging
The action realized of action and general duty nursing bed as.
Although the synchronous control system of the robot care bed of multisensor self adaptation can be good at ensureing wheel-chair portion in theory
Point and bed Partial synchronization action uniformity, but due to electric pushrod and mechanical structure defect and sensor error all
The effect of synchronization action can be influenceed.
The content of the invention
The shortcoming of prior art in view of the above, it is an object of the invention to provide a kind of robot care bed synchronization system and side
Method, poor for solving synchronous effect in the prior art, synchronizing process is slow, the not enough problem of synchronous integrality.
In order to achieve the above objects and other related objects, the present invention provides a kind of robot care bed synchronization system, the robot
Care bed includes wheelchair part and bed part, and the wheelchair part is located in the bed part and can be with the bed part combinedly
Separate, the wheelchair part includes：Wheel-chair control device, for controlling the wheelchair part to be synchronized with the bed part；
First induction installation, is connected to the wheel-chair control device, the change of the attitude for sensing the wheelchair part；First push rod
Device, is connected to the wheel-chair control device, the attitudes vibration for controlling the wheelchair part；First driving means, connection
In the wheel-chair control device, for being moved according to the push rod device of order-driven first of the wheel-chair control device；First
Communicator, is connected to the wheel-chair control device, for carrying out data syn-chronization communication with the bed part；The bed part bag
Include：Bed control device, for controlling the bed part to be synchronized with the wheelchair part；Second induction installation, is connected to institute
A control device is stated, the change of the attitude for sensing the bed part；Second push rod device, is connected to the bed control device,
Attitudes vibration for controlling the bed part；Second drive device, is connected to the bed control device, for according to the bed
The push rod device of order-driven second motion of control device；Secondary communication device, is connected to the bed control device, for institute
Stating wheelchair part carries out data syn-chronization communication.
In one embodiment of the invention, the wheel-chair control device also includes：For controlling the wheel-chair control device first
Control circuit, the first drive circuit for driving the first driving means and for gathering the first induction installation signal
First sampling module；The bed control device also includes：For controlling the second control circuit of the bed control device, for driving
Move second drive circuit and the second sampling module for gathering the second induction installation signal of second drive device.
In one embodiment of the invention, included for controlling respectively in the first control circuit and the second control circuit
Make the relay of first push rod device and second push rod device.
In one embodiment of the invention, first push rod device includes：The electricity of attitude first for adjusting the wheelchair part
Dynamic push-rod assembly and the first electric pushrod driver for driving first electric pushrod；Second push rod device includes：
For adjusting the second electric pushrod component of the attitude of the bed part and for driving the electric pushrod of the second electric pushrod second
Driver.
In one embodiment of the invention, the wheelchair part includes the first backboard, the first thigh plate and the first calf plate；It is described
Bed part includes the second backboard, the second thigh plate and the second calf plate；The first electric pushrod component includes：For driving
State the first electric pushrod of the first backboard motion, the second electric pushrod for driving the first thigh plate motion and for driving
3rd electric pushrod of the first calf plate motion；Second electric pushrod component includes：For driving second backboard to move
The 4th electric pushrod, the 5th electric pushrod for driving the second thigh plate motion and for driving second calf plate
6th electric pushrod of motion.
In one embodiment of the invention, first induction installation also includes first pressure sensor, for sensing the wheelchair
Partial synchronization action signal, and send a signal to the wheel-chair control device；Second induction installation also includes the second pressure
Force snesor, for sensing the synchronization action signal of the bed part, and sends a signal to the bed control device.
In one embodiment of the invention, first induction installation is included for sensing the first of the first pushrod movement situation
Hall sensor, the second Hall sensor for sensing the second pushrod movement situation and for sensing the 3rd push rod fortune
3rd Hall sensor of dynamic situation；Second induction installation includes being used for the sense the 4th pushrod movement situation the 4th suddenly
Your sensor, it is used to sense the 6th pushrod movement situation for sensing five Hall sensors of the 5th pushrod movement situation
The 6th Hall sensor.
In one embodiment of the invention, the robot care bed synchronous control system also includes at least one limit switch, uses
In stop signal is sent out after triggering, while stopping the action of the wheelchair part and the bed part.
Present invention also offers a kind of robot care bed synchronisation control means, it is related to above-mentioned care bed Synchronization Control system of robot
System, including step：The first driving means are moved according to the push rod device of order-driven first of the wheel-chair control device；The
One push rod device controls the attitudes vibration of the wheelchair part；First induction installation senses the change of the attitude of the wheelchair part
Change；The first communication device carries out data syn-chronization communication with the bed part；The secondary communication device receives synchronous communication number
According to, and feed back to the bed control device；Order-driven second push rod of second drive device according to the bed control device
Device is moved；Second push rod device controls the attitudes vibration of the bed part；Second induction installation senses the bed portion
The change of the attitude divided, and feed back to the bed control device；The secondary communication device simultaneously carries out data with the wheelchair part
Synchronous communication；The wheelchair part and the bed part keep the synchronization of motion.
In one embodiment of the invention, also including step：The first control circuit controls the wheel-chair control device；It is described
First drive circuit drives the first driving means；First sampling module gathers the first induction installation signal；It is described
Second control circuit controls the bed control device；Second drive circuit drives second drive device；Described second adopts
Egf block gathers the second induction installation signal；The first electric pushrod component adjusts the attitude of the wheelchair part；It is described
First electric pushrod described in first electric pushrod driver drives；The second electric pushrod component adjusts the attitude of the bed part；
Second electric pushrod described in the second electric pushrod driver drives；First electric pushrod drives the first backboard motion；
Second electric pushrod drives the first thigh plate motion；3rd electric pushrod drives the first calf plate motion；
4th electric pushrod drives the second backboard motion；5th electric pushrod drives the second thigh plate motion；Institute
State the 6th electric pushrod and drive the second calf plate motion；The synchronization of wheelchair part described in the first pressure sensor sensing is moved
Make signal, and send a signal to the wheel-chair control device；The synchronization of bed part described in the second pressure sensor sensing is moved
Make signal, and send a signal to the bed control device；Judge the first pressure sensor and the second pressure sensor
It is whether normal；If so, being then continuing with the first pressure sensor and the second pressure working sensor；If it is not, then making
With first Hall sensor, second Hall sensor, the 3rd Hall sensor, the 4th Hall sensor,
5th Hall sensor and the 6th Hall sensor work；First Hall sensor senses the first push rod fortune
Dynamic situation；Second Hall sensor senses the second pushrod movement situation；3rd Hall sensor sensing described the
Three pushrod movement situations；4th Hall sensor senses the 4th pushrod movement situation；The 5th Hall sensor sense
Answer the 5th pushrod movement situation；6th Hall sensor senses the 6th pushrod movement situation；The limit switch
Send out stop signal after being triggered after the bed part and the wheelchair part reach predeterminated position, at the same stop the wheelchair part and
The action of the bed part.
As described above, robot care bed synchronous control system of the invention and method, have the advantages that：Effectively carry
The harmony of synchronization action high, improve wheelchair part and after bed part merges synchronization action integrality, while guarantor can be played
Shield is acted on, and prevents unexpected generation.
Brief description of the drawings
Fig. 1 is shown as the systematic square frame schematic diagram of an embodiment of robot care bed synchronization system of the present invention.
Fig. 2 is shown as the systematic square frame schematic diagram of another embodiment of robot care bed synchronization system of the present invention.
Fig. 3 is shown as the process blocks schematic diagram of an embodiment of robot care bed synchronous method of the present invention.
Specific embodiment
Embodiments of the present invention are illustrated below by way of specific instantiation, those skilled in the art can be as disclosed by this specification
Content understand other advantages of the invention and effect easily.The present invention can also add by way of a different and different embodiment
To implement or apply, the various details in this specification can also be based on different viewpoints and application, without departing from essence of the invention
Various modifications or alterations are carried out under god.It should be noted that, in the case where not conflicting, the feature in following examples and embodiment
Can be mutually combined.
It should be noted that the diagram provided in following examples only illustrates basic conception of the invention in a schematic way, scheme then
Component count, shape and size when only display is with relevant component in the present invention rather than according to actual implementation in formula are drawn, in fact
The kenel of each component, quantity and ratio can be a kind of random change when border is implemented, and its assembly layout kenel be likely to it is more multiple
It is miscellaneous.
As shown in figure 1, Fig. 1 is shown as the systematic square frame schematic diagram of an embodiment of robot care bed synchronization system of the present invention.
The invention provides a kind of robot care bed synchronization system, robot care bed includes wheelchair part and bed part, wheelchair part
It is located in bed part combinedly and can be partially separated with bed, wheelchair part includes：Wheel-chair control device, for controlling wheelchair portion
Divide and synchronized with bed part；First induction installation, is connected to wheel-chair control device, the change of the attitude for sensing wheelchair part
Change；First push rod device, is connected to wheel-chair control device, the attitudes vibration for controlling wheelchair part；First driving means,
Wheel-chair control device is connected to, for being moved according to the push rod device of order-driven first of wheel-chair control device；First communication device,
Wheel-chair control device is connected to, for carrying out data syn-chronization communication with bed part；Bed part includes：Bed control device, for controlling
Bed part processed synchronizes with wheelchair part；Second induction installation, is connected to a control device, the attitude for sensing bed part
Change；Second push rod device, is connected to a control device, the attitudes vibration for controlling bed part；Second drive device,
A control device is connected to, for being moved according to the push rod device of order-driven second of bed control device；Secondary communication device, even
A control device is connected to, for carrying out data syn-chronization communication with wheelchair part.After realizing that wheel-chair merges with bed part, one is realized
Play the lift back of the body, bend one's legs action, it is ensured that the synchronism that wheel-chair is acted with this two parts of bed part.
As shown in Fig. 2 Fig. 2 is shown as the systematic square frame schematic diagram of another embodiment of robot care bed synchronization system of the present invention.
Robot care bed includes wheelchair part and bed part, and wheelchair part can be partially separated in bed part and with bed combinedly,
Wheelchair part includes：Wheel-chair control device, for controlling wheelchair part to be synchronized with bed part；First induction installation, connection
In wheel-chair control device, the change of the attitude for sensing wheelchair part；First push rod device, is connected to wheel-chair control device,
Attitudes vibration for controlling wheelchair part；First driving means, are connected to wheel-chair control device, for being filled according to wheelchair control
The push rod device of order-driven first motion put；First communication device, is connected to wheel-chair control device, for being carried out with bed part
Data syn-chronization communicates；Bed part includes：Bed control device, for controlling bed part to be synchronized with wheelchair part；Second sensing
Device, is connected to a control device, the change of the attitude for sensing bed part；Second push rod device, is connected to bed control dress
Put, the attitudes vibration for controlling bed part；Second drive device, is connected to a control device, for according to bed control device
The push rod device of order-driven second motion；Secondary communication device, is connected to a control device, for entering line number with wheelchair part
According to synchronous communication.After realizing that wheel-chair merges with bed part, realize that lift is carried on the back, bend one's legs action together, it is ensured that wheel-chair and bed part
The synchronism of this two parts action.Wheel-chair control device also includes：For controlling the first control circuit of wheel-chair control device, using
The first sampling module in the first drive circuit for driving first driving means and for gathering the first induction installation signal；Bed control
Device also includes：For controlling the second control circuit of bed control device, the second drive circuit for driving the second drive device
With the second sampling module for gathering the second induction installation signal.Use is included in first control circuit and second control circuit
In the relay for controlling the first push rod device and the second push rod device respectively.By the extended and retracted of Control push rod, adjust
Whole bed part and the attitude of wheelchair part.First push rod device includes：Attitude the first electric pushrod group for adjusting wheelchair part
Part and the first electric pushrod driver for driving the first electric pushrod；Second push rod device includes：For adjusting bed part
Second electric pushrod component of attitude and for drive second electric pushrod the second electric pushrod driver.Wheelchair part includes first
Backboard, the first thigh plate and the first calf plate；Bed part includes the second backboard, the second thigh plate and the second calf plate；First electricity
Dynamic push-rod assembly includes：The first electric pushrod, for drive the first thigh plate motion second for driving the motion of the first backboard
Electric pushrod and the 3rd electric pushrod for driving the motion of the first calf plate；Second electric pushrod component includes：For driving the
Two backboards motion the 4th electric pushrod, for drive the second thigh plate motion the 5th electric pushrod and for driving the second shank
6th electric pushrod of plate motion.First induction installation also includes first pressure sensor, and the synchronization for sensing wheelchair part is moved
Make signal, and send a signal to wheel-chair control device；Second induction installation also includes second pressure sensor, for sensing bed
Partial synchronization action signal, and send a signal to a control device.First induction installation is included for sensing the first push rod fortune
First Hall sensor of dynamic situation, the second Hall sensor for sensing the second pushrod movement situation and pushed away for sensing the 3rd
3rd Hall sensor of bar moving situation；Second induction installation includes being passed for the 4th Hall for sensing the 4th pushrod movement situation
Sensor, sixth Hall biography of five Hall sensors for the 6th pushrod movement situation of sensing for sensing the 5th pushrod movement situation
Sensor.Robot care bed synchronous control system also includes at least one limit switch, for sending out stop signal after triggering, while
Stop the action of wheelchair part and bed part.The composition that the present invention passes through multisensor adaptive control system, is mainly pushed away by electronic
Bar (multiple Hall sensors can be set), drive device, Hall sensor (be separately mounted to wheel-chair backboard, thigh plate,
Shank Board position), pressure sensor, communication module, wheel-chair control device and bed part control device etc..For example of the invention
In the embodiment of the lift back of the body action after lathe merging, care bed is additionally provided with user for the handle of action control and for selecting behaviour
Display screen of work etc..Lift back of the body action includes that bed side part back board part, leg portion, lower leg portion are controlled and wheel by push rod
The back board part of Wheel-chair side, leg portion, lower leg portion control a kind of common synchronization action realized by push rod, but will
Ensure that the harmony of synchronization action is accomplished by the signal feedback of multisensor, control system calculates each according to sensor returned data
The speed of push rod, so as to ensure the uniformity of wheelchair part and bed partial act.After wheelchair side handle sends lift back of the body instruction, wheel
Chair control device sends lift back of the body instruction and receives after lifting breach of faith number to bed part, bed part by communicator, controls electric pushrod reality
Now lift is carried on the back, and now the pressure sensor of wheelchair part produces signal, the control unit meter of the big small wheelchair part according to pressure signal
Rotating speed and the direction of wheelchair part lift back of the body push rod are calculated, the Hall sensor signal of backboard here is to prevent pressure sensor signal
Lose the safeguard measure of design, it can be determined that whether pressure signal normal, it is such as abnormal can be by hall signal feedback signal control
The motion of push rod processed, so as to realize the synchronism of the wheelchair part lift back of the body and the bed part lift back of the body.The lift back of the body is acted along with the action that bends one's legs,
The action that bends one's legs is acted by wheelchair side thigh with shank and bed side thigh is collectively constituted with shank action, wheel-chair part is big with bed part
Leg and shank are equipped with Hall sensor, once perform bend one's legs action when, the thigh plate of wheel-chair part and bed partial response with it is small
The action of leg plate is not to coordinate very much, and Hall sensor will feed back this signal to control unit, and control unit calculates correspondence push rod
Speed, control corresponding electric pushrod to stretch at the appropriate speed, so as to realize that wheel-chair part and bed part bend one's legs the one of action
Cause property.
In another embodiment of the invention, three Hall sensors and pressure sensor are respectively arranged in wheelchair side, together
Step only needs to adjust the speed of wheelchair side when acting, bed side push rod can be acted with a constant speed.Wheelchair
Pressure signal when car partial pressure sensor is used to detect that bed part backboard is acted, according to calculating if pressure is bigger, wheelchair side
Backboard push rod speed it is also bigger, can be causing the speed and bed part backboard speed of the back board part of car part by detection signal
Degree is consistent.Whether normally Hall sensor on wheel-chair backboard can be also used for detection action, if abnormal can prevent meaning
Outer action.The leg portion of wheelchair part and the Hall sensor of lower leg portion are used to detect thigh plate and calf plate with bed part
The deviation of thigh plate and calf plate, has signal feedback, it is possible to adjust the push rod speed of wheelchair part once speed is inconsistent,
The uniformity of safety action.
As shown in figure 3, Fig. 3 is shown as the process blocks schematic diagram of an embodiment of robot care bed synchronous method of the present invention.
Present invention also offers a kind of robot care bed synchronous method, above-mentioned robot care bed synchronization system is designed；Including step：
First driving means are moved according to the push rod device of order-driven first of wheel-chair control device；First push rod device control wheelchair part
Attitudes vibration；The change of the attitude of the first induction installation sensing wheelchair part；It is same that first communication device carries out data with bed part
Step communication；Secondary communication device receives synchronous communication data, and feeds back to a control device；Second drive device is according to bed control
The push rod device of order-driven second motion of device；The attitudes vibration of the second push rod device control bed part；Second induction installation sense
The change of the attitude of bed part is answered, and feeds back to a control device；Secondary communication device and with wheelchair part carry out data syn-chronization lead to
Letter；Wheelchair part and bed part keep the synchronization of motion.
In one embodiment of this invention, also including step：First control circuit controls wheel-chair control device；First drive circuit
Drive first driving means；First sampling module gathers the first induction installation signal；Second control circuit controls bed control device；
Second drive circuit drives the second drive device；Second sampling module gathers the second induction installation signal；First electric pushrod component
The attitude of adjustment wheelchair part；First the first electric pushrod of electric pushrod driver drives；Second electric pushrod component adjustment bed portion
The attitude divided；Second the second electric pushrod of electric pushrod driver drives；First electric pushrod drives the motion of the first backboard；Second
Electric pushrod drives the motion of the first thigh plate；3rd electric pushrod drives the motion of the first calf plate；4th electric pushrod drives second
Backboard is moved；5th electric pushrod drives the motion of the second thigh plate；6th electric pushrod drives the motion of the second calf plate；First pressure
The synchronization action signal of force snesor sensing wheelchair part, and send a signal to wheel-chair control device；Second pressure sensor sense
The synchronization action signal of bed part is answered, and sends a signal to a control device；Judge that first pressure sensor and second pressure are passed
Whether sensor is normal；If so, being then continuing with first pressure sensor and second pressure working sensor；If it is not, then using the
One Hall sensor, the second Hall sensor, the 3rd Hall sensor, the 4th Hall sensor, the 5th Hall sensor and
Six Hall sensors work；First Hall sensor senses the first pushrod movement situation；Second Hall sensor senses the second push rod
Moving situation；3rd Hall sensor senses the 3rd pushrod movement situation；4th Hall sensor senses the 4th pushrod movement situation；
5th Hall sensor senses the 5th pushrod movement situation；6th Hall sensor senses the 6th pushrod movement situation；Limit switch
Stop signal is sent out after being triggered after bed part and wheelchair part reach predeterminated position, while stopping the action of wheelchair part and bed part.
In the embodiment of the lift back of the body action after lathe of the invention merging, care bed is additionally provided with user for the hand of action control
Handle and the display screen for selection operation etc..Lift back of the body action includes that bed side part back board part, leg portion, lower leg portion lead to
Cross push rod control and the back board part of wheel-chair side, leg portion, lower leg portion by push rod control it is common realize it is a kind of together
Step is acted, but is to ensure that the harmony of synchronization action is accomplished by the signal feedback of multisensor, and control system is returned according to sensor
Return data and calculate the speed of each push rod, so as to ensure the uniformity of wheelchair part and bed partial act.When wheelchair side handle sends
After lift back of the body instruction, after wheel-chair control device receives lift breach of faith number to bed part, bed part by communicator transmission lift back of the body instruction,
Control electric pushrod realizes the lift back of the body, and now the pressure sensor of wheelchair part produces signal, according to the big small wheelchair portion of pressure signal
The control unit divided calculates rotating speed and the direction of wheelchair part lift back of the body push rod, and the Hall sensor signal of backboard here is to prevent
Pressure sensor signal loses the safeguard measure of design, it can be determined that whether pressure signal normal, it is such as abnormal can be by Hall
Signal feedback signal controls the motion of push rod, so as to realize the synchronism of the wheelchair part lift back of the body and the bed part lift back of the body.Lift back of the body action
Along with the action that bends one's legs, the action that bends one's legs is acted by wheelchair side thigh with shank and bed side thigh is collectively constituted with shank action, wheelchair
Car part and bed part thigh and shank are equipped with Hall sensor, once perform bend one's legs action when, wheel-chair part and bed part
Corresponding thigh plate is not to coordinate very much with calf plate action, and Hall sensor will feed back this signal to control unit, and control is single
Unit calculates the speed of correspondence push rod, controls corresponding electric pushrod to stretch at the appropriate speed, so as to realize wheel-chair part and bed
Part bends one's legs the uniformity of action.
In another embodiment of the invention, three Hall sensors and pressure sensor are respectively arranged in wheelchair side, together
Step only needs to adjust the speed of wheelchair side when acting, bed side push rod can be acted with a constant speed.Wheelchair
Pressure signal when car partial pressure sensor is used to detect that bed part backboard is acted, according to calculating if pressure is bigger, wheelchair side
Backboard push rod speed it is also bigger, can be causing the speed and bed part backboard speed of the back board part of car part by detection signal
Degree is consistent.Whether normally Hall sensor on wheel-chair backboard can be also used for detection action, if abnormal can prevent meaning
Outer action.The leg portion of wheelchair part and the Hall sensor of lower leg portion are used to detect thigh plate and calf plate with bed part
The deviation of thigh plate and calf plate, has signal feedback, it is possible to adjust the push rod speed of wheelchair part once speed is inconsistent,
The uniformity of safety action.
In sum, robot care bed synchronization system of the present invention and method, effectively raise the harmony of synchronization action, change
The integrality of synchronization action behind kind wheelchair part and the merging of bed part, while can play a protective role, prevents unexpected generation.
So, the present invention effectively overcomes various shortcoming of the prior art and has high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any to be familiar with this skill
The personage of art all can carry out modifications and changes under without prejudice to spirit and scope of the invention to above-described embodiment.Therefore, such as
Those of ordinary skill in the art completed under without departing from disclosed spirit and technological thought all etc.
Effect modifications and changes, should be covered by claim of the invention.
Claims (10)
1. a kind of robot care bed synchronization system, the robot care bed includes wheelchair part and bed part, the wheelchair portion
Divide and be located in the bed part combinedly and can be partially separated with the bed, it is characterised in that
The wheelchair part includes：
Wheel-chair control device, for controlling the wheelchair part to be synchronized with the bed part；
First induction installation, is connected to the wheel-chair control device, the change of the attitude for sensing the wheelchair part；
First push rod device, is connected to the wheel-chair control device, the attitudes vibration for controlling the wheelchair part；
First driving means, are connected to the wheel-chair control device, for the order-driven first according to the wheel-chair control device
Push rod device is moved；
First communication device, is connected to the wheel-chair control device, for carrying out data syn-chronization communication with the bed part；
The bed part includes：
Bed control device, for controlling the bed part to be synchronized with the wheelchair part；
Second induction installation, is connected to the bed control device, the change of the attitude for sensing the bed part；
Second push rod device, is connected to the bed control device, the attitudes vibration for controlling the bed part；
Second drive device, is connected to the bed control device, for the push rod of order-driven second according to the bed control device
Device is moved；
Secondary communication device, is connected to the bed control device, for carrying out data syn-chronization communication with the wheelchair part.
2. robot care bed synchronization system according to claim 1, it is characterised in that the wheel-chair control device is also wrapped
Include：For controlling the first control circuit of the wheel-chair control device, for driving the first driving means first to drive electricity
Road and the first sampling module for gathering the first induction installation signal；The bed control device also includes：For controlling
State the second control circuit of a control device, the second drive circuit for driving second drive device and described for gathering
Second sampling module of the second induction installation signal.
3. robot care bed synchronization system according to claim 2, it is characterised in that the first control circuit and institute
State the relay included in second control circuit for controlling first push rod device and second push rod device respectively.
4. robot care bed synchronization system according to claim 1, it is characterised in that first push rod device includes：
For adjusting attitude the first electric pushrod component of the wheelchair part and for driving the first of first electric pushrod electronic to push away
Bar driver；Second push rod device includes：For adjusting the second electric pushrod component of the attitude of the bed part and being used for
Drive the second electric pushrod of the second electric pushrod driver.
5. robot care bed synchronization system according to claim 4, it is characterised in that the wheelchair part includes first
Backboard, the first thigh plate and the first calf plate；The bed part includes the second backboard, the second thigh plate and the second calf plate；Institute
Stating the first electric pushrod component includes：For driving the first electric pushrod of the first backboard motion, for driving described first
Second electric pushrod of thigh plate motion and the 3rd electric pushrod for driving the first calf plate motion；Second electric pushrod
Component includes：For drive second backboard motion the 4th electric pushrod, for drive the second thigh plate motion the
Five electric pushrods and the 6th electric pushrod for driving the second calf plate motion.
6. robot care bed synchronization system according to claim 5, it is characterised in that first induction installation is also wrapped
First pressure sensor is included, for sensing the synchronization action signal of the wheelchair part, and the wheelchair control is sent a signal to
Device；Second induction installation also include second pressure sensor, the synchronization action signal for sensing the bed part, and
Send a signal to the bed control device.
7. robot care bed synchronization system according to claim 6, it is characterised in that first induction installation includes
For sense the first pushrod movement situation the first Hall sensor, for sense the second pushrod movement situation second
Hall sensor and the 3rd Hall sensor for sensing the 3rd pushrod movement situation；Second induction installation includes using
In the 4th Hall sensor, five Halls for sensing the 5th pushrod movement situation that sense the 4th pushrod movement situation
Sensor is used to sense the 6th Hall sensor of the 6th pushrod movement situation.
8. robot care bed synchronization system according to claim 7, it is characterised in that the robot care bed synchronization
Control system also includes at least one limit switch, for sending out stop signal after triggering, while stopping the wheelchair part and described
The action of bed part.
9. a kind of robot care bed synchronous method, is related to the robot care bed synchronization system described in claim any one of 1-8,
It is characterised in that it includes step：
The first driving means are moved according to the push rod device of order-driven first of the wheel-chair control device；First push rod device
Control the attitudes vibration of the wheelchair part；
First induction installation senses the change of the attitude of the wheelchair part；
The first communication device carries out data syn-chronization communication with the bed part；
The secondary communication device receives synchronous communication data, and feeds back to the bed control device；
Second drive device is moved according to the push rod device of order-driven second of the bed control device；The second push rod dress
Put the attitudes vibration for controlling the bed part；
Second induction installation senses the change of the attitude of the bed part, and feeds back to the bed control device；
The secondary communication device simultaneously carries out data syn-chronization communication with the wheelchair part；
The wheelchair part and the bed part keep the synchronization of motion.
10. robot care bed synchronous method according to claim 9, it is characterised in that also including step：
The first control circuit controls the wheel-chair control device；
First drive circuit drives the first driving means；
First sampling module gathers the first induction installation signal；
The second control circuit controls the bed control device；
Second drive circuit drives second drive device；
Second sampling module gathers the second induction installation signal；
The first electric pushrod component adjusts the attitude of the wheelchair part；
First electric pushrod described in the first electric pushrod driver drives；
The second electric pushrod component adjusts the attitude of the bed part；
Second electric pushrod described in the second electric pushrod driver drives；
First electric pushrod drives the first backboard motion；
Second electric pushrod drives the first thigh plate motion；
3rd electric pushrod drives the first calf plate motion；
4th electric pushrod drives the second backboard motion；
5th electric pushrod drives the second thigh plate motion；
6th electric pushrod drives the second calf plate motion；
The synchronization action signal of wheelchair part described in the first pressure sensor sensing, and send a signal to the wheelchair control
Device；
The synchronization action signal of bed part described in the second pressure sensor sensing, and send a signal to the bed control device；
Judge whether the first pressure sensor and the second pressure sensor are normal；If so, being then continuing with described first
Pressure sensor and the second pressure working sensor；If it is not, then using first Hall sensor, second Hall
Sensor, the 3rd Hall sensor, the 4th Hall sensor, the 5th Hall sensor and the 6th Hall
Working sensor；
First Hall sensor senses the first pushrod movement situation；The second Hall sensor sensing described second is pushed away
Bar moving situation；3rd Hall sensor senses the 3rd pushrod movement situation；4th Hall sensor senses institute
State the 4th pushrod movement situation；5th Hall sensor senses the 5th pushrod movement situation；6th hall sensing
Device senses the 6th pushrod movement situation；
The limit switch sends out stop signal after being triggered after the bed part and the wheelchair part reach predeterminated position, while stopping
The only action of the wheelchair part and the bed part.
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| CN106880449B (en) | 2019-01-25 |
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