CN106880454B - A kind of robot nursing bed control system and method - Google Patents
A kind of robot nursing bed control system and method Download PDFInfo
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- CN106880454B CN106880454B CN201510957317.9A CN201510957317A CN106880454B CN 106880454 B CN106880454 B CN 106880454B CN 201510957317 A CN201510957317 A CN 201510957317A CN 106880454 B CN106880454 B CN 106880454B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/05—Parts, details or accessories of beds
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/018—Control or drive mechanisms
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- Health & Medical Sciences (AREA)
- Nursing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The present invention provides a kind of robot nursing bed control system and method, and robot nursing bed includes wheelchair part and bed portions point, comprising: control device；Electric machine assembly, for controlling the movement of wheelchair part；Electric pushrod component, for controlling the attitudes vibration of bed portions point and the attitudes vibration of wheelchair part；Sensing device is connected to control device, for incuding the movement of bed portions point and wheelchair part；Laser scanner, for the mobile carry out independent navigation for wheelchair part；Image collecting device is connected to control device, carries out vision positioning when going back to library for wheelchair part；Communication device is connected to control device, is sent to control device for the movement between wheelchair part and bed portions point；Handle, the control for synchronization action and the wheelchair partial movement speed and direction after the pose adjustment of user's control wheelchair part, the wheelchair part and the bed portions division simultaneously；Display, for the map denotation of navigation and the display of operation interface.
Description
Technical field
The present invention relates to nursing fields, more particularly to a kind of robot nursing bed control system and method.
Background technique
With the aggravation of population aging, robot nursing bed will have good development prospect in future, due to machine
The control system of people's nursing bed, and be the core of entire robot nursing bed, this part is to determine robot nursing bed
Performance main factor.Although domestic robot field's development is quickly, mainly industrial robot field develops
More mature, still there is larger gap in service robot field.Previous robot nursing bed is used using industrial computer as platform development
Windows application program as host computer procedure, but also the single-chip microcontroller for needing to assist goes to realize specific function, this control
System processed is not only uneconomical, but also volume is larger, and stability is also short of.Current existing robot nursing bed generallys use PC and adds
The method of upper motion control card realizes control, and real-time is poor, and motion control is inaccurate, higher cost, and acts on more single
One.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of controls of robot nursing bed is
System and method, poor for solving real-time in the prior art, motion control is inaccurate, higher cost, and acts on more single
One the problem of.
In order to achieve the above objects and other related objects, the present invention provides a kind of robot nursing bed control system, described
Nursing bed includes wheelchair part and bed portions point, comprising: control device；Electric machine assembly is connected to the control device, for controlling
The movement of the wheelchair part；Electric pushrod component is connected to the control device, and the posture for controlling the bed portions point becomes
Change the attitudes vibration with the wheelchair part；Sensing device is connected to the control device, for incuding the bed portions point and institute
State the movement of wheelchair part；Laser scanner is connected to the control device, for the movement for the wheelchair part
Carry out independent navigation；Image collecting device is connected to the control device, and it is fixed to carry out vision when going back to library for the wheelchair part
Position；Communication device is connected to the control device, is sent to institute for the movement between the wheelchair part and the bed portions point
State control device；Handle, for the pose adjustment of wheelchair part described in user's control, the wheelchair part and the bed portions division
The control of synchronization action and the wheelchair partial movement speed and direction after and；Display, the map denotation for navigation
With the display of operation interface.
In one embodiment of the invention, the control device includes: processor；Wheelchair gesture stability module, for leading to
Cross the movement that the processor controls the electric pushrod component；Lathe synchronization action control module, for passing through the processing
Device controls the wheelchair part and the bed portions divide synchronization action；Navigation control module, for controlling institute by the processor
State the self-navigation of wheelchair part；Vision positioning enters library module, for controlling returning for the wheelchair part by the processor
Library；The control module of man-machine interface operates the nursing bed for user.
In one embodiment of the invention, the electric machine assembly includes: motor, for driving the wheelchair partial movement；
Driver, for driving the motor to operate；Encoder, for feed back the motor velocity information and the wheelchair part
Location information.
In one embodiment of the invention, the electric pushrod component includes: electric pushrod, for adjusting the bed portions point
With the posture of the wheelchair part；Electric pushrod driver, for driving the electric pushrod.
In one embodiment of the invention, the sensing device includes: Hall sensor, for detecting the electric pushrod
The signal that component issues, and send a signal to the control device；Pressure sensor, for incuding bed portions point and described
The synchronization action signal of wheelchair part, and send a signal to the control device；Limit switch, in the wheelchair part
Stop signal is issued after being triggered after storage, stops the movement of the nursing bed.
In one embodiment of the invention, the laser scanner includes: laser scanner, for passing through laser
Map is established in scanning；Self-navigation unit, for carrying out autonomous positioning navigation according to the map.
The present invention also provides a kind of robot nursing bed control methods, are related to above-mentioned robot nursing bed control system,
Comprising steps of the map and operation interface of the display display navigation；Described image acquisition device is returned in the wheelchair part
Vision positioning is carried out when library；Mobile carry out independent navigation of the laser scanner to the wheelchair part；The electricity
Thermomechanical components control the movement of the wheelchair part, the wheelchair part Hui Ku；User controls the wheelchair portion by the handle
Synchronization action and the wheelchair partial movement speed after pose adjustment, the wheelchair part and the bed portions division simultaneously that divide
With the control in direction；The sensing device incudes the movement of the bed portions point and the wheelchair part；The communication device is by institute
It states the movement point between wheelchair part and the bed portions and is sent to the control device；Control device control is described electronic to be pushed away
Bar assembly controls the attitudes vibration of the bed portions point and the attitudes vibration of the wheelchair part.
In one embodiment of the invention, user is further comprised the steps of: by the control module of the man-machine interface to described
Nursing bed is operated；Navigation control module controls the self-navigation of the wheelchair part by the processor；Vision positioning
Enter the Hui Ku that library module controls the wheelchair part by the processor；Lathe synchronization action control module passes through the processing
Device controls the wheelchair part and the bed portions divide synchronization action；Wheelchair gesture stability module passes through described in processor control
The movement of electric pushrod component.
In one embodiment of the invention, the laser scanner is further comprised the steps of: by laser scanning and establishes map, institute
It states self-navigation unit and autonomous positioning navigation is carried out according to the map；The driver drives the motor operating, the electricity
Machine drives the wheelchair partial movement；The Hall sensor detects the signal that the electric pushrod component issues, and by signal
It is sent to the control device；The pressure sensor incudes the synchronization action signal of the bed portions point and the wheelchair part,
And send a signal to the control device；The electric pushrod driver drives the electric pushrod；The electric pushrod tune
The posture of the whole bed portions point and the wheelchair part.
In one embodiment of the invention, the velocity information by motor described in encoder feedback and institute are further comprised the steps of:
State the location information of wheelchair part.
As described above, robot nursing bed control system of the invention and method, have the advantages that volume compared with
It is small, it is more stable, can be with real-time control, motion control is more accurate, and cost is relatively low, and can by embed linux system so that
System is more open, convenient for addition new function and upgrading products.
Detailed description of the invention
Fig. 1 is shown as the systematic square frame schematic diagram of an embodiment of robot nursing bed control system of the present invention.
Fig. 2 is shown as the systematic square frame schematic diagram of another embodiment of robot nursing bed control system of the present invention.
Fig. 3 is shown as the process blocks schematic diagram of an embodiment of robot nursing bed control method of the present invention.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be noted that illustrating the basic structure that only the invention is illustrated in a schematic way provided in following embodiment
Think, only shown in schema then with related component in the present invention rather than component count, shape and size when according to actual implementation
Draw, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its assembly layout kenel
It is likely more complexity.
As shown in Figure 1, Fig. 1 is shown as the systematic square frame signal of an embodiment of robot nursing bed control system of the present invention
Figure.The present invention provides a kind of robot nursing bed control system, robot nursing bed includes wheelchair part and bed portions point, packet
It includes: control device 10；Nursing bed each section is used to indicate to be operated.201 component 20 of motor, is connected to control device 10, uses
Movement in control wheelchair part；Electric pushrod component 30 is connected to control device 10, for controlling the attitudes vibration of bed portions point
With the attitudes vibration of wheelchair part；Sensing device 40 is connected to control device 10, for incuding the dynamic of bed portions point and wheelchair part
Make；Laser scanner 50 is connected to control device 10, for the mobile carry out independent navigation for wheelchair part；Image
Acquisition device 60 is connected to control device 10, carries out vision positioning when going back to library for wheelchair part；Communication device 70, is connected to
Control device 10 is sent to control device 10 for the movement between wheelchair part and bed portions point；Handle 80 is used for user's control
Synchronization action and the wheelchair part after the pose adjustment of wheelchair part, the wheelchair part and the bed portions division simultaneously move
The control of dynamic speed and direction, realizes the accurate control to wheelchair componental movement；Display 90, for navigation map denotation and
The display of operation interface.The map and operation interface of the display navigation of display 90, user select wheelchair part Hui Ku, Image Acquisition
Device 60 carries out vision positioning when library is gone back in wheelchair part；Laser scanner 50 is autonomous to the mobile carry out of wheelchair part
Navigation；201 component 20 of motor controls the movement of wheelchair part, wheelchair part Hui Ku；User controls wheelchair part by handle 80
Pose adjustment；Sensing device 40 incudes the movement of bed portions point and wheelchair part；Communication device divides wheelchair part and bed portions to it
Between movement be sent to control device 10；Control device 10 controls the attitudes vibration and wheel that electric pushrod component 30 controls bed portions point
The attitudes vibration of chair part.
As shown in Fig. 2, the systematic square frame that Fig. 2 is shown as another embodiment of robot nursing bed control system of the present invention shows
It is intended to.Robot nursing bed includes wheelchair part and bed portions point, further includes: control device 10；It is used to indicate nursing bed each section
It is operated.Control device 10 includes: processor；In the preferred embodiment of the present invention, processor is arm processor, with
, can be more open with the software platform of matching embedded type operating system Linux based on arm processor, it can be at any time to being
System is upgraded and is modified, and the new function that addition is different.It is smaller using the controller volume of ARM kernel, cost is lower.Together
When the system hardware and software framework have modularity & expandability, convenient for addition of new function etc. upgrade and modify.Wheelchair posture control
Molding block, for controlling the movement of electric pushrod component 30 by processor；Lathe synchronization action control module, for passing through place
Reason device control wheelchair part and bed portions divide synchronization action；Navigation control module, for by processor control wheelchair part from
Dynamic navigation；Vision positioning enters library module, for controlling the Hui Ku of wheelchair part by processor；The control module of man-machine interface,
Nursing bed is operated for user.201 component 20 of motor, is connected to control device 10, for controlling the shifting of wheelchair part
It is dynamic.Further, 201 component 20 of motor includes: motor 201, for band wheelchair partial movement；Driver 202, for driving
Motor 201 operates；Encoder 203, for feeding back the velocity information of the motor 201 and the location information of the wheelchair part.
Electric pushrod component 30 is connected to control device 10, for controlling the attitudes vibration of bed portions point and the attitudes vibration of wheelchair part；
Electric pushrod component 30 includes: electric pushrod 301, for adjusting the posture of bed portions point and wheelchair part；Electric pushrod driver
302, for driving electric pushrod 301.In a preferred embodiment, the control interface of electric pushrod driver 302 connects
The I/O port in arm processor is connect, can realize the control of wheel-chair posture in the corresponding control program of cooperation.Electric pushrod drives
Flexible, the attitudes vibration of realization robot nursing bed and the attitudes vibration of wheelchair part of dynamic device control electric pushrod.Induction dress
40 are set, control device 10 is connected to, for incuding the movement of bed portions point and wheelchair part；Sensing device 40 includes: hall sensing
Device 401 for detecting the signal of the sending of electric pushrod component 30, and sends a signal to control device 10；Pressure sensor
402, for incuding the synchronization action signal of bed portions point and wheelchair part, and send a signal to control device 10.Limit switch
403, for issuing stop signal after being triggered after the storage of wheelchair part, stop the movement of nursing bed.Hall sensor 401 is examined
The velocity location signal for surveying electric pushrod passes to control device 10, and control device 10 controls electric pushrod driver 302, driving
Electric pushrod 301 adjusts the attitudes vibration of bed portions point and the attitudes vibration of wheelchair part, so that the variation of the two is synchronous.Pressure passes
Sensor 402 incudes the lift back movement of wheelchair part, and sends the signal to control device 10, control device 10 control bed portions point and
The lift back movement of wheelchair part is synchronous to be carried out.Wheelchair gesture stability module controls electric pushrod driving assembly and realizes electric pushrod
It is flexible, according to 401 signal of Hall sensor, pressure sensor 402 and 403 signal of limit switch realize the lying low of wheelchair part,
The variation of the movements such as sitting, standing and storage posture.Lathe synchronization control module mainly passes through Hall sensor signal, pressure
It is lifted behind the wheelchair part and bed portions division simultaneously of sensor signal and limit switch signal realization robot nursing bed and carries on the back, bends one's legs, turning over
The realization of the movements such as body.Laser scanner 50 is connected to control device 10, certainly for the mobile progress for wheelchair part
Leading boat；Laser scanner 50 includes: laser scanner 501, for establishing map by laser scanning；Self-navigation
Unit 502, for carrying out autonomous positioning navigation according to the map.Image collecting device 60 is connected to control device 10, is used for wheelchair
Part carries out vision positioning when going back to library；In the preferred embodiment of the present invention, image collecting device 60 is industrial camera, can be with
The precision of Image Acquisition is improved, that improves wheelchair part returns library effect.Vision positioning enters library module in robot nursing bed wheelchair
, by the vision positioning program of industrial camera, the accurate Hui Ku of wheel-chair part is realized when storage merges with bed in vehicle part.It is logical
Device 70 is interrogated, control device 10 is connected to, is sent to control device 10 for the movement between wheelchair part and bed portions point；Pass through
It is synchronous with the movement of bed portions point that wheelchair part may be implemented in the mutual communication of communication device 70.Handle 80 is used for user's control
Synchronization action and the wheelchair part after the pose adjustment of wheelchair part, the wheelchair part and the bed portions division simultaneously move
The control of dynamic speed and direction, realizes the accurate control to wheelchair componental movement；User can control wheelchair portion by handle 80
The pose adjustment divided, bed portions point synchronize adjustment further according to the pose adjustment of wheelchair part.Display 90, the ground for navigation
Figure shows the display with operation interface.
As shown in figure 3, Fig. 3 is shown as the process blocks signal of an embodiment of robot nursing bed control method of the present invention
Figure.The present invention also provides a kind of robot nursing bed control methods, and in the preferred embodiment of the present invention, processor is
Arm processor can be more open with the software platform of matching embedded type operating system Linux based on arm processor,
Can system be upgraded and be modified at any time, and the new function that addition is different.Using ARM kernel controller volume more
It is small, cost is lower.The system hardware and software framework has modularity & expandability simultaneously, upgrades and repairs convenient for addition of new function etc.
Change.It is related to above-mentioned robot nursing bed control system, comprising steps of
The map and operation interface of the display navigation of display 90；User by the control module of man-machine interface to nursing bed into
Row operation；
Image collecting device 60 carries out vision positioning when library is gone back in wheelchair part；Vision positioning enters library module and passes through processor
Control the Hui Ku of wheelchair part；In the preferred embodiment of the present invention, image collecting device 60 is industrial camera, be can be improved
The precision of Image Acquisition, that improves wheelchair part returns library effect.Vision positioning enters library module in nursing bed wheel-chair portion of robot
Divide when storage merges with bed, pass through the vision positioning program of industrial camera, realizes the accurate Hui Ku of wheel-chair part.
Mobile carry out independent navigation of the laser scanner 50 to wheelchair part；Navigation control module passes through processor
Control the self-navigation of wheelchair part；Laser scanner 501 establishes map, 502 basis of self-navigation unit by laser scanning
Map carries out autonomous positioning navigation；
201 component 20 of motor controls the movement of wheelchair part, wheelchair part Hui Ku；The electricity is fed back by encoder 203
The location information of the velocity information of machine 201 and the wheelchair part.202 driving motor 201 of driver operates after coding, motor
201 band wheelchair partial movements.
After user controls pose adjustment, the wheelchair part and the bed portions division simultaneously of wheelchair part by handle 80
The accurate control to wheelchair componental movement is realized in the control of synchronization action and the wheelchair partial movement speed and direction；Wheel
Chair gesture stability module controls the movement of electric pushrod component 30 by processor；Control device 10 controls electric pushrod component 30
Control the attitudes vibration of bed portions point and the attitudes vibration of wheelchair part.
Sensing device 40 incudes the movement of bed portions point and wheelchair part；Communication device will be between wheelchair part and bed portions point
Movement is sent to control device 10；Lathe synchronization action control module controls wheelchair part by processor and bed portions point are synchronous dynamic
Make；Hall sensor 401 detects the signal that electric pushrod component 30 issues, and sends a signal to control device 10；Pressure passes
Sensor 402 incudes the synchronization action signal of bed portions point and wheelchair part, and sends a signal to control device 10；Electric pushrod drives
Dynamic device 202 drives electric pushrod；Electric pushrod adjusts the posture of bed portions point and wheelchair part.Limit switch 403 is in wheelchair part
Stop signal is issued after being triggered after storage, stops the movement of nursing bed.
In conclusion robot nursing bed control system of the present invention and method, small volume is more stable, can be real-time
Control, motion control is more accurate, and cost is relatively low, and can be by embedding linux system, so that system is more open, convenient for adding
Add new function and upgrading products.So the present invention effectively overcomes various shortcoming in the prior art and has high industrial utilization
Value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (10)
1. a kind of robot nursing bed control system, the robot nursing bed includes wheelchair part and bed portions point, and feature exists
In, comprising:
Control device；
Electric machine assembly is connected to the control device, for controlling the movement of the wheelchair part；
Electric pushrod component is connected to the control device, for controlling the attitudes vibration and the wheelchair portion that the bed portions are divided
The attitudes vibration divided；
Sensing device is connected to the control device, for incuding the movement of the bed portions point and the wheelchair part；
Laser scanner is connected to the control device, for the mobile carry out independent navigation for the wheelchair part；
Image collecting device is connected to the control device, carries out vision positioning when going back to library for the wheelchair part；
Communication device is connected to the control device, is sent to for the movement between the wheelchair part and the bed portions point
The control device；
Handle, after the pose adjustment of wheelchair part described in user's control, the wheelchair part and the bed portions division simultaneously
The control of synchronization action and the wheelchair partial movement speed and direction；
Display, for the map denotation of navigation and the display of operation interface.
2. robot nursing bed control system according to claim 1, which is characterized in that the control device includes:
Processor；
Wheelchair gesture stability module, for controlling the movement of the electric pushrod component by the processor；
Lathe synchronization action control module, for synchronous dynamic by the processor control wheelchair part and the bed portions point
Make；
Navigation control module, for controlling the self-navigation of the wheelchair part by the processor；
Vision positioning enters library module, for controlling the Hui Ku of the wheelchair part by the processor；
The control module of man-machine interface operates the nursing bed for user.
3. robot nursing bed control system according to claim 2, which is characterized in that the electric machine assembly includes:
Motor, for driving the wheelchair partial movement；
Driver, for driving the motor to operate；
Encoder, for feeding back the velocity information of the motor and the location information of the wheelchair part.
4. robot nursing bed control system according to claim 3, which is characterized in that the electric pushrod component packet
It includes:
Electric pushrod, for adjusting the posture of the bed portions point and the wheelchair part；
Electric pushrod driver, for driving the electric pushrod.
5. robot nursing bed control system according to claim 4, which is characterized in that the sensing device includes:
Hall sensor, the signal issued for detecting the electric pushrod component, and send a signal to the control device；
Pressure sensor for incuding the synchronization action signal of the bed portions point and the wheelchair part, and is sent a signal to
The control device；
Limit switch stops the dynamic of the nursing bed for issuing stop signal after being triggered after the storage of the wheelchair part
Make.
6. robot nursing bed control system according to claim 5, which is characterized in that the laser scanner
It include: laser scanner, for establishing map by laser scanning；
Self-navigation unit, for carrying out autonomous positioning navigation according to the map.
7. a kind of robot nursing bed control method is related to robot nursing bed control system as claimed in claim 6, feature
It is, comprising steps of
The map and operation interface of the display display navigation；
Described image acquisition device carries out vision positioning when library is gone back in the wheelchair part；
Mobile carry out independent navigation of the laser scanner to the wheelchair part；
The electric machine assembly controls the movement of the wheelchair part, the wheelchair part Hui Ku；
After user controls the pose adjustment of the wheelchair part, the wheelchair part and the bed portions division simultaneously by the handle
Synchronization action and the wheelchair partial movement speed and direction control；
The sensing device incudes the movement of the bed portions point and the wheelchair part；
Movement between the wheelchair part and the bed portions point is sent to the control device by the communication device；
The control device control the electric pushrod component control bed portions point attitudes vibration and the wheelchair part
Attitudes vibration.
8. robot nursing bed control method according to claim 7, which is characterized in that further comprise the steps of:
User operates the nursing bed by the control module of the man-machine interface；
Navigation control module controls the self-navigation of the wheelchair part by the processor；
Vision positioning enters the Hui Ku that library module controls the wheelchair part by the processor；
Lathe synchronization action control module controls the wheelchair part by the processor and the bed portions divide synchronization action；
Wheelchair gesture stability module controls the movement of the electric pushrod component by the processor；
9. robot nursing bed control method according to claim 7, which is characterized in that further comprise the steps of:
The laser scanner establishes map by laser scanning, and it is independently fixed that the self-navigation unit is carried out according to the map
Position navigation；
The driver drives the motor operating, and the motor drives the wheelchair partial movement；
The Hall sensor detects the signal that the electric pushrod component issues, and sends a signal to the control device；
The pressure sensor incudes the synchronization action signal of the bed portions point and the wheelchair part, and sends a signal to institute
State control device；
The electric pushrod driver drives the electric pushrod；The electric pushrod adjusts the bed portions point and the wheelchair portion
The posture divided；
The limit switch issues stop signal after being triggered after the wheelchair part is put in storage, and stops the dynamic of the nursing bed
Make.
10. robot nursing bed control method according to claim 9, which is characterized in that further comprise the steps of:
Pass through the velocity information of motor described in encoder feedback and the location information of the wheelchair part.
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| CN107174418A (en) * | 2017-06-28 | 2017-09-19 | 歌尔股份有限公司 | A kind of intelligent wheel chair and its control method |
| US11013655B1 (en) | 2018-04-30 | 2021-05-25 | AI Incorporated | Autonomous hospital bed |
| CN109846617B (en) * | 2019-04-10 | 2024-07-19 | 广州思智科技有限公司 | Electric wheelchair control system |
| CN109984897A (en) * | 2019-04-16 | 2019-07-09 | 上海理工大学 | A kind of intelligent wireless control wheelchair bed system based on human-computer interaction |
| CN110162106B (en) * | 2019-05-16 | 2022-04-22 | 安徽三联机器人科技有限公司 | Positioning method of electric push rod |
| CN110812008A (en) * | 2019-10-31 | 2020-02-21 | 上海长海医院 | Medical patient transport bed |
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| CN104523388A (en) * | 2015-01-13 | 2015-04-22 | 宋扬 | Multifunctional nursing bed and wheelchair conversion system and method |
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