CN106074048A - A kind of double-core electric hospital bed controller of three-wheel drive high speed robot - Google Patents
A kind of double-core electric hospital bed controller of three-wheel drive high speed robot Download PDFInfo
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- CN106074048A CN106074048A CN201610600791.0A CN201610600791A CN106074048A CN 106074048 A CN106074048 A CN 106074048A CN 201610600791 A CN201610600791 A CN 201610600791A CN 106074048 A CN106074048 A CN 106074048A
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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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- 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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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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
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/16—Touchpads
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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
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
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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
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
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- Nursing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention discloses a kind of double-core electric hospital bed controller of three-wheel drive high speed robot, including alternating current power supply, battery, panel, first motor, second motor, 3rd motor and robot electric sick bed, described panel uses dual-core controller, including ARM and FPGA, the trapezoidal generator of servo it is additionally provided with inside described FPGA, by described FPGA through the trapezoidal generator of servo send the first control signal and, second control signal and the 3rd control signal, by magnetism encoder by the first described motor, the advance of the robot electric sick bed described in the second motor and the control of the 3rd motor, the speed of service and traffic direction.By the way, the present invention changes its speed of travel by controller, changes its direction by two wheel guide robot driving mode；When climbing needs more multi-energy, open assist motor and play power back-off effect, can well be by electric boosted minimizing nurse or the amount of labour of Health care staff and labor intensity.
Description
Technical field
The present invention relates to a kind of double-core electric hospital bed automatic control system of three-wheel drive high speed robot, belong to automatic electric
Sick bed field.
Background technology
Medical hospital bed system is a kind of equipment providing carrying patient in hospital ward.At present in hospital of developed country
The medical hospital bed substantially all automatization used, hospital bed set up at a patient's home, community hospital's sick bed have used Multifunctional electric bed.Portion
Dividing the medical hospital bed purpose that can be reached auxiliary adjustment patient body position by external force change shape, some of which adnexa has promotion
The effect of Rehabilitation；Can control electric hospital bed is the most senior automated production, has time saving and energy saving advantage.Due to electricity
The feature controlled, control key may be mounted at any permission ward bed by the range of signal, improves the degree of freedom of control.
Upgraded by adnexa, it is also possible to realize authority distribution.Motorized motions Product Precision is higher, it is simple to assembly line work, as ICU
The specific medical sick bed used in intensive care unit, operating room, radiography room etc..
China's research and development in Medical electric sick bed field relatively lag behind, and integral level is the highest, existing domestic situation of all-level hospitals
It is all to use common mechanical sick bed: be made up of footpost, bed body and bed surface.In order to conveniently moving moves, generally individually on footpost
Machinery rolling pulley is set；Patient sits up for convenience, all arranges mechanical hand in head of a bed part and shakes lifting device.For this type
Sick bed, generally individually needs nursing staff to help, and is difficult to complete alone, and sick bed function singleness simultaneously, Practical Performance is the strongest.
Long-play finds to there is a lot of potential safety hazard and inconvenience, it may be assumed that
(1) existing part sick bed is contacted with ground by four fixed station feet and plays a supporting role, and patient is all fixed on certain
In one environment closed, along with patient is in hospital for a long time, the body and mind of patient is caused injury greatly；
(2) although part sick bed has changed fixed station foot as mechanically gimbaled wheel into, can be by medical personnel's Mobile sickbed to certain
Space, but owing to sick bed moves randomness relatively greatly, sometimes there will be maloperation, the most sometimes can hurt patient；
(3) along with the increase of modern humans's quality of life, adiposis patient rolls up, and Health care staff is the thinnest
Little, make Health care staff very painstaking by mechanically gimbaled removing patient of taking turns, increase the weight of labor intensity；
(4) increasing the weight of along with aging, substantial amounts of old man has also increased the weight of the demand to sick bed, and present nurse personnel compare again
Few, the sick bed of mechanically-based universal wheel has increased the weight of the labor intensity of nurse personnel；
(5) all of machinery sick bed is generally individually fixed on certain position, and once needing moves or change direction is required to outside
Personnel complete, and have increased the weight of the amount of labour of nurse personnel；
(6) even if present mechanical sick bed can be pulled in external environment condition by doorway, ward by external force, due to artificial behaviour
The automaticity ratio made is relatively low, is required for an attitude for time adjustment sick bed by doorway, ward and just can pass through；
(7) even if present mechanical sick bed can arrive the environment beyond ward by the mechanically gimbaled support taken turns, have adjusted
While patient's body and mind, also increase the amount of labour of nurse personnel, especially by climbing local time, the body to nurse personnel
Power is had higher requirement；
(8) although the electric hospital bed decoupling that can well meet sick bed speed and direction of single wheel drive, but single-wheel is driven
Dynamic movable motor power is relatively big, and the phenomenon of low load with strong power sometimes can be caused to occur；
(9) due to electric hospital bed power and the contact point only one of which on ground of single wheel drive, artificial being difficult to is caused accurately to control
Its direction moved, slight some interference just can cause bigger direction to change；
(10) although Two-wheeled can weaken the some drawbacks of single wheel drive, but robot electric sick bed is climbing when
If meeting power requirement by motor overload, long operation can injure the performance of motor, causes the reliability of system
It is greatly lowered；
(11) robot electric sick bed needs quickly to accelerate and run with higher speed, at this bar under many state of emergency
Under part, the power of system requirements is relatively big, meets the normal two-wheeled power of motor travelled and cannot meet acceleration request, and system cannot expire
Power requirement under foot emergency；
(12) the robot electric sick bed controlled based on monokaryon, owing to should process the SERVO CONTROL of multi-axle motor, processes again
The multiple sensors sampled data of robot sick bed, the data processed due to single core processor are more, and arithmetic speed is not quickly,
It is unfavorable for that robot runs up, and sometimes data are more causes robot sick bed out of control owing to processing；
(13) owing to robot electric sick bed brakes in running frequently and starts, the work of monokaryon controller has been increased the weight of
Amount, monokaryon controller cannot meet the requirement that robot electric sick bed quickly starts and stops；
(14) owing to being disturbed by surrounding unstable factor, often there is exception in monokaryon robot electric sick bed controller,
Causing robot sick bed the most out of control, capacity of resisting disturbance is poor；
(15) although the pwm control signal of multi-axle motor can be generated based on dedicated servo control chip, however it is necessary that main control
Control parameter is inputted just it is achieved that cause integral operation speed to reduce after device and special chip communication；
(16) being affected by the internal servo programe of dedicated servo control chip, generally SERVO CONTROL pid parameter can not be real
Shi Genggai, can not meet the requirement of electric hospital bed servo-control system real-time.
Summary of the invention
The technical problem that present invention mainly solves is to provide a kind of double-core electric hospital bed control of three-wheel drive high speed robot
Device, for overcoming general hospital's sick bed can not meet patient's actual requirement, on the premise of absorbing external Dynamic matrix control thought, independently
Have developed a based on ARM(STM32F407) two wheel guide robot of+FPGA (A3P250) travels the Three-axis drive machine of single-wheel power-assisted
People is electric hospital bed.This robot control system is with FPGA (A3P250) for processing core, it is achieved three axle DC brushless motors same
Step SERVO CONTROL, STM32F407 realizes the digital signal of multiple sensors signal and processes in real time, and real-time corresponding various interruption protects
Protect request, and realize and FPGA (A3P250) data communication.
For solving above-mentioned technical problem, the technical scheme that the present invention uses is: provide a kind of double-core three-wheel drive
The electric hospital bed controller of high speed robot, including alternating current power supply, battery, panel, the first motor, the second motor, the 3rd motor
And robot electric sick bed, described alternating current power supply and battery provide the panel described in electric current driving, described panel
Use dual-core controller, be communicatively coupled including ARM and FPGA, described ARM and FPGA, be additionally provided with inside described FPGA
The trapezoidal generator of servo, described robot electric sick bed is provided with sensor, and described FPGA accepts the biography of sensor feedback
Sensor signal, by described FPGA through the trapezoidal generator of servo send the first control signal and, the second control signal and the 3rd
Control signal, described the first control signal, the second control signal and the 3rd control signal are through described in drive amplification rear drive
First motor, the second motor and the 3rd motor, described the first motor, the second motor and the 3rd motor is provided with magnetoelectricity and compiles
Code device, sick by magnetism encoder robot electric described in the first described motor, the second motor and the 3rd motor control
Advance, the speed of service and the traffic direction of bed.
In a preferred embodiment of the present invention, described battery uses lithium ion battery.
In a preferred embodiment of the present invention, described the first motor, the second motor and the 3rd motor all uses at a high speed
Direct current brushless servo motor.
In a preferred embodiment of the present invention, described ARM uses STM32F407；Described FPGA uses A3P250.
In a preferred embodiment of the present invention, described sensor includes accelerometer and gyroscope.
In a preferred embodiment of the present invention, described the first control signal, the second control signal and the 3rd control letter
Number it is PWM wave control signal.
In a preferred embodiment of the present invention, the described double-core electric hospital bed controller of three-wheel drive high speed robot is also
Be provided with man machine interface program and kinetic control system, described man machine interface program include man machine interface, path planning and
Online output, described kinetic control system include based on FPGA tri-axle DC brushless motor SERVO CONTROL, data storage and
I/O controls, and wherein, described includes magnetism encoder module, acceleration based on FPGA tri-axle DC brushless motor SERVO CONTROL
Meter and gyroscope acceleration module, based on magnetoelectric transducer acceleration module and based on magnetoelectric transducer displacement module.
The invention has the beneficial effects as follows: the double-core electric hospital bed controller of three-wheel drive high speed robot of the present invention, design
A double-core three-wheel drive high speed robot based on FPGA is electric hospital bed, this sick bed ensure rapidity, stability and
On the premise of safety, change its speed of travel by controller, change its direction by two wheel guide robot driving mode；Work as climbing
When needing more multi-energy, open assist motor play power back-off effect, can well by electric boosted minimizing nurse or
The amount of labour of person Health care staff and labor intensity, the multiple sensors combination that robot sick bed carries makes it have multiple merit
Can, patient's demand to sick bed under different condition can be met.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make
Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for
From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing, wherein:
Fig. 1 is that the present invention is based on the ARM+ FPGA medical hospital bed schematic diagram of double-core three-wheel drive；
Fig. 2 is that the present invention is based on ARM+ FPGA double-core three-wheel drive robot electric sick bed flow chart；
Fig. 3 is based on ARM+ FPGA double-core three-wheel drive robot electric bed motion theory diagram；
Fig. 4 is by doorway, ward self-navigation schematic diagram based on ARM+ FPGA double-core three-wheel drive robot electric sick bed.
Detailed description of the invention
Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement
Example is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area is common
All other embodiments that technical staff is obtained under not making creative work premise, broadly fall into the model of present invention protection
Enclose.
As it is shown in figure 1, the present embodiment includes:
A kind of double-core electric hospital bed controller of three-wheel drive high speed robot, including alternating current power supply, battery, panel, the first electricity
Machine, the second motor, the 3rd motor and robot electric sick bed, described alternating current power supply and battery provide described in electric current driving
Panel, described panel uses dual-core controller, is communicatively coupled including ARM and FPGA, described ARM and FPGA,
Being additionally provided with the trapezoidal generator of servo inside described FPGA, described robot electric sick bed is provided with sensor, described
FPGA accepts the sensor signal of sensor feedback, described FPGA send the first control signal through the trapezoidal generator of servo
With, the second control signal and the 3rd control signal, described the first control signal, the second control signal and the 3rd control signal warp
The first motor, the second motor and the 3rd motor described in drive amplification rear drive, described the first motor, the second motor and the 3rd
Magnetism encoder it is provided with, by magnetism encoder by the first described motor, the second motor and the 3rd motor control on motor
The advance of robot electric sick bed, the speed of service and traffic direction described in system.
In the present embodiment, described battery uses lithium ion battery；Described the first motor, the second motor and the 3rd motor
All use High-speed DC brushless servo motor.
Further, described ARM uses STM32F407；Described FPGA uses A3P250.
STM32F4 series is in addition to pin and softwarecompatible high performance F2 series, and the dominant frequency (168MHz) of F4 is higher than F2 system
Row (120MHz), and support monocycle DSP instruction and floating point unit, bigger SRAM capacity (192 KB, F2 are 128 KB),
The more advanced peripheral hardwares such as the embedded flash memory of 512KB-1MB and image, network interface and data encryption.STM32F4 series base
In up-to-date STM32F407 Cortex M4 kernel, in existing outstanding STM32 microcontroller products combination, increase letter newly
Number process function, and improve the speed of service；STM32F405x is integrated with intervalometer, 3 ADC, 2 DAC, serial line interface, outer
Deposit interface, real-time clock, CRC computing unit and simulation real random number generator at interior a whole set of advanced peripheral hardware.STM32F407 exists
Multiple advanced peripheral hardware is added on the basis of STM32F405 product.These performances make F4 series can be easier to meet control and
The Digital Signals demand of signal processing function mixing.Efficient signal processing function and Cortex-M4 processor family
Low energy consumption, low cost and the combination of wieldy advantage so that STM32F407 performance is superior to far away general dsp chip,
And STM32F407 can greatly design by peripheral circuits, reduces system cost and system complexity, also substantially increases
The storage disposal ability of data.
FPGA is the product of development further on the basis of the programming devices such as PAL, GAL, EPLD, and FPGA makes user
By specific placement-and-routing instrument, its inside can be reconfigured connection, the shortest according to the design needs of oneself
Time in design oneself special IC, thus reduce cost, shorten the construction cycle.Owing to FPGA uses software
The design philosophy changed realizes the design of hardware circuit, thus make system based on FPGA design have good reusable and
Amendment property, this brand-new design philosophy is the most gradually applied and is driven in control at high performance AC and DC, and fast development.
It is to occur as a kind of semi-custom circuit in special IC (ASIC) field, i.e. solves custom circuit not
Foot, overcomes again the shortcoming that original programming device gate circuit number is limited, it may be said that fpga chip is that small lot system improves system
System integrated level, one of optimum selection of reliability.The needs of cumulated volume invention, select FPGA as multiaxis brush DC servo electricity
The SERVO CONTROL actuator of machine, frees STM32F407 from complicated multiple-axis servo control algolithm.
In order to the most mobile robot is electric hospital bed, the electric hospital bed drive part of the present invention uses wheeled construction,
Because relative to walking, creeping or other non-wheeled mobile robot, wheeled robot has quick, work efficiency of taking action
The advantages such as height, simple in construction, controllability are strong, safety is good.
Its speed of service should be considered owing to robot is electric hospital bed, consider its traffic direction and acceleration again and climb
Power demand during slope, in order to optimize system energy utilization rate and meet the power demand under different situation, the present invention uses three
Motor carrys out the completion system different demands to power: travelled the regulation and control realizing speed and direction by two spindle motor differentials, and
And two powers of motor of two wheel guide robot traveling are equal in magnitude, power adds up power requirement when can meet normal traveling；
When acceleration and climbing need electric boosted, system is opened the satisfied power of climbing of assist motor and is met.The most neither injury two-wheeled is poor
Speed motor, it is also possible to reduce its power further.Under normal driving conditions, in order to adjust the traveling side of robot electric sick bed
To, the velocity magnitude generally changing two motors just can arbitrarily realize the change in direction.Owing to direct current generator is at high speed rotating
Time occasional produce spark, and hospital ward is a special occasion, and any spark all may be to the oxygen cylinder of patient
Produce potential danger with inhalation device, therefore, the present invention is responsible for two differential row of robot electric sick bed walking function
Sail motor and climbing assist motor all uses direct current brushless servo motor, owing to direct current brushless servo motor uses Hall element
Carrying out electronic commutation, high speed rotating will not produce any spark, effectively eliminates potential safety hazard.
Owing to the robot electric sick bed in the present invention should adapt to the environment of relative clean in ward, adapt to ward again
The outer dirty environments that dust is more relatively, carries the impact of speed and displacement transducer, the present invention to reduce dust on motor
Having given up photoelectric encoder conventional in legacy system, and used encoder based on magnetoelectric transducer AS5040H, magnetoelectricity encodes
Device can effectively measure speed when three axle direct current brushless servo motors move and displacement, same for robot electric sick bed three axle
Walk three Close loop servo control and provide reliable feedback.
In the present embodiment, described sensor includes accelerometer and gyroscope；Described the first control signal, the second control
Signal processed and the 3rd control signal are PWM wave control signal.
The acceierometer sensor measured value in the long period is correct, and within a short period of time is due to signal noise
Exist, and have certain error.Gyroscope is then the most accurate within a short period of time, and the long period then can be along with the existence of drift
Produce certain error, accordingly, it would be desirable to accelerometer and gyroscope are mutually adjusted guarantees the correct of course.In order to improve robot
The electric hospital bed stability navigated in the process of walking, it is achieved the most accurately adjusting and calculate when accelerating climbing of attitude needs
Power, the present invention adds three axis accelerometer and three-axis gyroscope in robot electric sick bed servo hardware system.?
Omnidistance accelerometer and the gyroscope opened during the walking of robot electric sick bed, accelerometer and be used for robot measurement sick bed three
The acceleration of individual direction of advance and speed, then controller can be obtained by its displacement by integration according to measured value, for machine
The Three-loop control of people provides reliable criterion；When the attitude of robot sick bed changes, it is big that controller can be obtained by it
Causing angle of inclination, on the one hand according to its power demand of Angulation changes, on the other hand when attitude generation large change, controller exists
One new sampling period is immediately to its position compensation, it is to avoid robot electric sick bed is in the process of walking because inclination is excessive
Cause danger, improve stability during its quick walking navigation；If the value of accelerometer and gyroscope is amassed continuously
Dividing and coupling, and it is transformed in navigational coordinate system, robot electric sick bed can not rely on any external information with regard to energy
Accessing the information such as its acceleration, speed, yaw angle and position in hospital's navigational coordinate system, produced navigation information is even
Continuous property is good and noise is the lowest, can be mutually matched then to control to provide for multiple-axis servo with magnetism encoder sensor and accelerate
Degree, speed and Displacement Feedback, greatly enhance safety and the accuracy of the walking of robot sick bed.
The present invention, for overcoming general hospital's sick bed can not meet patient's actual requirement, is absorbing external Dynamic matrix control thought
Under premise, independent research is a based on ARM(STM32F407) two wheel guide robot of+FPGA (A3P250) travels single-wheel power-assisted
Three-axis drive robot electric sick bed.This robot control system is with FPGA (A3P250) for processing core, it is achieved three axle direct currents
The synchronous servo of brushless electric machine controls, and STM32F407 realizes the digital signal of multiple sensors signal and processes in real time, and phase in real time
Answer various interruption protection requests, and realize and FPGA (A3P250) data communication
As in figure 2 it is shown, the described double-core electric hospital bed controller of three-wheel drive high speed robot is additionally provided with man machine interface program
And kinetic control system, described man machine interface program includes man machine interface, path planning and exports online, described motion
Control system includes controlling based on FPGA tri-axle DC brushless motor SERVO CONTROL, data storage and I/O, wherein, described
Magnetism encoder module, accelerometer and gyroscope acceleration mould is included based on FPGA tri-axle DC brushless motor SERVO CONTROL
Block, based on magnetoelectric transducer acceleration module and based on magnetoelectric transducer displacement module.
For reaching above-mentioned purpose, the present invention takes techniques below scheme, in order to improve arithmetic speed, it is ensured that Medical Robot
The stability of electric hospital bed control system and reliability, the present invention uses 32 high-performance ARM(STM32F407) and FPGA
(A3P250), having given up conventionally employed single single-chip microcomputer or the dsp chip of single 16, this controller takes into full account accumulator
Effect in this system, it is achieved the function of dual-core controller Synchronization Control three axle direct current brushless servo motor.Robot electric
Sick bed gives full play to FPGA (A3P250) as servo processor data processing speed feature faster, and by ARM
(STM32F407) functions such as man machine interface, I/O control, path navigation, online output, Data acquisition and storage are realized, the most real
The various interruption of Shi Xiangying.
For design herein based on ARM(STM32F407) the electric hospital bed control of+FPGA (A3P250) dual core machines people
Device, under power-on state, man machine interface first works, if really needing mobile electric sick bed, nurse personnel, Health care staff
Input respective web-privilege password Web, ARM(STM32F407) enable FPGA (A3P250) robot electric sick bed be only possible in room
Mobile, otherwise robot electric sick bed just stays in original place and waits authority open command；If robot electric sick bed needs to release
Ward, now hospital director needs to open the web-privilege password Web of oneself, and otherwise robot electric sick bed once moves to position, doorway
Putting and detected by doorway monitoring sensor, the sensor on detecting system meeting trigger controller, FPGA (A3P250) is locked currently
Robot electric sick bed and send wrong operation alarm.Under ordinary running condition, robot electric sick bed is by various sensings
Device reads external environment condition than feedback parameter to FPGA (A3P250), FPGA (A3P250) generate through the internal trapezoidal generator of servo
The Synchronization Control pwm signal of the direct current brushless servo motor that two axle differentials travel, PWM ripple signal is through drive amplification rear drive direct current
Moving before brushless electric machine X and DC brushless motor Y-direction, its movement velocity and displacement are fed back to by corresponding magnetism encoder
FPGA (A3P250), is adjusted two-axis synchronization pwm control signal to meet by FPGA (A3P250) according to running state parameter secondary
Real work demand；Giving it the gun or under climbing state, robot electric sick bed reads external environment condition by various sensors
Than feedback parameter to FPGA (A3P250), FPGA (A3P250) generate three axle brush DCs through the internal trapezoidal generator of servo and watch
Taking the Synchronization Control pwm signal of motor, PWM ripple signal is through drive amplification rear drive DC brushless motor X, DC brushless motor Y
Moving with before direct current brushless servo motor Z-direction, its movement velocity and displacement are fed back to FPGA by corresponding magnetism encoder
(A3P250), FPGA (A3P250) adjust three axles according to running state parameter secondary and synchronize pwm control signal with satisfied reality
Work requirements.Robot electric bed is in running, and man machine interface on-line storage based on STM32F407 also exports current shape
State so that process more directly perceived.
With reference to Fig. 2, being embodied as step is:
Medical electric bed control system is divided into two parts: human-computer interface system and kinetic control system.Wherein man machine interface system
Unite the functions such as man machine interface, path planning, online output；Electronic disease is completed based on FPGA (A3P250) kinetic control system
The multiple-axis servo of bed controls, and ARM (STM32F407) realizes the functions such as data storage, I/O control, and system gives full play to FPGA
(A3P250) process data advantage faster, processed various interrupt signals in real time by ARM (STM32F407) simultaneously and data are deposited
Storage.
With reference to Fig. 2, Fig. 3 and Fig. 4, its concrete functional realiey is as follows:
1) before any instruction do not received by robot electric sick bed, it typically can be consolidated with common medical hospital bed as broad as long
Being scheduled on some region, the accumulator in system is charged by alternating current power supply, it is ensured that robot electric sick bed has the enough energy complete
One-tenth task；
2) after once receiving the work order that main controller sends, in order to prevent the mobile infringement charging connection of robot electric sick bed
Line, STM32F407 controller can disconnect the connection of line and alternating current power supply automatically, and robot electric sick bed transfers accumulator to
Power supply state；
3) in order to prevent maloperation, the present invention uses three grades to start authorities, when determine need mobile robot electric hospital bed time, as
It is electric hospital bed that fruit simply moves robot inside ward, then need nurse personnel and nurse successively by man machine interface input power
Walking mode within doors opened by limit password；If needing to promote robot electric sick bed to walk out ward, then need nurse personnel, protect
Scholar and hospital director successively open walking mode outside room by man machine interface input web-privilege password Web；
4) after walking mode opened by robot electric sick bed, once start key SS presses, and first system completes to initialize and examine
Surveying supply voltage, if battery feed is abnormal, will send interruption to ARM (STM32F407) and FPGA (A3P250) please
Asking, interruption can be done very first time response by STM32F407 and A3P250, if the interrupt response of STM32F407 and A3P250
Not having enough time to process, the self-locking device on car body will be triggered, and then reach the function of self-locking, prevent maloperation；If it is electric
Source is normal, and electric bed robot will start normal work；
5) detecting that start key SS presses when FPGA (A3P250) controller, FPGA (A3P250) controller turns lateral for detection
Whether curved button SK is triggered；If lateral turning button SK is triggered, FPGA (A3P250) is according to robot motion's part need
Want the anglec of rotationWith its internal trapezoidal generator, distance SX to be operated for direct current brushless servo motor X and Y is converted
For acceleration, speed and reference by location command value, then FPGA (A3P250) is in conjunction with motor X and the magnetoelectric transducer of motor Y
The feedback of M1, M2 generates the driving signal driving direct current brushless servo motor X and motor Y, drives signal after power bridge amplifies
Direct current brushless servo motor X and motor Y is driven to move in a reverse direction, in motor process M1 and the fortune of M2 Real-time Feedback motor
Line parameter controls letter to FPGA (A3P250), FPGA (A3P250) according to the PWM of feedback parameter secondary fine setting motor X and motor Y
Number so that rotary system completes side at the appointed time and turnsTask, owing to being motor X and motor Y composition in the process
Rotating part 90-degree rotation, do not change electric hospital bed direction, improve the robot electric sick bed reality at small space
The property used；In motor process, FPGA adjusts the pid parameter of SERVO CONTROL program in real time with satisfied actual need according to extraneous circumstance
, operational factor that ARM real time record is electric hospital bed also shows in man machine interface；
6) detect that start key SS presses when FPGA (A3P250) controller, if now forwarding button SF is triggered, system meeting
Turbo SA is judged, if the system determine that turbo SA is triggered, illustrates that robot electric sick bed needs to add
Speed or climbing, now ARM controller can be optimized distribution to the power required for robot as required, is then turned on
Three spindle motor synchronous servo control models；According to acceleration and rate request, FPGA (A3P250) combine DC brushless motor X,
The feedback of magnetism encoder M1, M2 and M3 that motor Y and motor Z are equipped with through internal trapezoidal generator generate drive dynamic triaxial direct current without
The PWM drive signal of brush motor, drives signal to amplify rear drive three spindle motor through driver and travels forward, magnetoelectricity in the process
Encoder M1, M2 and M3 feed back its displacement signal to A3P250 in real time, and FPGA (A3P250) is converted into machine this displacement signal
The actual motion distance that people is electric hospital bed；In motor process, front anti-collision ultrasonic sensor S9 and S10 that robot carries
By work, and feed back the distance of itself and preceding object thing to FPGA (A3P250) the controller moment；If crashproof supersonic sensing
Device S9 or S10 reads front when having barrier, and FPGA (A3P250) adjusts brush DC through internal SERVO CONTROL program
Servomotor X, motor Y, the PWM output of motor Z, control robot electric sick bed and stop in safety range, and controller also leaves
Open the timing of three seconds, if controller still reads barrier after three seconds, notify that man machine interface changes run trace；
If three seconds obstruction signal messages, then robot electric sick bed will continue to start advance according to current path；In robot
In electric hospital bed motor process, magnetoelectric transducer M1, M2 and M3 can moment detection direct current brushless servo motor X, motor Y and motors
The movement velocity of Z and displacement, and send FPGA (A3P250) to, FPGA (A3P250) secondary adjust DC brushless motor X, electricity
The PWM wave control signal of machine Y and motor Z is to meet actual demand；In motor process, FPGA adjusts in real time according to extraneous circumstance
The pid parameter of whole SERVO CONTROL program is actually needed to meet, operational factor that ARM real time record is electric hospital bed on man-machine boundary
Face shows；
7) detecting that start key SS presses when FPGA (A3P250) controller, if now only having forwarding button SF to be triggered, adding
Speed button SA is not triggered, and robot electric sick bed will start to move according to normal speed forward: motor X and motor Y is activated,
Motor Z is released；In motor process, front anti-collision ultrasonic sensor S9 and S10 that robot carries by work, and to
The STM32F407 controller moment feeds back the distance of itself and preceding object thing；If anti-collision ultrasonic sensor S9 or S10
Reading front when having barrier, FPGA (A3P250) adjusts direct current brushless servo motor X and electricity through internal SERVO CONTROL program
The PWM output of machine Y, controls robot electric sick bed and stops in safety range, and controller also opens the timing of three seconds, as
Really after three seconds, controller still reads barrier and then notifies that man machine interface changes run trace；If three seconds obstruction signals
Message, then robot electric sick bed will continue to start advance according to current path；During robot electric bed motion, magnetic
Electric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and displacement in the moment, and send FPGA to
(A3P250), FPGA (A3P250) secondary the PWM wave control signal of DC brushless motor X and motor Y is adjusted with satisfied reality
Demand；In motor process, FPGA adjusts the pid parameter of SERVO CONTROL program in real time with satisfied actual need according to extraneous circumstance
, operational factor that ARM real time record is electric hospital bed also shows in man machine interface；
8) detect that start key SS presses when FPGA (A3P250) controller, if now back SB is also triggered, no matter
Whether turbo SA is triggered, and robot electric sick bed all will start setback, FPGA with the normal speed set
(A3P250) adjust the PWM output of direct current brushless servo motor X and motor Y through internal SERVO CONTROL program, control robot electricity
Dynamic sick bed slowly retreats according to setting speed；During setback, magnetoelectric transducer M1, M2 can moment detection brush DCs
Servomotor X and the movement velocity of motor Y and displacement, and send FPGA (A3P250) to, FPGA (A3P250) is according to magnetoelectricity
The speed of sensor M1 and M2 and Displacement Feedback secondary adjust the PWM output of direct current brushless servo motor X and motor Y, it is ensured that machine
Device people is electric hospital bed to be run in the range of safe speed, prevents excessive velocities robot electric sick bed from pushing over nurse personnel；In fortune
During Dong, FPGA adjusts the pid parameter of SERVO CONTROL program in real time and is actually needed to meet according to extraneous circumstance, and ARM is real-time
Record electric hospital bed operational factor and show in man machine interface；
9) detect that start key SS presses when FPGA (A3P250) controller, if now turning button SK and forwarding button SF quilt
Triggering, no matter whether turbo SA is triggered, and robot electric sick bed is all by the normal speed starting side to set to the right
Moving, in motor process, the side anti-collision ultrasonic sensor S6 that robot carries is by work, and to STM32F407 controller
Moment feeds back the distance of itself and preceding object thing；If anti-collision ultrasonic sensor S6 reads right when having barrier, FPGA
(A3P250) adjust the PWM output of direct current brushless servo motor X and motor Y through internal SERVO CONTROL program, control robot electricity
Dynamic sick bed stops in safety range, and controller also opens the timing of three seconds, if controller still reads after three seconds
Barrier exists and will send parking warning to man machine interface；If three seconds obstruction signal messages, then robot electric sick beds
To continue laterally to move to right according to current track；During robot electric sick bed laterally moves to right, during magnetoelectric transducer M1, M2 meeting
Carve detection direct current brushless servo motor X and the movement velocity of motor Y and displacement, and send FPGA (A3P250) to, by FPGA
(A3P250) secondary adjusts motor X and the kinematic parameter of motor Y, it is ensured that system meets walking requirement；In motor process,
FPGA adjusts the pid parameter of SERVO CONTROL program in real time and is actually needed to meet according to extraneous circumstance, the electronic disease of ARM real time record
Bed operational factor and show in man machine interface；
10) detect that start key SS once presses when FPGA (A3P250) controller, if now turning button SK and advance are pressed
Button SB is triggered, and no matter whether turbo SA is triggered, and robot electric sick bed all will start with the normal speed set
Laterally move to left；In motor process, the side anti-collision ultrasonic sensor S7 that robot carries is by work, and to FPGA
(A3P250) the controller moment feeds back the distance of itself and preceding object thing；If before anti-collision ultrasonic sensor S7 reads motion
When there is barrier side, FPGA (A3P250) adjusts direct current brushless servo motor X and the PWM of motor Y through internal SERVO CONTROL program
Output, controls robot electric sick bed and stops in safety range, and controller also opens the timing of three seconds, if after three seconds
Controller still reads barrier and exists and will send parking warning to man machine interface；If three seconds obstruction signal messages,
Then robot electric sick bed will continue laterally to move to left according to current track；During robot electric sick bed laterally moves to left, magnetic
Electric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and displacement in the moment, and send FPGA to
(A3P250), FPGA (A3P250) secondary motor X and the kinematic parameter of motor Y are adjusted, it is ensured that system meets actual demand；
In motor process, FPGA adjusts the pid parameter of SERVO CONTROL program in real time and is actually needed to meet according to extraneous circumstance, ARM
Operational factor that real time record is electric hospital bed also shows in man machine interface；
11) when robot electric sick bed needs to remove ward, Xian You hospital director opens walking web-privilege password Web, can protect
Workman person releases room, it is possibility to have nurse personnel shift the position with area navigation mark, machine onto robot electric sick bed
Device people electric hospital bed entrance automatic navigation mode: photoelectric sensor S1, S2, S3, S4, S5 of its navigation are by work, surface mark
The photosignal reflected feeds back to FPGA (A3P250), determines that robot offsets after FPGA (A3P250) judgement processes
The deviation of navigation track, FPGA (A3P250) is converted into motor X and motor Y through internal SERVO CONTROL program this deviation signal
Acceleration, speed and displacement commands to be run, the feedback production in conjunction with magnetism encoder M1 and M2 drives brush DC to watch
Take the driving signal of motor X and motor Y, drive signal to move, quickly before amplifying rear drive DC brushless motor X and motor Y-direction
Adjust robot electric sick bed and rapidly return back to orbit centre of navigating；Robot electric sick bed is along track travel process, FPGA
(A3P250) finely tune the driving signal of motor X and motor Y according to the feedback of surface mark and magnetism encoder M1 and M2, make machine
Device people passes through doorway, ward along the track set；After the track laid disappears, robot electric sick bed is just parked in
Original place waits artificial movable signal, prevents maloperation；In motor process, FPGA adjusts SERVO CONTROL in real time according to extraneous circumstance
The pid parameter of program is actually needed to meet, and operational factor that ARM real time record is electric hospital bed also shows in man machine interface；
12) robot electric hospital bed motor process in order to prevent nurse maloperation and run into emergency stop, add
Entered to stop in emergency automatic car locking function；In case of emergency, after emergency button ESW1 is pressed, controller once detects
Urgent interrupt request can send original place cutoff command, and FPGA (A3P250) blocks direct current brushless servo motor X, electricity by driver
The PWM ripple signal of machine Y and motor Z, though electric hospital bed multiple universal wheel all in can with sliding mode, due to movable motor X,
Motor Y and motor Z is in locking state, and such robot electric sick bed also will not move, it is ensured that robot is in emergency
Under safety；
13) present invention adds dust humidity detection system on robot electric sick bed；This dust humidity detection system by moisture sensor,
Measuring circuit and display several parts such as recording equipment composition, be respectively completed acquisition of information, change, show and the function such as process, this
Sample is when patient-sized is the most out of control, and dust humidity detection system can work, and will send alarm signal, and nurse personnel are defeated by man machine interface
Go out to find failure cause, then change bedding；
14) this electric bed is equipped with multiple anti-barrier warning system, and robot barrier physical prospecting examining system can be sick in robot
Bed automatically detects the existence of barrier and assists automatic stopping by controller before colliding barrier, and according to barrier
Character determine restarting or stay in as you were always, this ensures that there robot sick bed in motor process to week
The adaptation in collarette border, decreases the environment interference to it；
15) in robot electric sick bed walking process, direct current brushless servo motor is often disturbed by extraneous factor, in order to
The impact on robot ambulation of the pulsating torque of minimizing motor, FPGA (A3P250) controller is on the basis of considering motor characteristic
Add the on-line identification to motor torque, and utilize motor torque to compensate in time with the relation of electric current, weaken the external world
The environment impact on robot motion；
15) during robot electric sick bed is walked, servo controller whole process opens accelerometer A1 and gyroscope G1, acceleration
Meter A1 and gyroscope G1 can accurately measure the acceleration of three directions of advance of robot sick bed, according to the acceleration recorded and
Speed control can be obtained by its displacement by continuous integral, and the Three-loop control for robot provides reliable criterion；Simultaneously
When the attitude of robot sick bed changes, controller can be obtained by its generally ramped angle and acceleration requirement, controls
Device just can substantially calculate power demand according to angle of inclination and acceleration demand, then adjusts each brush DC servo electricity
The power of machine is with satisfied climbing and accelerates needs；Controller by accelerometer A1 and gyroscope G1 is carried out continuous integral, and
It is transformed in hospital's navigational coordinate system, and robot electric sick bed can not rely on any external information just can obtain it
The information such as acceleration, speed, yaw angle and position in hospital's navigational coordinate system, controller stores in real time and shows.
The invention have the advantages that:
1: during controlling, taken into full account battery effect in this system, based on ARM(STM32F407)+FPGA
(A3P250) the controller moment is all to the running status of robot electric sick bed with power source is monitored and computing, works as friendship
During stream dump, sick bed can be self-locking in fixed position by certainly carrying battery feed, until there being the switch of Mobile sickbed to believe
Number 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 are both needed to
It is electric hospital bed that authority to be opened just can start robot, decreases the danger of maloperation；
3: patient takes care of oneself for convenience, reduces the dependence of condition to external world, and native system adds human-machine interface function, if patient
Just can be automatically controlled sick bed robot by computer contact screen, thus can need not nursing and oneself solve part simply
Daily life；
4: add dynamic booster based on accumulator owing to this is electric hospital bed, even if encountering patient body obesity or protecting
During reason personnel's asthenic body, sick bed this can be nurse personnel under conditions of power supply abundance and Health care staff moves in room
Dynamic sick bed provides power, decreases nurse or the physical demands of nurse personnel Mobile sickbed in room and labor intensity；
5: add two wheel guide robot drive system based on direct current brushless servo motor owing to this is electric hospital bed so that sick bed is permissible
In room, interior-excess now moves freely, and decreases patient's sense of depression in some fixed position；
6: add two wheel guide robot drive system based on direct current brushless servo motor owing to this is electric hospital bed so that single motor
Power be substantially reduced, and the contact point on power and ground has 2 points, handling when being conducive to improving electric hospital bed traveling；
7: add single shaft based on direct current brushless servo motor owing to this is electric hospital bed and accelerate force aid system so that two differentials
The power of running motor can reduce further, and the contact point on power and ground has 3 points, accelerates or climbing at needs
Time can meet power requirement by opening assist motor, can discharge when normal traveling and add speed motor, play a contact
Left and right, handling when being conducive to improving electric hospital bed traveling；
8: owing to adding two wheel guide robot drive system based on direct current brushless servo motor, permissible in very narrow space
Make the shifted laterally of sick bed robot, reduce robot and rotate the negative issue brought；
9: when robot electric sick bed runs into climbing, due to the self-contained dynamic energy, it is possible to pass through power-assisted
Motor well plays power-assisted effect, and the dynamic trait of three-wheel drive is superior to far away Two-wheeled, further reduces
Requirement to nurse personnel muscle power；
10: processed two spindle motor differentials by FPGA (A3P250) and travel and the full-digital servo control of power-assisted direct current brushless servo motor
System, substantially increases arithmetic speed, solves single single-chip microcomputer and runs slower bottleneck, shortens the construction cycle short, and program
Transplantation ability is strong；
11: invention fully achieves veneer control, not only save panel and take up room, but also fully achieve multiaxis
The synchronization of motor control signal, is conducive to improving stability and the dynamic property of medical robot electric sick bed；
12: owing to this controller uses FPGA (A3P250) to process three axle brush DC servo-control system substantial amounts of control numbers
According to algorithm, and taken into full account interference source around, ARM freed from complicated calculating, effectively prevent journey
" race flies " of sequence, capacity of resisting disturbance is greatly enhanced；
13: robot is electric hospital bed adds automatic car locking function, when sick bed robot is in moving process, as urgent in run into
Situation, FPGA (A3P250) controller can send original place cutoff command, and locked two wheel guide robot running motor, even if multiple universal
Taking turns all in can be with sliding mode, but owing to driving wheel is in locking state, such robot also will not move；
14: in order to enable robot sick bed to move freely out doorway, ward, controller adds multiple navigation sensor, machine
Device people removal ward during once read surface mark will self-navigation, reduce the error that artificial Mobile sickbed brings；
15: the multiple warning system of this electric bed robotic equipment, before colliding barrier automatic stopping, thus ensure
Safety in motor process, decreases the environment interference to it；
16: owing to robot electric sick bed system uses direct current brushless servo motor to instead of direct current generator, the most further
Improve the safety of system, it is also possible to improve the utilization rate of the energy, add robot electric sick bed to carry the energy certain
Under conditions of the distance that once moves；
17: owing to robot electric sick bed system uses direct current brushless servo motor, when motor is produced arteries and veins by external interference
During dynamic torque, direct current brushless servo motor can utilize moment to compensate rapidly with the relation of electric current, greatly reduces the external world
The interference impact on robot electric sick bed；
18: robot is electric hospital bed adds dust humidity detection system；This dust humidity detection system is by moisture sensor, measuring circuit
With display several parts such as recording equipment composition, it is respectively completed acquisition of information, changes, show and the function such as process, so work as patient
When defecation is out of control or sheet is moist, dust humidity detection system can work, and sends replacement request；
18: owing to being directly produced multiaxis driven by Brush-Less DC motor signal by FPGA (A3P250), it is not necessary to DSP appoints to its input
What parameter so that the processing speed of system is accelerated, beneficially system high-speed are run；
19:FPGA (A3P250) controller adjusts the pid parameter of servo-control system in real time according to peripheral environment, meets electronic disease
The requirement that under the different situation of bed, fast response servo control system adjusts；
20: accelerometer A1 and the gyroscope G1 acceleration being used for three directions of advance of robot measurement sick bed and speed, according to
Measured value controller can be obtained by its speed and displacement by continuous integral, and the Three-loop control offer for robot is reliably sentenced
According to；
21: accelerometer A1 and gyroscope G1 can improve the stability that robot electric sick bed navigates in the process of walking, real
The power needed during climbing is accelerated in the most accurately adjustment of existing attitude, calculating.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this
Equivalent structure or equivalence flow process that bright description is made convert, or are directly or indirectly used in other relevant technology neck
Territory, is the most in like manner included in the scope of patent protection of the present invention.
Claims (7)
1. the double-core electric hospital bed controller of three-wheel drive high speed robot, it is characterised in that include alternating current power supply, battery,
Panel, the first motor, the second motor, the 3rd motor and robot electric sick bed, described alternating current power supply and battery provide
Panel described in electric current driving, described panel uses dual-core controller, including ARM and FPGA, described ARM and FPGA
Being communicatively coupled, be additionally provided with the trapezoidal generator of servo inside described FPGA, described robot electric sick bed is provided with biography
Sensor, described FPGA accepts the sensor signal of sensor feedback, described FPGA send through the trapezoidal generator of servo
First control signal and, the second control signal and the 3rd control signal, described the first control signal, the second control signal and the
Three control signals through the first motor described in drive amplification rear drive, the second motor and the 3rd motor, described the first motor,
It is provided with magnetism encoder, by magnetism encoder by the first described motor, the second motor on two motors and the 3rd motor
With the advance of robot electric sick bed, the speed of service and the traffic direction described in the 3rd motor control.
The double-core electric hospital bed controller of three-wheel drive high speed robot the most according to claim 1, it is characterised in that described
Battery use lithium ion battery.
The double-core electric hospital bed controller of three-wheel drive high speed robot the most according to claim 1, it is characterised in that described
The first motor, the second motor and the 3rd motor all use High-speed DC brushless servo motor.
The double-core electric hospital bed controller of three-wheel drive high speed robot the most according to claim 1, it is characterised in that described
ARM use STM32F407；Described FPGA uses A3P250.
The double-core electric hospital bed controller of three-wheel drive high speed robot the most according to claim 1, it is characterised in that described
Sensor include accelerometer and gyroscope.
The double-core electric hospital bed controller of three-wheel drive high speed robot the most according to claim 1, it is characterised in that described
The first control signal, the second control signal and the 3rd control signal be PWM wave control signal.
The double-core electric hospital bed controller of three-wheel drive high speed robot the most according to claim 1, it is characterised in that described
The double-core electric hospital bed controller of three-wheel drive high speed robot be additionally provided with man machine interface program and kinetic control system, described
Man machine interface program include man machine interface, path planning and export online, described kinetic control system include based on
The storage of FPGA tri-axle DC brushless motor SERVO CONTROL, data and I/O control, wherein, described based on FPGA tri-axle direct current
Brushless electric machine SERVO CONTROL includes magnetism encoder module, accelerometer and gyroscope acceleration module, based on magnetoelectric transducer
Acceleration module and based on magnetoelectric transducer displacement module.
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