CN106176094A

CN106176094A - A kind of wireless double-core single wheel drive is freely lifted robot electric sick bed controller

Info

Publication number: CN106176094A
Application number: CN201610600780.2A
Authority: CN
Inventors: 张好明
Original assignee: Jiangsu Ruobo Robot Technology Co Ltd
Current assignee: Jiangsu Ruobo Robot Technology Co Ltd
Priority date: 2016-07-28
Filing date: 2016-07-28
Publication date: 2016-12-07

Abstract

The invention discloses a kind of wireless double-core single wheel drive and be freely lifted robot electric sick bed controller, described panel uses dual-core controller, communicate and accept the sensor signal of sensor feedback by control device of wireless with outside nursing master station including DSP and MC2340, described DSP.By the way, the present invention is travelled by single wheel drive sick bed, plays electric boosted effect, it is possible to reduce nurse or the amount of labour of Health care staff and labor intensity；Respectively add an axle Motorized lift device at electric hospital bed head and afterbody simultaneously, play the function being freely lifted patient body head, waist and leg, patient's demand to sick bed under different condition can be met, and transmit electric hospital bed body and patient information at any time to nursing master station by WLAN, made corresponding response according to demand by nursing master station, patient's demand to sick bed under different condition can be met.

Description

A kind of wireless double-core single wheel drive is freely lifted robot electric sick bed controller

Technical field

The present invention relates to a kind of wireless double-core single wheel drive, be freely lifted medical robot electric sick bed and automatically control and be System, belongs 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) existing machinery sick bed is generally individually provided with a shake regulations and parameters at the head of sick bed, when client need lifts head Or when needing to steeve above the waist, all have nursing staff to shake regulations and parameters and reach the purpose of raised portion sick bed, sick bed automatic Change degree is relatively low, and has increased the weight of the amount of labour of nursing staff；

(9) existing machinery sick bed does not generally individually account for the requirement of patient's leg, the sick bed Machinery Ministry of the leg position of patient Divide and can not move up and down, cause the situations such as leg muscle atrophy to occur for the patient of long-time bed, be unfavorable for patient The state of an illness treatment；

(10) existing machinery sick bed or the most electric hospital bed when pushing away patient and leaving ward, no matter the state of an illness of patient and shape Condition how, and patient is all the most straight to lie on one's sick bed, does not has hommization to consider, sometimes the most serious to the menticide of patient；

(11) 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；

(12) 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；

(13) 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；

(14) sick bed easy for part once adds electric boosted part and can be easily away from ward, the most electric hospital bed Even if leave the electric hospital bed body in ward go wrong and patient cause danger, medical personnel again cannot obtain its any letter Breath；

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

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

(17) in simple electric sick bed moving process for sick bed parameter monitoring great majority also in field monitoring scene store Control model, the most electric hospital bed breaking down needs producers check to scene and manipulate, is unfavorable for robot electric The supermatic development of sick bed.

Summary of the invention

The technical problem that present invention mainly solves is to provide a kind of wireless double-core single wheel drive and is freely lifted robot electric Sick bed controller, for overcoming general hospital's sick bed can not meet patient's actual requirement, before absorbing external Dynamic matrix control thought Putting, independent research is a based on DSP(TMS320F2812)) the brand-new double-core single-wheel of+special sport control chip MC2340 Drive, can be freely lifted four axle robot electric sick beds of part bed body.This robot control system is with MC2340 for processing Core, it is achieved the synchronous servo of four axle DC brushless motors controls, TMS320F2812 realizes the numeral letter of multiple sensors signal Number real-time process, and real-time corresponding various interruption protection requests, and realize and MC2340 data communication, in order to realize robot electricity The distant control of dynamic sick bed, native system adds control device of wireless based on LAN, it is achieved robot sick bed and nursing Data communication between master station.

For solving above-mentioned technical problem, the technical scheme that the present invention uses is: provide a kind of wireless double-core single-wheel Driving is freely lifted robot electric sick bed controller, including alternating current power supply, battery, panel, motor X, motor Y, motor Z with And motor R, described alternating current power supply and battery provide the panel described in electric current driving, described panel uses double-core to control Device, is communicatively coupled including DSP and MC2340, described DSP and MC2340, and robot electric sick bed is provided with sensor, Described DSP is communicated by control device of wireless with outside nursing master station and accepts the sensor signal of sensor feedback, The first driving signal, two driving signal, the 3rd driving signal and fourth drive signal is sent by described MC2340, described First drives signal, two driving signal, the 3rd driving signal and fourth drive signal to drive described after drive amplification respectively Motor X, motor Y, motor Z and motor R, described motor X, motor Y, motor Z and motor R is provided with magnetism encoder, By magnetism encoder by described motor X, motor Y, motor Z and motor R control described in robot electric sick bed advance, The speed of service, traffic direction and elevating movement.

In a preferred embodiment of the present invention, described battery uses lithium ion battery.

In a preferred embodiment of the present invention, described motor X, motor Y, motor Z and motor R all use brush DC Servomotor.

In a preferred embodiment of the present invention, described DSP uses TMS320F2812.

In a preferred embodiment of the present invention, described first drives signal, two driving signal, the 3rd driving signal It is PWM ripple with fourth drive signal and drives signal.

In a preferred embodiment of the present invention, described wireless double-core single wheel drive is freely lifted robot electric sick bed Controller also includes that accelerometer and gyroscope, described accelerometer and gyroscope are arranged on robot electric sick bed.

In a preferred embodiment of the present invention, described wireless double-core single wheel drive is freely lifted robot electric sick bed Controller is additionally provided with man machine interface program and kinetic control system, and described man machine interface program includes man machine interface, region Planning and wireless output, described kinetic control system includes based on MC2340 tetra-axle DC brushless motor SERVO CONTROL, nothing The storage transmission of line data and I/O control, described based on MC2340 tetra-axle DC brushless motor SERVO CONTROL include based on MC2340 two axle DC brushless motor single wheel drive SERVO CONTROL and based on MC2340 two axle DC brushless motor lift servo control System, wherein, based on MC2340 two axle DC brushless motor single wheel drive SERVO CONTROL with based on MC2340 two axle brush DC electricity Machine lift servo controls all to include magnetism encoder module, based on magnetism encoder acceleration module, based on magnetism encoder speed Spend module and based on magnetism encoder displacement module.

The invention has the beneficial effects as follows: the wireless double-core single wheel drive of the present invention is freely lifted robot electric sick bed and controls Device, devises a controlled in wireless double-core single wheel drive based on servo special integrated circuit MC2340, two axles are freely lifted disease Four axle robot electric sick beds of bed, this dual core machines people's sick bed is travelled by single wheel drive sick bed, plays electric boosted Effect, it is possible to reduce nurse or the amount of labour of Health care staff and labor intensity；The most each at electric hospital bed head and afterbody Add an axle Motorized lift device, play the function being freely lifted patient body head, waist and leg；Multiple sensors combines Make robot electric sick bed have several functions, patient's demand to sick bed under different condition can be met, and pass through nothing Line LAN transmits electric hospital bed body and patient information at any time to nursing master station, and by nursing, master station makes according to demand accordingly Response, can meet patient's demand to sick bed under different condition.

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 freely lifted sick bed schematic diagram based on DSP+ MC2340 wireless double-core single wheel drive；

Fig. 2 is that the present invention is freely lifted robot electric sick bed process block based on DSP+ MC2340 wireless double-core single wheel drive Figure；

Fig. 3 is for be freely lifted robot electric bed motion theory diagram based on DSP+ MC2340 wireless double-core single wheel drive；

Fig. 4 is that wireless double-core single wheel drive is freely lifted robot electric sick bed by doorway, ward self-navigation schematic diagram.

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 wireless double-core single wheel drive is freely lifted robot electric sick bed controller, including alternating current power supply, battery, control Plate, motor X, motor Y, motor Z and motor R, described alternating current power supply and battery provide the panel described in electric current driving, institute The panel stated uses dual-core controller, is communicatively coupled including DSP and MC2340, described DSP and MC2340, robot The electric hospital bed sensor that is provided with, described DSP is communicated by control device of wireless with outside nursing master station and accepts biography The sensor signal of sensor feedback, is sent the first driving signal, two driving signal, the 3rd driving signal by described MC2340 And fourth drive signal, described the first driving signal, two driving signal, the 3rd driving signal and fourth drive signal are through driving Described motor X, motor Y, motor Z and motor R, described motor X, motor Y, motor Z and motor is driven respectively after dynamic amplification Magnetism encoder it is provided with, by magnetism encoder described in described motor X, motor Y, motor Z and motor R control on R The advance of robot electric sick bed, the speed of service, traffic direction and elevating movement.

In the present embodiment, described battery uses lithium ion battery；Described motor X, motor Y, motor Z and motor R are equal Use direct current brushless servo motor.

Further, described DSP uses TMS320F2812.

Along with microelectric technique and the development of Automated library system chip fabrication techniques and maturation, digital signal processor core Sheet DSP, due to its quick computing capability, is not only widely used in communication and video frequency signal processing, the most gradually applies at various height In the control system of level.TMS320F2812 is the fixed point 32 bit DSP core on the C2000 platform that American TI company releases Sheet, runs clock also fast up to 150MHz, and process performance is up to 150MIPS, every instruction cycle 6.67ns.TMS320F2812 I/O port the abundantest, there are two serial ports, there is the AD conversion etc. of the 0 ~ 3.3v of 12, there is the sheet of 128k × 16 in sheet Interior FLASH, the SRAM of 18K × 16, general application system can not wanted outer extension memory, can greatly be simplified periphery Circuit design, reduces system cost and system complexity, also substantially increases the storage disposal ability of data.

Motion control chip can control single shaft and multiaxis is brushless for U.S. PMD (Performance Motion Devices) Direct current generator, it drives in the following manner by a main frame: 8 or 16 parallel-by-bit buses, CAN 2.0B, or one Asynchronous serial port.Servo loop compensates and uses complete 32 site errors, tape speed and the PID of feed forward of acceleration, integrated amplitude limit and Complex load is done complex control by bilateral rectangular filter.MC23XX movement sequence control chip is that PMD company is based on high property The third generation SERVO CONTROL chip of energy motor control exploitation, has been widely used for medical treatment, science, Automated condtrol and robot Application.MC23XX can realize the position of DC brushless motor, speed controlling, integrated chip overcurrent protection simultaneously, and overvoltage/ Under-voltage protection and overheat protector etc., chip provides one and initializes with powerful instruction set flexibly and fortune is set and controlled Moving axis, and there is supervision performance, MC2310, MC2320, MC2340 can control an axle, two axles and four axle brush DCs electricity respectively Machine, MC2320, MC2340 add the function that each spindle motor synchronizes, and it is special that this point is superior to far away these of LM629, MC23XX Property makes it be particularly suitable for the control of DC brushless motor.The needs of cumulated volume invention, select MC2340 to regulate as SERVO CONTROL Device, and carry out communication and data call by serial port with TMS320F2812, TMS320F2812 from complicated multiple-axis servo Control algolithm frees.

In order to more preferable Mobile sickbed, the robot electric sick bed drive part of invention uses wheeled construction, because Relative to walking, creeping or other non-wheeled mobile robot, wheeled robot has take action quick, work efficiency height, knot The advantages such as structure is simple, controllability is strong, safety is good.

Its speed of service should be considered owing to robot is electric hospital bed, consider its traffic direction again, only the two it Between be capable of decoupling, it is possible to moving freely in ward, accordingly, it would be desirable to two motors complete this action, single-wheel is driven The dynamic decoupling that can well realize velocity magnitude and direction, therefore single wheel drive is a good selection.Due to unidirectional current Machine occasional when high speed rotating produces spark, and hospital ward is a special occasion, and any spark all may be right The oxygen cylinder of patient and inhalation device produce potential danger, and therefore, the travel driving motor in the present invention and being responsible for turns to Motor all uses direct current brushless servo motor, owing to using Hall element to carry out electronic commutation, effectively eliminates potential safety hazard.

The present invention, in order to make robot sick bed automatic lifting part electric hospital bed machinery bed body, reaches to lift patient Head and the function of leg, given up traditional mechanical sick bed and used the artificial mode shaking regulations and parameters, when client need is raised the head When portion or needs are steeved above the waist, head servo based on single shaft direct current brushless servo motor controls part work and automatically rises The head of fall bed body；When client need lifts or transfers leg, leg based on single shaft direct current brushless servo motor is watched Clothes control the afterbody of part work automatic lifting bed body；The two can also work simultaneously, reaches the merit of lifting electric sick bed together Energy；When client need rest, as long as pressing resetkey, no matter the attitude of current power sick bed, bed body all returns to sick bed Initial condition, meets the minimum basic function of sick bed.

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 Give up photoelectric encoder conventional in legacy system, and use encoder M1, M2, M3 of based on magnetoelectric transducer AS5040H And M4, sensor M1, M2, M3 and M4 can effectively measure four axle direct current brushless servo motors motion time speed and displacement, Reliable feedback is provided for robot electric sick bed four axle three Close loop servo control.

In the present embodiment, described sensor includes accelerometer and gyroscope；Described first driving signal, second drive Dynamic signal, the 3rd driving signal and fourth drive signal are PWM ripple and drive signal.

In order to improve the stability that robot electric sick bed navigates in the process of walking, it is achieved the most accurately adjusting of attitude And calculating the power needed when accelerating climbing, the present invention adds three axles in robot electric sick bed servo hardware system and adds Velometer A1.During robot electric sick bed is walked, the omnidistance accelerometer A1, accelerometer A1 of opening is used for robot measurement The acceleration of three directions of advance of sick bed, controller according to the acceleration recorded by continuous integral can be obtained by its speed and Displacement, can be that the Three-loop control of robot provides reliable criterion；When the attitude of robot sick bed changes, controller Can be obtained by its generally ramped angle, on the one hand according to its power demand of Angulation changes, on the other hand occur bigger when attitude During change, controller a new sampling period immediately to its position compensation, it is to avoid robot electric sick bed is at walking process In because tilting excessive and cause danger, improve stability during its quick walking navigation；If accelerometer A1 is carried out Continuous integral, 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 with magnetoelectric transducer and then control to provide acceleration, speed for multiple-axis servo Degree and Displacement Feedback, greatly enhance safety and the accuracy of the walking of robot sick bed.

After once robot electric sick bed leaves the visual line of sight of medical personnel, in order to find in time and handling machine People's sick bed produced problem and the patient calling for help request when crisis, the electric hospital bed wireless transmit that must be added to fills with reception Put, and the various parameters of patient electric hospital bed by WLAN real-time Transmission；Run into emergency, in order to allow medical personnel Can understand field condition the very first time, robot electric sick bed must be added to image capturing system based on CCD.Radio equipment People's electric hospital bed monitoring and control system monitors the robot electric sick bed worked: TMS320F2812 in real time by respectively Plant sensor electric hospital bed kinematic parameter is detected in real time and stores, realize TMS320F2812 by WLAN And the communication between nursing master station PC machine, nursing master station can realize the real-time monitoring to robot electric sick bed by PC Function.Based on the monitoring of WLAN robot electric sick bed and the use of control system, beneficially scientific management and utilization electricity Dynamic sick bed, can the effectively save energy, greatly reduce nurse and the amount of labour of nurse, to promoting city image and reputation will play Positive role, also can be the much progress in urban civilization history simultaneously.

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 DSP(TMS320F2812)) the brand-new double-core list of+special sport control chip MC2340 Wheel drive, four axle robot electric sick beds of part bed body can be freely lifted.This robot control system is with MC2340 for place Reason core, it is achieved the synchronous servo of four axle DC brushless motors controls, and TMS320F2812 realizes the numeral of multiple sensors signal Real time signal processing, and real-time corresponding various interruption protection requests, and realize and MC2340 data communication, in order to realize robot Electric hospital bed distant control, native system adds control device of wireless based on LAN, it is achieved robot sick bed with protect Data communication between reason master station.

It is additionally provided with as in figure 2 it is shown, described wireless double-core single wheel drive is freely lifted robot electric sick bed controller Man machine interface program and kinetic control system, described man machine interface program includes man machine interface, regional planning and wireless defeated Going out, described kinetic control system includes based on MC2340 tetra-axle DC brushless motor SERVO CONTROL, wireless data storage transmission And I/O controls, described based on MC2340 tetra-axle DC brushless motor SERVO CONTROL include based on MC2340 two axle direct current without Brush motor single wheel drive SERVO CONTROL and based on MC2340 two axle DC brushless motor lift servo control, wherein, based on MC2340 two axle DC brushless motor single wheel drive SERVO CONTROL and based on MC2340 two axle DC brushless motor lift servo control System all includes magnetism encoder module, based on magnetism encoder acceleration module, based on magnetism encoder acceleration module and base In magnetism encoder displacement module.

For reaching above-mentioned purpose, the present invention takes techniques below scheme, in order to improve arithmetic speed, it is ensured that robot electric The stability of hospital bed controlling system and reliability, the present invention uses 32 High Performance DSP (TMS320F2812) and special motion Control chip MC2340, has given up conventionally employed single single-chip microcomputer or the dsp chip of single 16, and this controller takes into full account Accumulator is in the effect of this system, it is achieved the function of Single Controller Synchronization Control four axle direct current brushless servo motor.Machine The electric hospital bed special sport control chip MC2340 that gives full play to of people as servo processor data processing speed feature faster, And the functions such as man machine interface, I/O control, path navigation, online output, Data acquisition and storage are realized by TMS320F2812, with Time the most corresponding various interruptions, and by WLAN realize robot electric sick bed body and nursing master station between data Communication so that nursing master station can be with the electric hospital bed various interruptions of real-time response.

For design herein based on DSP(TMS320F2812) the electric hospital bed controller of+MC2340 dual core machines people, Under power-on state, man machine interface first works, if really needing mobile electric sick bed, nurse personnel, Health care staff pass through Man machine interface or radio transmitting device input respective web-privilege password Web, DSP(TMS320F2812) enable MC2340 robot Electric hospital bed being only possible to is moved in room, and otherwise robot electric sick bed just stays in original place and waits authority open command；If Robot electric sick bed needs to release ward, and now hospital director needs to be opened certainly by man machine interface or radio transmitting device Oneself web-privilege password Web, otherwise robot electric sick bed once moves to position, doorway and is detected by doorway monitoring sensor, detection Sensor on system meeting trigger controller, the locked current robot electric sick bed of MC2340 also sends wrong operation alarm, TMS320F2812 opens image capturing system and by wireless network local network transport to nursing master station so that medical personnel understand The field conditions of robot electric sick bed.Under ordinary running condition, outside robot electric sick bed is read by various sensors Portion's environment to DSP, DSP with MC2340 communication after converting after processing, is generated four axle brush DCs by MC2340 than feedback parameter The Synchronization Control pwm signal of servomotor, PWM ripple signal after drive amplification by DC brushless motor Z and R complete head and The lifting of leg sick bed part, then drives sick bed to travel forward by DC brushless motor X, DC brushless motor Y, its motion Speed and displacement are fed back to DSP by corresponding magnetism encoder M1, M2, M3, M4, DSP with MC2340 after converting after processing Communication, is generated secondary adjustment synchronization pwm control signal by MC2340 and meets real work demand.Electric bed in running, Man machine interface on-line storage also exports current state so that process relatively more directly perceived, when needed can be defeated by WLAN Go out current state to nursing master station so that process fairly simple.

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；Complete electric hospital bed many based on MC2340 kinetic control system Axle SERVO CONTROL, and DSP(TMS320F2812) realize data acquisition and the function such as storage, I/O control, system is fully sent out The advantage waving MC2340 servo processor, is processed various sensor signal in real time simultaneously by TMS320F2812, and by wireless office Territory net device realizes the data communication between robot electric sick bed and nursing master station.

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) once nursing master station needs removing patient, nurses master station by WLAN and first leads to robot electric sick bed News, receive during master station sends and have no progeny, in order to prevent the mobile infringement charging connection wire of robot electric sick bed, TMS320F2812 controller can disconnect the connection of line and alternating current power supply automatically, and robot electric sick bed transfers accumulator to and supplies Electricity condition；

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 or nothing Line transmitting device input web-privilege password Web opens walking mode within doors；If needing to promote robot electric sick bed to walk out ward, Then need nurse personnel, nurse and hospital director successively by man machine interface or radio transmitting device input web-privilege password Web Open walking mode outside room；

4) after walking mode opened by robot electric sick bed, once start key SS presses, and first system completes to initialize and examine Surveying supply voltage, if battery feed is abnormal, will send interrupt requests to TMS320F2812, TMS320F2812 can centering Disconnected doing very first time response, if the interrupt response of TMS320F2812 does not have enough time to process, the self-locking device on car body will be by Triggering, and then reach the function of self-locking, prevent maloperation, then TMS320F2812 is sent to nursing master station by wireless device Fault interrupting is asked, electric hospital bed by the further robot for overhauling of master station；If power supply is normal, electric bed robot just will start Often work；

5) detecting that start key SS presses when TMS320F2812 controller, being touched if now only having head to rise button SHF Sending out, robot electric sick bed will start to do the motion of sick bed head rising part, TMS320F2812 wanting according to servo controller Ask and button needed distance S run be converted into the acceleration of motor Z, speed and reference by location command value every time, TMS320F2812 will be in MC2340 communication, and MC2340 is in conjunction with the speed of magnetoelectric transducer M3 corresponding for motor Z and Displacement Feedback Generate the driving signal driving direct current brushless servo motor Z, drive signal to amplify rear drive brush DC servo electricity through power bridge Machine Z positive movement, robot electric sick bed starts slowly to rise, and in motor process, once the hands of nursing staff is not triggering Start key or rising button SHF, the SERVO CONTROL of direct current brushless servo motor Z just terminates, and completes this uphill process；When When the head of patient needs to decline, as long as nursing staff presses start key SS and head declines button SHB, robot electric simultaneously Sick bed will start to do the motion of sick bed head sloping portion, and TMS320F2812 is each button according to the requirement of servo controller Needing distance S run to be converted into the acceleration of motor Z, speed and reference by location command value, TMS320F2812 will be in MC2340 Communication, MC2340 generates drive brush DC servo in conjunction with speed and the Displacement Feedback of magnetoelectric transducer M3 corresponding for motor Z The driving signal of motor Z, drives signal to amplify rear drive direct current brushless servo motor Z adverse movement, robot electricity through power bridge Dynamic sick bed starts slowly to decline, and in motor process, once the hands of nursing staff is not triggering start key or rising button SHB, the SERVO CONTROL of direct current brushless servo motor Z just terminates, and completes this decline process；TMS320F2812 servo controller Record the displacement SHS of current location and horizontal level；

6) detecting that start key SS presses when TMS320F2812 controller, being touched if now only having leg to rise button SLF Sending out, robot electric sick bed will start to do the motion of sick bed leg rising part, TMS320F2812 wanting according to servo controller Ask and button needed distance S run be converted into the acceleration of motor R, speed and reference by location command value every time, TMS320F2812 will be in MC2340 communication, and MC2340 is in conjunction with the speed of magnetoelectric transducer M4 corresponding for motor R and Displacement Feedback Generate the driving signal driving direct current brushless servo motor R, drive signal to amplify rear drive brush DC servo electricity through power bridge Machine R positive movement, robot electric sick bed starts slowly to rise, and in motor process, once the hands of nursing staff is not triggering Start key or rising button SLF, the SERVO CONTROL of direct current brushless servo motor R just terminates, and completes this uphill process；When When the leg of patient needs to decline, as long as nursing staff presses start key SS and head declines button SLB, robot electric simultaneously Sick bed will start to do the motion of hospital bed leg portion sloping portion, and TMS320F2812 is each button according to the requirement of servo controller Needing distance S run to be converted into the acceleration of motor R, speed and reference by location command value, TMS320F2812 will be in MC2340 Communication, MC2340 generates drive brush DC servo in conjunction with speed and the Displacement Feedback of magnetoelectric transducer M4 corresponding for motor R The driving signal of motor R, drives signal to amplify rear drive direct current brushless servo motor R adverse movement, robot electricity through power bridge Dynamic sick bed starts slowly to decline, and in motor process, once the hands of nursing staff is not triggering start key or rising button SLB, the SERVO CONTROL of direct current brushless servo motor R just terminates, and completes this decline process；TMS320F2812 servo controller Record the displacement SLS of current location and horizontal level；

7) detect that start key SS presses when TMS320F2812 controller, if now recovery button SFF is triggered, robot The electric hospital bed speed according to TMS320F2812 servo controller and acceleration requirement, be converted into motor Z displacement SLS and SHS With acceleration, speed and the reference by location command value of motor R, TMS320F2812 will be in MC2340 communication, and MC2340 is in conjunction with electricity The speed of magnetoelectric transducer M3, M4 corresponding with motor R for machine Z and Displacement Feedback generate and drive direct current brushless servo motor Z and electricity The driving signal of machine R, drives signal to amplify rear drive direct current brushless servo motor Z and motor R motion through power bridge, and bed body is extensive Arrive naturalness again；

8) detecting that start key SS presses when TMS320F2812 controller, detection is laterally turned and is pressed by TMS320F2812 controller Whether button SK is triggered；If lateral turning button SK is triggered, TMS320F2812 needs to rotate according to robot motion's part AngleWith its internal trapezoidal generator, distance SX to be operated for direct current brushless servo motor Y be converted into acceleration, Speed and reference by location command value, TMS320F2812 will be in MC2340 communication, and then MC2340 is in conjunction with magnetic corresponding for motor Y The feedback of electric transducer M2 generates the driving signal driving direct current brushless servo motor Y, drives signal to amplify rear-guard through power bridge Dynamic direct current brushless servo motor Y motion, owing to DC brushless motor Y drives brush DC by gear structure in rotary course Servomotor X moves；When direct current brushless servo motor Y completes current servo motion, and direct current brushless servo motor X is complete side TurnTask, owing to being that motor Y drives motor X 90-degree rotation in the process, and for changing electric hospital bed direction, Improve the robot electric sick bed practicality at small space；

9) detect that start key SS presses when TMS320F2812 controller, if now only having forwarding button SF to be triggered, machine People is electric hospital bed to travel forward starting, in motor process, and 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 the TMS320F2812 controller moment；If anti-collision ultrasonic sensor S9 or S10 reads front when having barrier, and TMS320F2812 will be in MC2340 communication, and MC2340 is through internal servo control Processing procedure sequence adjusts the PWM output of direct current brushless servo motor X, controls robot electric sick bed and stops in safety range, controls Device also opens the timing of three seconds, if controller still reads barrier after three seconds, notifies that man machine interface changes walking Track；If three seconds obstruction signal messages, then robot electric sick bed will continue to start advance according to current path；At machine In the electric hospital bed motor process of device people, magnetoelectric transducer M1, M2 can moment detection direct current brushless servo motor X and the fortune of motor Y Dynamic speed and displacement, and feed back to TMS320F2812；

10) detect that start key SS presses when TMS320F2812 controller, if now only having back SB to be also triggered, Robot electric sick bed will start setback, and TMS320F2812 will be in MC2340 communication, and MC2340 is through internal servo control processing procedure Sequence adjusts the PWM output of direct current brushless servo motor X and Y, controls robot electric sick bed and slowly retreats according to setting speed；? During setback, magnetoelectric transducer M1, M2 can the moment detection direct current brushless servo motor X and the movement velocity of motor Y and Displacement also feeds back to TMS320F2812, and TMS320F2812 will be in MC2340 communication after processing, and MC2340 is according to magnetoelectric transducer The speed of 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 robot electricity Dynamic sick bed runs in the range of safe speed, prevents excessive velocities robot electric sick bed from pushing over nurse personnel；

11) detect that start key SS presses when TMS320F2812 controller, if now turning button SK and forwarding button SF quilt Triggering, starting side is moved right by robot electric sick bed, in motor process, and the crashproof supersonic sensing in side that robot carries Device S6 is by work, and feeds back the distance of itself and preceding object thing to the TMS320F2812 controller moment；If crashproof ultrasound wave passes Sensor S6 reads right when having barrier, and TMS320F2812 will be in MC2340 communication, and MC2340 is through internal SERVO CONTROL program Adjusting the PWM output of direct current brushless servo motor X, control robot electric sick bed and stop in safety range, controller also leaves Open the timing of three seconds, if after three seconds controller still read barrier exist will to man machine interface send parking report Alert；If three seconds obstruction signal messages, then robot electric sick bed will continue laterally to move to right according to current track；At machine People is electric hospital bed laterally move to right during, magnetoelectric transducer M1, M2 can moment detection direct current brushless servo motor X and motor Y Movement velocity and displacement also feed back to TMS320F2812, and TMS320F2812 will be in MC2340 communication after processing, MC2340 bis-times Adjust motor X and the kinematic parameter of motor Y；

12) detect that start key SS once presses when TMS320F2812 controller, if now turning button SK and forwarding button SB is triggered, robot electric sick bed by starting side to moving to left, in motor process, the crashproof ultrasound wave in side that robot carries Sensor S7 is by work, and feeds back the distance of itself and preceding object thing to the TMS320F2812 controller moment；If it is crashproof ultrasonic Wave sensor S7 reads left when having barrier, and TMS320F2812 will be in MC2340 communication, and MC2340 is through internal SERVO CONTROL Program adjusts the PWM output of direct current brushless servo motor X, controls robot electric sick bed and stops in safety range, controller And open the timing of three seconds, if after three seconds controller still read barrier exist will send parking to man machine interface Report to the police；If three seconds obstruction signal messages, then robot electric sick bed will continue laterally to move to left according to current track；At machine Device people is electric hospital bed laterally move to left during, magnetoelectric transducer M1, M2 can the moment detection direct current brushless servo motor X and motor Y Movement velocity and displacement, and feed back to TMS320F2812, TMS320F2812 will be in MC2340 communication after processing, MC2340 bis- Secondary adjustment motor X and the kinematic parameter of motor Y；

13) when robot electric sick bed needs to remove ward, existing hospital director opens walking web-privilege password Web, then nurse Personnel shift the position with surface mark onto robot electric sick bed, and robot electric sick bed enters automatic navigation mode: its Photoelectric sensor S1, S2, S3, S4, S5 of navigation are by work, and the photosignal that surface mark reflects feeds back to TMS320F2812, determines the deviation of robot skew navigation track, TMS320F2812 handle after TMS320F2812 judgement processes This deviation signal is converted into acceleration, speed and displacement commands to be run for motor X and motor Y, and TMS320F2812 will be in MC2340 communication, MC2340 produces driving direct current brushless servo motor X and motor Y in conjunction with the feedback of magnetism encoder M1 and M2 Driving signal, drive signal to move before amplifying rear drive DC brushless motor X and motor Y-direction, quickly adjust robot electric Sick bed rapidly returns back to orbit centre of navigating；Robot electric sick bed along track travel process, MC2340 according to surface mark and The driving signal of the feedback fine setting motor X and motor Y of magnetism encoder M1 and M2, makes robot smooth along the track set By doorway, ward；After the track laid disappears, robot electric sick bed is just parked in original place and waits artificial driving signal, prevents Maloperation；

14), after once robot electric sick bed is pushed out ward, wireless communication mode will be opened based on TMS320F2812, work as machine The electric hospital bed beginning of device people is moved, magnetoelectric transducer M1 and M2 meeting Real-time Feedback DC brushless motor X and the speed of motor Y and shifting Dynamic displacement, the parameter of motor X and motor Y is by radioing to master station, and once motor speed has surmounted setting value, and total standing-meeting is led to Cross wireless device and send hypervelocity alarm to robot electric sick bed；Once there is burning issue in robot sick bed or patient Time, nurse personnel can trigger robot electric sick bed alarm key, while button is pressed, and image acquisition figure based on CCD As opening, then by being wirelessly transferred to master station's transmission fault information；

15) when patient start in short-term oneself nursing emergency occurs time, patient oneself trigger robot electric sick bed report to the police Button, while button is pressed, image acquisition image based on CCD can be opened, then by radio transmitting device to master station Sending interrupt requests transmission fault information, master station nursing staff can first time handling failure information；

16) 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 MC2340 passes through driver locked movable motor X, though electric hospital bed multiple Universal wheel W is all in can be with sliding mode, and owing to movable motor X is in locking state, such robot electric sick bed also will not Motion；

17) 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；

18) this electric bed is equipped with multiple anti-barrier warning system, and bed carries obstacle spy side system can collide barrier Automatically detect existence the automatic stopping of barrier before, and determine that restarting or is waited until according to the character of barrier As you were, this ensures that there the adaptation to surrounding in motor process, decrease the environment interference to it；

19) in robot electric sick bed walking process, motor often receives extraneous factor interference, in order to reduce the arteries and veins of motor The dynamic torque impact on robot ambulation, controller adds distinguishing online motor torque on the basis of considering motor characteristic Know, and utilize motor torque to compensate with the relation of electric current, weaken the external environment impact on robot motion；

20) during robot electric sick bed is walked, the unlatching of servo controller whole process accelerometer A1, accelerometer A1 can survey The acceleration of amount robot three directions of advance of sick bed, controller be can be obtained by by continuous integral according to the acceleration recorded Its speed and displacement, the Three-loop control for robot provides reliable criterion；Change when the attitude of robot sick bed simultaneously Time, controller can be obtained by its generally ramped angle and acceleration requirement, and controller is according to angle of inclination and acceleration demand Just can substantially calculate power demand, the power then adjusting each direct current brushless servo motor with satisfied climbing and accelerates need Want；Controller by carrying out continuous integral to accelerometer A1, and it is transformed in hospital's navigational coordinate system, robot electric Sick bed can not rely on any external information just can obtain its acceleration in hospital's navigational coordinate system, speed, driftage The information such as angle and position, 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 DSP(TMS320F2812)+ The MC2340 dual-core controller moment all to the running status of robot electric sick bed with power source is monitored and computing, when During Ac Dump, sick bed automatically can be automatically locked in fixed position, until there being moving switch by carrying battery feed Signal inputs, it is ensured that the naturalness of sick bed；

2: patient takes care of oneself for convenience, reduces the dependence of condition to external world, and native system adds human-machine interface function, 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；

3: 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；

4: add single wheel drive system based on direct current brushless servo motor owing to this is electric hospital bed so that sick bed can be in room Sub-interior-excess now moves freely, and decreases patient's sense of depression in some fixed position；

5: add single wheel drive system based on direct current brushless servo motor owing to this is electric hospital bed so that electric hospital bed permissible In room, original place rotates freely according to any direction, decreases the space that Mobile sickbed needs, is particularly suitable for space Narrow and small ward；

6: owing to adding single wheel drive system based on direct current brushless servo motor, disease can be made in very narrow space The shifted laterally of bed robot, reduces robot and rotates the negative issue brought；

7: in order to enable sick bed robot 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；

8: when robot electric sick bed runs into climbing, due to the self-contained dynamic energy, it is possible to well rise To power-assisted effect, decrease the requirement to nurse personnel muscle power；

9: the full Digitized Servo Control being processed multi-axle motor by MC2340, substantially increase arithmetic speed, solve single single-chip microcomputer Run slower bottleneck, shorten the construction cycle short, and program transportability ability is strong；

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

11: owing to this controller uses MC2340 to process substantial amounts of multiple-axis servo data and algorithm, and taken into full account around Interference source, frees TMS320F2812 from complicated calculating, effectively prevent " race flies " of program, anti-interference energy Power is greatly enhanced；

12: robot is electric hospital bed adds automatic car locking function, when sick bed robot is in moving process, as urgent in run into Situation, controller can send original place cutoff command, and locked main motion motor, even if multiple universal wheel is all in the shape that can slide State, but owing to driving wheel is in locking state, such robot also will not move；

13: the present invention adds multiple unlatching authority in robot electric sick bed system, it is therefore prevented that the maloperation of sick bed；

14: 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；

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: head servo control part based on single shaft direct current brushless servo motor can well meet client need and raise the head Portion or activity above the waist of steeving, nursing staff can reach to rise sick bed front portion, automatization's journey of sick bed by button Degree gets a promotion further, decreases the amount of labour of nursing staff；

19: leg SERVO CONTROL part based on single shaft direct current brushless servo motor can well meet client need leg or The activity of person's lower part of the body, nursing staff can reach to rise or reduce sick bed rear portion by button, and the automaticity of sick bed is entered One step gets a promotion, and decreases the amount of labour of nursing staff；

20: make robot electric sick bed have various machinery group based on front and back two axle brush DC servo lowering or hoisting gear combination Close, when pushing away patient and leaving ward, can freely regulate the posture of sick bed according to the state of an illness of patient, meet different patient's Psychology requirement；

21: owing to robot electric sick bed has wireless receiving and emission function so that medical personnel can long distance as required Leave and open the authority that robot sick bed starts, decrease the workload of medical personnel；

22: owing to robot electric sick bed has wireless receiving and emission function, the patient once oneself nursing oneself in short-term meets Can link up with medical personnel at any time to emergency, it is ensured that the safety of patient；

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

24: robot electric sick bed is more safe and reliable；The electric hospital bed monitoring of radio equipment people and control system are by nursing Master station system center arranges relevant parameter, is possible to prevent the people being not authorized to operate, so, it is ensured that Monitoring safe and reliable；

25: realize the electric hospital bed and real-time communication of nursing master station by the electric hospital bed monitoring of radio equipment people and control system, Guilty culprit can be detected with system, overhaul in time；

26: the electric hospital bed monitoring of radio equipment people and control system are got up more flexible in monitoring；Real by wireless transmission method Time monitoring region in robot electric sick bed, make the safety of the of short duration nursing of patient oneself oneself be greatly increased, thus save Resource, the effective monitoring of the most electric hospital bed body parameter protects electric hospital bed all parts, adds service life；

27: it is more convenient that the electric hospital bed management of radio equipment people is got up；The electric hospital bed monitoring of radio equipment people and control system are every It can automatically turn in nursing master station and disconnect the operating right of hospital director according to actual needs, it is also possible to robot Electric hospital bed carry out partition management；

28: the accelerometer A1 acceleration being used for three directions of advance of robot measurement sick bed, controller is according to the acceleration recorded Degree can be obtained by its speed and displacement by continuous integral, can be that the Three-loop control of robot provides reliable criterion；

29: accelerometer A1 can improve the stability that robot electric sick bed navigates in the process of walking, it is achieved attitude from The power needed during climbing is accelerated in dynamic accurately adjustment, 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

1. a wireless double-core single wheel drive is freely lifted robot electric sick bed controller, it is characterised in that include alternating current Source, battery, panel, motor X, motor Y, motor Z and motor R, described alternating current power supply and battery provide electric current to drive institute The panel stated, described panel uses dual-core controller, leads to including DSP and MC2340, described DSP and MC2340 Letter connects, and robot electric sick bed is provided with sensor, and described DSP is by control device of wireless and outside nursing master station phase Communication also accepts the sensor signal of sensor feedback, by described MC2340 send the first driving signal, two driving signal, 3rd drives signal and fourth drive signal, described first to drive signal, two driving signal, the 3rd driving signal and the 4th Drive signal to drive described motor X, motor Y, motor Z and motor R after drive amplification respectively, described motor X, motor Y, It is provided with magnetism encoder, by magnetism encoder by described motor X, motor Y, motor Z and motor on motor Z and motor R The advance of robot electric sick bed, the speed of service, traffic direction and elevating movement described in R control.

Wireless double-core single wheel drive the most according to claim 1 is freely lifted robot electric sick bed controller, its feature Being, described battery uses lithium ion battery.

Wireless double-core single wheel drive the most according to claim 1 is freely lifted robot electric sick bed controller, its feature Being, described motor X, motor Y, motor Z and motor R all use direct current brushless servo motor.

Wireless double-core single wheel drive the most according to claim 1 is freely lifted robot electric sick bed controller, its feature Being, described DSP uses TMS320F2812.

Wireless double-core single wheel drive the most according to claim 1 is freely lifted robot electric sick bed controller, its feature Being, described the first driving signal, two driving signal, the 3rd driving signal and fourth drive signal are PWM ripple and drive Signal.

Wireless double-core single wheel drive the most according to claim 1 is freely lifted robot electric sick bed controller, its feature Being, described wireless double-core single wheel drive is freely lifted robot electric sick bed controller and also includes accelerometer and gyro Instrument, described accelerometer and gyroscope are arranged on robot electric sick bed.

Wireless double-core single wheel drive the most according to claim 1 is freely lifted robot electric sick bed controller, its feature Be, described wireless double-core single wheel drive be freely lifted robot electric sick bed controller be additionally provided with man machine interface program and Kinetic control system, described man machine interface program includes man machine interface, regional planning and wireless output, described motion control System processed includes controlling based on MC2340 tetra-axle DC brushless motor SERVO CONTROL, wireless data storage transmission and I/O, described Include watching based on MC2340 two axle DC brushless motor single wheel drive based on MC2340 tetra-axle DC brushless motor SERVO CONTROL Clothes control and control based on MC2340 two axle DC brushless motor lift servo, wherein, based on MC2340 two axle brush DC electricity Machine single wheel drive SERVO CONTROL and based on MC2340 two axle DC brushless motor lift servo control all include magnetism encoder mould Block, based on magnetism encoder acceleration module, based on magnetism encoder acceleration module and based on magnetism encoder displacement module.