CN106880454A - A kind of robot care bed control system and method - Google Patents
A kind of robot care bed control system and method Download PDFInfo
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- CN106880454A CN106880454A CN201510957317.9A CN201510957317A CN106880454A CN 106880454 A CN106880454 A CN 106880454A CN 201510957317 A CN201510957317 A CN 201510957317A CN 106880454 A CN106880454 A CN 106880454A
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- wheelchair
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/018—Control or drive mechanisms
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- Health & Medical Sciences (AREA)
- Nursing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Invalid Beds And Related Equipment (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot care bed control system and method, and robot care bed includes wheelchair part and bed part, including：Control device；Electric machine assembly, the movement for controlling wheelchair part；Electric pushrod component, for controlling the attitudes vibration of bed part and the attitudes vibration of wheelchair part；Induction installation, is connected to control device, the action for sensing bed part and wheelchair part；Laser scanner, independent navigation is carried out for the movement for wheelchair part；Image collecting device, is connected to control device, and vision positioning is carried out when going back to storehouse for wheelchair part；Communication device, is connected to control device, is sent to control device for the action between wheelchair part and bed part；Handle, pose adjustment, the wheelchair part for user's control wheelchair part merge with the bed part after synchronization action and wheelchair part translational speed and direction control；Display, the display of map denotation and operation interface for navigating.
Description
Technical field
The present invention relates to nursing field, more particularly to a kind of robot care bed control system and method.
Background technology
With the aggravation of population aging, robot care bed will have good development prospect in future, due to robot nursing
The control system of bed, is again the core of whole robot care bed, and this part is the performance for determining robot care bed
Main factor.Although domestic robot field's development is quickly, mainly industrial robot field development is more ripe, clothes
Business robot field still has larger gap.Conventional robot care bed uses the windows with industrial computer as platform development to answer
With program as host computer procedure, and also need to the single-chip microcomputer of auxiliary and go to realize specific function, this control system is not only not
Economy, and volume is larger, and stability is also short of.Current existing robot care bed generally adds motion control using PC
The method of card realizes control, and real-time is poor, and motion control is not accurate enough, relatively costly, and acts on relatively simple.
The content of the invention
The shortcoming of prior art in view of the above, it is an object of the invention to provide a kind of robot care bed control system and side
Method, poor for solving real-time in the prior art, motion control is not accurate enough, relatively costly, and acts on relatively simple asking
Topic.
In order to achieve the above objects and other related objects, the present invention provides a kind of robot care bed control system, the care bed
Including wheelchair part and bed part, including：Control device；Electric machine assembly, is connected to the control device, described for controlling
The movement of wheelchair part；Electric pushrod component, is connected to the control device, for control the bed part attitudes vibration and
The attitudes vibration of the wheelchair part；Induction installation, is connected to the control device, for sensing the bed part and the wheel
The action of chair part；Laser scanner, is connected to the control device, is carried out for the movement for the wheelchair part
Independent navigation；Image collecting device, is connected to the control device, and vision positioning is carried out when going back to storehouse for the wheelchair part；
Communication device, is connected to the control device, is sent to the control for the action between the wheelchair part and the bed part
Device processed；Handle, after the pose adjustment of wheelchair part, the wheelchair part merge with the bed part described in user's control
Synchronization action and wheelchair part translational speed and direction control；Display, for the map denotation for navigating and operation
The display at interface.
In one embodiment of the invention, the control device includes：Processor；Wheelchair gesture stability module, for by institute
State the motion that processor controls the electric pushrod component；Lathe synchronization action control module, for being controlled by the processor
The wheelchair part and the bed Partial synchronization are acted；Navigation control module, for controlling the wheelchair portion by the processor
The self-navigation for dividing；Vision positioning enters library module, the Hui Ku for controlling the wheelchair part by the processor；Man-machine boundary
The control module in face, operates for user to the care bed.
In one embodiment of the invention, the electric machine assembly includes：Motor, for driving the wheelchair part to move；Drive
Device, for driving the motor rotation；Encoder, for feeding back the velocity information of the motor and the position of the wheelchair part
Information.
In one embodiment of the invention, the electric pushrod component includes：Electric pushrod, for adjusting the bed part and institute
State the attitude of wheelchair part；Electric pushrod driver, for driving the electric pushrod.
In one embodiment of the invention, the induction installation includes：Hall sensor, for detecting the electric pushrod component
The signal for sending, and send a signal to the control device；Pressure sensor, for sensing the bed part and the wheelchair
Partial synchronization action signal, and send a signal to the control device；Limit switch, in wheelchair part storage
After be triggered after send stop signal, stop the action of the care bed.
In one embodiment of the invention, the laser scanner includes：Laser scanner, for by laser scanning
Set up map；Self-navigation unit, for carrying out autonomous positioning navigation according to the map.
The present invention also provides a kind of robot care bed control method, is related to above-mentioned robot care bed control system, including step
Suddenly：The map and operation interface of the display display navigation；Described image harvester is carried out when storehouse is gone back in the wheelchair part
Vision positioning；Movement of the laser scanner to the wheelchair part carries out independent navigation；The electric machine assembly control
The movement of the wheelchair part, the wheelchair part Hui Ku；User controlled by the handle wheelchair part pose adjustment,
The wheelchair part merge with the bed part after synchronization action and wheelchair part translational speed and direction control；Institute
State the action that induction installation senses the bed part and the wheelchair part；The communicator is by the wheelchair part and the bed
Action between part is sent to the control device；The control device controls the electric pushrod component to control the bed part
Attitudes vibration and the wheelchair part attitudes vibration.
In one embodiment of the invention, also including step：User is by the control module of the man-machine interface to the care bed
Operated；Navigation control module controls the self-navigation of the wheelchair part by the processor；Vision positioning enters library module
The Hui Ku of the wheelchair part is controlled by the processor；Lathe synchronization action control module is controlled described by the processor
Wheelchair part and the bed Partial synchronization are acted；Wheelchair gesture stability module controls the electric pushrod component by the processor
Motion.
In one embodiment of the invention, also including step：The laser scanner sets up map by laser scanning, it is described from
Dynamic navigation elements carry out autonomous positioning navigation according to the map；Motor rotation described in the driver drives, the motor drives
The wheelchair part movement；The Hall sensor detects the signal that the electric pushrod component sends, and sends a signal to institute
State control device；The pressure sensor senses the synchronization action signal of the bed part and the wheelchair part, and signal is sent out
Give the control device；Electric pushrod described in the electric pushrod driver drives；The electric pushrod adjusts the bed part
With the attitude of the wheelchair part.
In one embodiment of the invention, also including step：By the velocity information and the wheelchair of motor described in encoder feedback
Partial positional information.
As described above, robot care bed control system of the invention and method, have the advantages that：Small volume, than
Relatively stablize, can be more accurate with real-time control, motion control, cost is relatively low, and can be by embedding linux system so that be
System is more opened, and is easy to add New function and upgrading products.
Brief description of the drawings
Fig. 1 is shown as the systematic square frame schematic diagram of an embodiment of robot care bed control system of the present invention.
Fig. 2 is shown as the systematic square frame schematic diagram of another embodiment of robot care bed control system of the present invention.
Fig. 3 is shown as the process blocks schematic diagram of an embodiment of robot care bed control method of the present invention.
Specific embodiment
Embodiments of the present invention are illustrated below by way of specific instantiation, those skilled in the art can be as disclosed by this specification
Content understand other advantages of the invention and effect easily.The present invention can also add by way of a different and different embodiment
To implement or apply, the various details in this specification can also be based on different viewpoints and application, without departing from essence of the invention
Various modifications or alterations are carried out under god.It should be noted that, in the case where not conflicting, the feature in following examples and embodiment
Can be mutually combined.
It should be noted that the diagram provided in following examples only illustrates basic conception of the invention in a schematic way, scheme then
Component count, shape and size when only display is with relevant component in the present invention rather than according to actual implementation in formula are drawn, in fact
The kenel of each component, quantity and ratio can be a kind of random change when border is implemented, and its assembly layout kenel be likely to it is more multiple
It is miscellaneous.
As shown in figure 1, Fig. 1 is shown as the systematic square frame schematic diagram of an embodiment of robot care bed control system of the present invention.
The invention provides a kind of robot care bed control system, robot care bed includes wheelchair part and bed part, including：Control
Device processed 10；For indicating care bed each several part to be operated.The component 20 of motor 201, is connected to control device 10, is used for
The movement of control wheelchair part；Electric pushrod component 30, is connected to control device 10, for control bed part attitudes vibration and
The attitudes vibration of wheelchair part；Induction installation 40, is connected to control device 10, the action for sensing bed part and wheelchair part；
Laser scanner 50, is connected to control device 10, and independent navigation is carried out for the movement for wheelchair part；IMAQ
Device 60, is connected to control device 10, and vision positioning is carried out when going back to storehouse for wheelchair part；Communication device 70, is connected to control
Device processed 10, sends to control device 10 for the action between wheelchair part and bed part；Handle 80, for user's control
The pose adjustment of wheelchair part, the wheelchair part merge with the bed part after synchronization action and the wheelchair part movement
Speed and the control in direction, realize the precise control to wheelchair componental movement；Display 90, for the map denotation for navigating and behaviour
Make the display at interface.The map and operation interface of the display navigation of display 90, user selection wheelchair part Hui Ku, image collector
Put 60 carries out vision positioning when storehouse is gone back in wheelchair part；Movement of the laser scanner 50 to wheelchair part carries out certainly leading
Boat；The movement of the control wheelchair of 201 component of motor 20 part, wheelchair part Hui Ku；User controls wheelchair part by handle 80
Pose adjustment；Induction installation 40 senses the action of bed part and wheelchair part；Communicator is by between wheelchair part and bed part
Action send to control device 10；The control electric pushrod of control device 10 component 30 controls the attitudes vibration and wheelchair of bed part
Partial attitudes vibration.
As shown in Fig. 2 Fig. 2 is shown as the systematic square frame schematic diagram of another embodiment of robot care bed control system of the present invention.
Robot care bed includes wheelchair part and bed part, also includes：Control device 10；For indicating care bed each several part to be transported
Make.Control device 10 includes：Processor；In the preferred embodiment of the present invention, processor is arm processor, with
Based on arm processor, can be more open with the software platform of matching embedded type operating system Linux, can be right at any time
System is upgraded and is changed, and adds different New functions.Using the controller volume of ARM kernels is smaller, cost more
It is low.The system hardware and software framework has modularity ＆ expandability simultaneously, is easy to addition of New function etc. to upgrade and change.Wheelchair appearance
State control module, the motion for controlling electric pushrod component 30 by processor；Lathe synchronization action control module, for leading to
Cross processor control wheelchair part and the action of bed Partial synchronization；Navigation control module, for controlling wheelchair part by processor
Self-navigation；Vision positioning enters library module, the Hui Ku for controlling wheelchair part by processor；The control module of man-machine interface,
Care bed is operated for user.The component 20 of motor 201, is connected to control device 10, the shifting for controlling wheelchair part
It is dynamic.Further, the component 20 of motor 201 includes：Motor 201, for driving wheelchair part to move；Driver 202, uses
Operated in motor 201；Encoder 203, for feeding back the velocity information of the motor 201 and the position of the wheelchair part
Confidence ceases.Electric pushrod component 30, is connected to control device 10, for controlling the attitudes vibration of bed part and the appearance of wheelchair part
State changes；Electric pushrod component 30 includes：Electric pushrod 301, the attitude for adjusting bed part and wheelchair part；It is electronic to push away
Bar driver 302, for driving electric pushrod 301.In a preferred embodiment, the control of electric pushrod driver 302
Interface processed is connected to the I/O port of arm processor, in the control for coordinating corresponding control program just to realize wheel-chair attitude.
Stretching for electric pushrod driver control electric pushrod, realizes the attitudes vibration of robot care bed and the attitudes vibration of wheelchair part.
Induction installation 40, is connected to control device 10, the action for sensing bed part and wheelchair part；Induction installation 40 includes：
Hall sensor 401, for detecting the signal that electric pushrod component 30 sends, and sends a signal to control device 10；Pressure
Sensor 402, for sensing the synchronization action signal of bed part and wheelchair part, and sends a signal to control device 10.Limit
Bit switch 403, for sending stop signal after being triggered after wheelchair part is put in storage, stops the action of care bed.Hall sensing
The velocity location signal transmission of the detection electric pushrod of device 401 is to control device 10, the control electric pushrod driver of control device 10
302, drive the attitudes vibration of the adjustment bed of electric pushrod 301 part and the attitudes vibration of wheelchair part so that both change synchronizations.
The lift back of the body action of the sensing wheelchair of pressure sensor 402 part, and control device 10 is sent the signal to, control device 10 is controlled
The lift back of the body action of bed part and wheelchair part is synchronous to be carried out.Wheelchair gesture stability module control electric pushrod drive component is realized electronic
Stretching for push rod, wheelchair part is realized according to the signal of Hall sensor 401, pressure sensor 402 and the signal of limit switch 403
Lie low, sitting, the change of standing and the storage action such as attitude.Lathe synchronization control module is mainly to be believed by Hall sensor
Number, pressure sensor signal and limit switch signal realize that the wheelchair part and bed part of robot care bed are lifted the back of the body, bent after merging
Leg, the realization for the action such as standing up.Laser scanner 50, is connected to control device 10, for the movement for wheelchair part
Carry out independent navigation；Laser scanner 50 includes：Laser scanner 501, for setting up map by laser scanning；
Self-navigation unit 502, for carrying out autonomous positioning navigation according to the map.Image collecting device 60, is connected to control device 10,
Vision positioning is carried out when going back to storehouse for wheelchair part；In the preferred embodiment of the present invention, image collecting device 60 is industrial phase
Machine, can improve the precision of IMAQ, and that improves wheelchair part returns storehouse effect.Vision positioning enters library module and is nursed in robot
, by the vision positioning program of industrial camera, precisely returning for wheel-chair part is realized when storage merges with bed in bed wheel-chair part
Storehouse.Communication device 70, is connected to control device 10, is sent to control device for the action between wheelchair part and bed part
10；By the mutual communication of communication device 70, it is possible to achieve the synchronization of the action of wheelchair part and bed part.Handle 80, uses
Pose adjustment, the wheelchair part in user's control wheelchair part merge with the bed part after synchronization action and the wheel
Chair part translational speed and the control in direction, realize the precise control to wheelchair componental movement；User can be controlled by handle 80
The pose adjustment of wheelchair part, bed part synchronizes adjustment further according to the pose adjustment of wheelchair part.Display 90, for leading
The display of the map denotation and operation interface of boat.
As shown in figure 3, Fig. 3 is shown as the process blocks schematic diagram of an embodiment of robot care bed control method of the present invention.
Present invention also offers a kind of robot care bed control method, in the preferred embodiment of the present invention, processor is ARM
Processor, based on arm processor, can be more open with the software platform of matching embedded type operating system Linux,
System can be upgraded and changed at any time, and be added different New functions.Using ARM kernels controller volume more
Small, cost is lower.The system hardware and software framework has modularity ＆ expandability simultaneously, is easy to addition of New function etc. to upgrade and repair
Change.It is related to above-mentioned robot care bed control system, including step：
The map and operation interface of the display navigation of display 90；User is grasped by the control module of man-machine interface to care bed
Make；
Image collecting device 60 carries out vision positioning when storehouse is gone back in wheelchair part；Vision positioning enters library module by processor control wheel
The Hui Ku of chair part；In the preferred embodiment of the present invention, image collecting device 60 is industrial camera, can improve image and adopt
The precision of collection, improve wheelchair part returns storehouse effect.Vision positioning enters library module in robot care bed wheel-chair part in storage
When merging with bed, by the vision positioning program of industrial camera, the accurate Hui Ku of wheel-chair part is realized.
Movement of the laser scanner 50 to wheelchair part carries out independent navigation；Navigation control module passes through processor control wheel
The self-navigation of chair part；Laser scanner 501 sets up map by laser scanning, and self-navigation unit 502 enters according to the map
Row autonomous positioning is navigated；
The movement of the control wheelchair of 201 component of motor 20 part, wheelchair part Hui Ku；The motor is fed back by encoder 203
201 velocity information and the positional information of the wheelchair part.The motor 201 of driver 202 is operated after coding, motor 201
Drive the movement of wheelchair part.
User is synchronous dynamic after handle 80 controls the pose adjustment of wheelchair part, the wheelchair part to merge with the bed part
Work and the control in wheelchair part translational speed and direction, realize the precise control to wheelchair componental movement；Wheelchair attitude control
Molding block controls the motion of electric pushrod component 30 by processor；The control electric pushrod of control device 10 component 30 controls bed portion
The attitudes vibration and the attitudes vibration of wheelchair part for dividing.
Induction installation 40 senses the action of bed part and wheelchair part；Communicator sends out the action between wheelchair part and bed part
Deliver to control device 10；Lathe synchronization action control module controls wheelchair part and bed Partial synchronization to act by processor；Hall
The signal that the detection electric pushrod of sensor 401 component 30 sends, and send a signal to control device 10；Pressure sensor 402
Sensing bed part and the synchronization action signal of wheelchair part, and send a signal to control device 10；Electric pushrod driver 202
Drive electric pushrod；Electric pushrod adjusts the attitude of bed part and wheelchair part.The quilt after wheelchair part is put in storage of limit switch 403
Stop signal is sent after triggering, stops the action of care bed.
In sum, robot care bed control system of the present invention and method, small volume are more stable, can with real-time control,
Motion control is more accurate, and cost is relatively low, and can be by embedding linux system so that system is more opened, and is easy to addition new
Function and upgrading products.So, the present invention effectively overcomes various shortcoming of the prior art and has high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any to be familiar with this skill
The personage of art all can carry out modifications and changes under without prejudice to spirit and scope of the invention to above-described embodiment.Therefore, such as
Those of ordinary skill in the art completed under without departing from disclosed spirit and technological thought all etc.
Effect modifications and changes, should be covered by claim of the invention.
Claims (10)
1. a kind of robot care bed control system, the robot care bed includes wheelchair part and bed part, it is characterised in that including：
Control device；
Electric machine assembly, is connected to the control device, the movement for controlling the wheelchair part；
Electric pushrod component, is connected to the control device, for controlling the attitudes vibration of the bed part and the attitudes vibration of the wheelchair part；
Induction installation, is connected to the control device, the action for sensing the bed part and the wheelchair part；
Laser scanner, is connected to the control device, and independent navigation is carried out for the movement for the wheelchair part；
Image collecting device, is connected to the control device, and vision positioning is carried out when going back to storehouse for the wheelchair part；
Communication device, is connected to the control device, is sent to the control device for the action between the wheelchair part and the bed part；
Handle, the control of synchronization action and wheelchair part translational speed and direction after merging with the bed part for the pose adjustment of wheelchair part, the wheelchair part described in user's control；
Display, the display of map denotation and operation interface for navigating.
2. robot care bed control system according to claim 1, it is characterised in that the control device includes：
Processor；
Wheelchair gesture stability module, the motion for controlling the electric pushrod component by the processor；
Lathe synchronization action control module, for controlling the wheelchair part and the bed Partial synchronization to act by the processor；
Navigation control module, the self-navigation for controlling the wheelchair part by the processor；
Vision positioning enters library module, the Hui Ku for controlling the wheelchair part by the processor；
The control module of man-machine interface, operates for user to the care bed.
3. robot care bed control system according to claim 1, it is characterised in that the electric machine assembly includes：
Motor, for driving the wheelchair part to move；
Driver, for driving the motor rotation；
Encoder, for feeding back the velocity information of the motor and the positional information of the wheelchair part.
4. robot care bed control system according to claim 1, it is characterised in that the electric pushrod component includes：
Electric pushrod, the attitude for adjusting the bed part and the wheelchair part；
Electric pushrod driver, for driving the electric pushrod.
5. robot care bed control system according to claim 1, it is characterised in that the induction installation includes：
Hall sensor, for detecting the signal that the electric pushrod component sends, and sends a signal to the control device；
Pressure sensor, for sensing the synchronization action signal of the bed part and the wheelchair part, and sends a signal to the control device；
Limit switch, for sending stop signal after being triggered after the wheelchair part is put in storage, stops the action of the care bed.
6. robot care bed control system according to claim 1, it is characterised in that the laser scanner includes：
Laser scanner, for setting up map by laser scanning；
Self-navigation unit, for carrying out autonomous positioning navigation according to the map.
7. a kind of robot care bed control method, is related to the robot care bed control system described in any one of claim 1 to 7, it is characterised in that including step：
The map and operation interface of the display display navigation；
Described image harvester carries out vision positioning when storehouse is gone back in the wheelchair part；
Movement of the laser scanner to the wheelchair part carries out independent navigation；
The electric machine assembly controls the movement of the wheelchair part, the wheelchair part Hui Ku；
The control of synchronization action and wheelchair part translational speed and direction of the user after the handle controls the pose adjustment of the wheelchair part, the wheelchair part to merge with the bed part；
The induction installation senses the action of the bed part and the wheelchair part；
The communicator sends to the control device action between the wheelchair part and the bed part；
The control device controls the electric pushrod component to control the attitudes vibration of the bed part and the attitudes vibration of the wheelchair part.
8. robot care bed control method according to claim 7, it is characterised in that also including step：
User is operated by the control module of the man-machine interface to the care bed；
Navigation control module controls the self-navigation of the wheelchair part by the processor；
Vision positioning enters the Hui Ku that library module controls the wheelchair part by the processor；
Lathe synchronization action control module controls the wheelchair part and the bed Partial synchronization to act by the processor；
Wheelchair gesture stability module controls the motion of the electric pushrod component by the processor.
9. robot care bed control method according to claim 7, it is characterised in that also including step：
The laser scanner sets up map by laser scanning, and the self-navigation unit carries out autonomous positioning navigation according to the map；
Motor rotation described in the driver drives, the motor drives the wheelchair part movement；
The Hall sensor detects the signal that the electric pushrod component sends, and sends a signal to the control device；
The pressure sensor senses the synchronization action signal of the bed part and the wheelchair part, and sends a signal to the control device；
Electric pushrod described in the electric pushrod driver drives；The electric pushrod adjusts the attitude of the bed part and the wheelchair part；
The limit switch sends stop signal after being triggered after the wheelchair part is put in storage, and stops the action of the care bed.
10. robot care bed control method according to claim 9, it is characterised in that also including step：
By the velocity information and the positional information of the wheelchair part of motor described in encoder feedback.
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| US11013655B1 (en) | 2018-04-30 | 2021-05-25 | AI Incorporated | Autonomous hospital bed |
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| US11013655B1 (en) | 2018-04-30 | 2021-05-25 | AI Incorporated | Autonomous hospital bed |
| US11628112B1 (en) | 2018-04-30 | 2023-04-18 | AI Incorporated | Autonomous hospital bed |
| CN109846617A (en) * | 2019-04-10 | 2019-06-07 | 广州思智科技有限公司 | A kind of electric wheelchair control system |
| CN109984897A (en) * | 2019-04-16 | 2019-07-09 | 上海理工大学 | A kind of intelligent wireless control wheelchair bed system based on human-computer interaction |
| CN110162106A (en) * | 2019-05-16 | 2019-08-23 | 安徽三联机器人科技有限公司 | A kind of localization method of electric pushrod |
| CN110162106B (en) * | 2019-05-16 | 2022-04-22 | 安徽三联机器人科技有限公司 | Positioning method of electric push rod |
| CN110812008A (en) * | 2019-10-31 | 2020-02-21 | 上海长海医院 | Medical patient transport bed |
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