阅读说明：本技术 一种基于轮椅一体化机器人的自动对接分离系统及方法 (Automatic docking and separating system and method based on wheelchair integrated robot ) 是由 包仁人 艾宏远 李学威 刘博垚 丁莹 陈禹希 于 2020-12-31 设计创作，主要内容包括：本发明涉及医疗器械设备领域,具体地说是一种基于轮椅一体化机器人的自动对接分离系统及方法。包括：轮椅侧系统、床体侧系统以及操控系统；轮椅侧系统设于轮椅部分上,包括：主控制器A以及与主控制器A连接的激光导航装置、传感器采集系统A、电机驱动系统A、电缸监控系统A以及电量监控系统；轮椅部分装有电机驱动系统A；传感器采集系统A和激光导航装置均设于轮椅部分的全方位移动底盘一侧；操控系统为手动遥杆,与主控制器A或床体侧系统通信；电机驱动系统A上设有电缸监控系统A。本发明通过自动对接分离智能控制系统将轮椅自动与床体对接和分离,取代了护理人员的手动移乘操作,降低护理人员体力负担,提高了护理效率与质量。(The invention relates to the field of medical equipment, in particular to an automatic docking and separating system and method based on a wheelchair integrated robot. The method comprises the following steps: a wheelchair side system, a bed body side system and an operation system; the wheelchair side system is provided on the wheelchair portion, comprising: the system comprises a main controller A, a laser navigation device, a sensor acquisition system A, a motor driving system A, an electric cylinder monitoring system A and an electric quantity monitoring system, wherein the laser navigation device, the sensor acquisition system A, the motor driving system A, the electric cylinder monitoring system A and the electric quantity monitoring system are connected with the main controller A; the wheelchair part is provided with a motor driving system A; the sensor acquisition system A and the laser navigation device are both arranged on one side of an all-directional moving chassis of the wheelchair part; the control system is a manual remote lever and is communicated with the main controller A or the bed body side system; and an electric cylinder monitoring system A is arranged on the motor driving system A. According to the invention, the wheelchair is automatically docked and separated with the bed body through the automatic docking and separating intelligent control system, so that manual transfer operation of nursing personnel is replaced, physical burden of the nursing personnel is reduced, and nursing efficiency and quality are improved.)

1. The utility model provides an automatic butt joint piece-rate system based on wheelchair integration robot which characterized in that includes: a wheelchair side system, a bed body side system and an operation system;

the wheelchair side system is provided on the wheelchair portion, comprising: the wheelchair comprises a main controller A (1-1) arranged on a wheelchair part, and a laser navigation device (1-2), a sensor acquisition system A (1-3), a motor driving system A (1-4), an electric cylinder monitoring system A (1-5) and an electric quantity monitoring system (1-7) which are connected with the main controller A (1-1);

wherein the wheelchair part is provided with a motor drive system A (1-4); the sensor acquisition system A (1-3) and the laser navigation device (1-2) are arranged on one side of an all-directional moving chassis of the wheelchair part; the control system is a manual remote lever and is communicated with the main controller A (1-1) or the bed body side system; and an electric cylinder monitoring system A (1-5) for monitoring the running state of the motor driving system A (1-4) is arranged on the motor driving system A (1-4).

2. The automatic docking and undocking system based on wheelchair-integrated robot as claimed in claim 1, wherein the motor driving system a (1-4) comprises: a back-lifting electric push rod, a leg-bending electric push rod and a wheelchair rotating electric push rod; the back electric push rod, the leg bending electric push rod and the wheelchair rotating electric push rod are all connected with a main controller (1-1); the electric cylinder monitoring system A (1-5) is respectively connected with the back electric push rod, the leg bending electric push rod and the wheelchair rotating electric push rod to monitor the running state of the electric push rods.

3. The automatic docking and undocking system based on wheelchair-integrated robot as claimed in claim 1, wherein the laser navigation device (1-2) is a laser sensor.

4. The automatic docking and undocking system based on the wheelchair-integrated robot as claimed in claim 1, wherein the sensor acquisition system (1-3) is a stroke limit sensor.

5. The automatic docking and undocking system based on the wheelchair-integrated robot as claimed in claim 1, wherein the bed-side system comprises: the system comprises a main controller B (2-1), a sensor acquisition system B (2-2) connected with the main controller B (2-1), an electric cylinder monitoring system B (2-3), a motor driving system B (2-4) and a charging station system (2-5);

the main controller B (2-1) is arranged on the bed body part and is communicated with the control system;

a butt-joint bed plate is arranged at the position of the bed body part matched with the omnibearing moving chassis of the wheelchair, and a sensor acquisition system B (2-2) is arranged on the butt-joint bed plate; the butt joint bed plate is also provided with a charging station system (2-5) which is in butt joint with the wheelchair part to realize charging;

and the motor driving system B (2-3) is also provided with an electric cylinder monitoring system B (2-3) for monitoring the running state of the motor driving system B (2-3).

6. The automatic docking and separating system based on the wheelchair-integrated robot as claimed in claim 5, wherein the sensor acquisition system B (2-2) comprises a plurality of travel limit sensors, and the number of docking sensors is the same as that of the sensor acquisition systems A (1-3) and the positions of the docking sensors correspond to those of the sensor acquisition systems A (1-3).

7. The automatic docking and separating system based on the wheelchair-integrated robot as claimed in claim 1, wherein the motor driving system A (1-4) further comprises a plurality of driving wheel motors, the driving wheel motors are connected with driving wheels, and the driving wheel motors are connected with the main controller A (1-1); the two driving wheels are symmetrically arranged at the bottom of the all-directional moving chassis, and two universal wheels are arranged corresponding to the driving wheels to control the direction of the wheelchair.

8. The automatic docking and undocking system based on the wheelchair-integrated robot as claimed in claim 1, wherein the electric cylinder monitoring system a (1-5) and the electric cylinder monitoring system B (2-3) are hall position sensors.

9. An automatic docking and separating method based on a wheelchair integrated robot is characterized by comprising the following steps:

1) controlling the wheelchair to move to a butt joint area corresponding to the butt joint bed plate through a control system, and scanning the bed body part by a laser navigation device (1-2) for positioning to obtain a target point of the wheelchair part when the bed and the chair are combined, namely butt joint initial position information;

2) the main controller A (1-1) sends the information of the initial docking position to the motor driving system A (1-4), and the motor driving system firstly controls the wheelchair part to automatically move to the initial docking position;

3) after the wheelchair moves to the initial butt joint position, a main controller A (1-1) controls a wheelchair back plate and a wheelchair leg plate to be laid flat through a motor driving system A (1-4) and controls handrails on two sides to be lowered, and a seat above an all-directional moving chassis of the wheelchair part rotates 90 degrees anticlockwise when viewed;

4) when the butt joint is started, the wheelchair moves towards the bed body, the motor driving system A (1-4) controls the movement speed of the two driving wheels until the butt joint sensor is triggered, the wheelchair stops moving partially, the motor internal contracting brake of the driving wheels is started, and the butt joint is finished;

5) a user places all bed boards horizontally by controlling a motor driving system B (2-3) through an operation system, performs automatic separation operation, moves the wheelchair part to an appointed position by separating from the bed body, rotates the seat part on the omnibearing moving chassis of the wheelchair part by 90 degrees clockwise, automatically raises the armrests at two sides, automatically moves the wheelchair back board and the wheelchair leg board to adjust to a sitting posture, and completes the separation;

6) after the separation is finished, the control system obtains the control authority of the wheelchair part, and the wheelchair can be manually controlled to walk through the rocker at the moment.

10. The automatic docking and separating method based on the wheelchair-integrated robot as claimed in claim 9, wherein the step 1) is specifically as follows:

the laser navigation device (1-2) establishes an area map by scanning a bed body side butt joint bed plate, compares and matches the map stored in the main controller A (1-1) by an absolute attitude estimation method of laser SLAM to realize the positioning of the wheelchair part in the area map, and eliminates noise points in the area map by a median filtering algorithm to obtain a butt joint initial position.

Technical Field

The invention relates to the field of medical equipment, in particular to an automatic docking and separating system and method based on a wheelchair integrated robot.

Background

In recent years, with the increasing number of the global aging population, how to improve the quality of life of people who cannot take care of mobility difficulties such as the elderly and handicapped becomes an important issue in the present society. The traditional nursing mode needs nursing staff to assist old people in bed activities and to assist in getting on and off the bed, and the nursing staff is large in demand and bears huge physical burden. Therefore, the intelligent bed-chair equipment which is safe and reliable, can assist the old people who cannot take care of oneself to move in bed and can automatically get up in bed, get on and off the bed and automatically walk in a wheelchair is designed, and the intelligent bed-chair equipment has very important significance for improving the life quality of the old people and reducing the burden of nursing staff.

The most key technology in the full-automatic intelligent bed-chair control system is the automatic butt-joint and separation operation of the wheelchair and the bed, the butt-joint and separation of the wheelchair and the bed body can be automatically, smoothly and stably completed, the self-care capacity, the self-recognition degree and the life satisfaction degree of the old people who cannot take care of themselves can be improved, and the labor intensity of nursing staff in moving and taking is also reduced.

Disclosure of Invention

In order to overcome the above problems, the present invention provides an automatic docking and separating system and method based on a wheelchair-integrated robot, wherein the system is based on an automatic docking and separating bed-chair-integrated robot of the Shenyang Xinsong robot Automation GmbH of the applicant of application number 201510679347.8 on the basis of the application date of 2015, 10 and 19, and the technical problem to be solved is to solve the technical problem of solving the transfer process of people with mobility disabilities from bed to wheelchair, and realizing the automatic docking and separating of the wheelchair and the bed body, thereby avoiding the manual transfer and transfer, and reducing the physical and psychological burdens of nursing staff and users.

The technical scheme adopted by the invention for realizing the purpose is as follows: an automatic docking and separating system and method based on a wheelchair integrated robot comprises the following steps: a wheelchair side system, a bed body side system and an operation system;

the wheelchair side system is provided on the wheelchair portion, comprising: the wheelchair comprises a main controller A arranged on a wheelchair part, and a laser navigation device, a sensor acquisition system A, a motor driving system A, an electric cylinder monitoring system A and an electric quantity monitoring system which are connected with the main controller A;

wherein the wheelchair part is provided with a motor driving system A; the sensor acquisition system A and the laser navigation device are both arranged on one side of an all-directional moving chassis of the wheelchair part; the control system is a manual remote lever and is communicated with the main controller A or the bed body side system; and the motor driving system A is provided with an electric cylinder monitoring system A for monitoring the running state of the motor driving system A.

The motor drive system includes: a back-lifting electric push rod, a leg-bending electric push rod and a wheelchair rotating electric push rod; the back electric push rod, the leg bending electric push rod and the wheelchair rotating electric push rod are all connected with the main controller; the electric cylinder monitoring system A is respectively connected with the back electric push rod, the leg bending electric push rod and the wheelchair rotating electric push rod to monitor the running state of the electric push rod.

The laser navigation device is a laser sensor.

The sensor acquisition system is a stroke limit sensor.

The bed side system includes: the system comprises a main controller B, a sensor acquisition system B, an electric cylinder monitoring system B, a motor driving system B and a charging station system, wherein the sensor acquisition system B, the electric cylinder monitoring system B, the motor driving system B and the charging station system are connected with the main controller B;

the main controller B is arranged on the bed body part and is communicated with the control system;

a butt-joint bed plate is arranged at the position of the bed body part matched with the omnibearing moving chassis of the wheelchair, and a sensor acquisition system B is arranged on the butt-joint bed plate; and a charging station system is also arranged on the butt joint bed plate and is in butt joint with the wheelchair part to realize charging.

And the motor driving system B is also provided with an electric cylinder monitoring system B for monitoring the running state of the motor driving system B.

The sensor acquisition system B comprises a plurality of stroke limit sensors, the number of the butt joint sensors is the same as that of the sensor acquisition system A, and the butt joint sensors correspond to the sensor acquisition system A in position.

The motor driving system A also comprises a plurality of driving wheel motors, the driving wheel motors are connected with driving wheels, and the driving wheel motors are connected with the main controller A; the two driving wheels are symmetrically arranged at the bottom of the all-directional moving chassis, and two universal wheels are arranged corresponding to the driving wheels to control the direction of the wheelchair.

And the electric cylinder monitoring system A and the electric cylinder monitoring system B are both Hall position sensors.

An automatic docking and separating method based on a wheelchair integrated robot comprises the following steps:

1) the wheelchair is controlled by the control system to move to a butt joint area corresponding to the butt joint bed plate, the laser navigation device scans the bed body part for positioning, and a target point of the wheelchair part when the bed and the chair are combined is obtained, namely butt joint initial position information;

2) the main controller A sends the information of the initial docking position to a motor driving system A, and the motor driving system A firstly controls the wheelchair to automatically move to the initial docking position;

3) after the wheelchair moves to the initial butt joint position, the main controller A controls the wheelchair back plate and the wheelchair leg plate to be laid flat through the motor driving system A, the armrests on the two sides are controlled to be laid down, and the seat above the omnibearing moving chassis of the wheelchair part rotates 90 degrees anticlockwise when viewed;

4) when the butt joint is started, the wheelchair moves towards the bed body, the motor driving system A controls the movement speed of the two driving wheels until the butt joint sensor is triggered, the wheelchair stops moving partially, the motor internal contracting brake of the driving wheels is started, and the butt joint is completed;

5) a user places all bed boards horizontally by controlling the motor driving system B through the control system, performs automatic separation operation, moves the wheelchair part to an appointed position by separating from the bed body, rotates the seat part on the omnibearing moving chassis of the wheelchair part clockwise by 90 degrees, the armrests on two sides automatically rise, the wheelchair back board and the wheelchair leg board automatically move and adjust to the sitting posture, and the separation is completed;

6) after the separation is finished, the control system obtains the control authority of the wheelchair part, and the wheelchair can be manually controlled to walk through the rocker at the moment.

The step 1) is specifically as follows:

the laser navigation device establishes an area map by scanning the bed body side butt joint bed plate, and the area map is compared and matched with a map stored in the main controller A by an absolute attitude estimation method of laser SLAM, so that the wheelchair part is positioned in the area map, and noise in the area map is eliminated by using a median filtering algorithm, so that the butt joint initial position is obtained.

The invention has the following beneficial effects and advantages:

according to the invention, the wheelchair is automatically docked and separated with the bed body through the automatic docking and separating intelligent control system, so that manual transfer operation of nursing personnel is replaced, the physical burden of the nursing personnel is reduced, the nursing efficiency and the nursing quality are improved, and meanwhile, the life quality of a user who is inconvenient to move is also improved.

Drawings

FIG. 1 is a block diagram of the wheelchair side control system components of the present invention;

FIG. 2 is a block diagram of the bed side control system of the present invention;

FIG. 3 is a schematic structural outline diagram of a bed body part and a wheelchair part of the invention;

FIG. 4 is a flow chart of the bed-chair docking process of the present invention;

FIG. 5 is a flow chart of the bed and chair separation process of the present invention;

FIG. 6 is a schematic view of the area where the wheelchair docking laser of the present invention is located;

wherein: the system comprises a main controller A1-1, a laser navigation device 1-2, a sensor acquisition system A1-3, a motor driving system A1-4, an electric cylinder monitoring system A1-5, an electric quantity monitoring system 1-6, a main controller B2-1, a sensor acquisition system B2-2, an electric cylinder monitoring system B2-3, a charging station system 2-5 and an operation and control system 3.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as modified in the spirit and scope of the present invention as set forth in the appended claims.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The present embodiment provides an automatic docking and separating system and method based on a wheelchair-integrated robot, in combination with an automatic docking and separating bed-chair-integrated robot of application No. 201510679347.8, and the system and method specifically include:

as shown in fig. 1, the wheelchair side control system of the present invention is composed of a block diagram; the method comprises the following steps: a wheelchair side system, a bed body side system and an operation system;

the wheelchair side system is provided on the wheelchair portion, comprising: the wheelchair comprises a main controller A1-1 arranged on a wheelchair part, a laser navigation device 1-2 connected with the main controller A1-1, a sensor acquisition system A1-3, a motor driving system A1-4, an electric cylinder monitoring system A1-5 and an electric quantity monitoring system 1-7;

in an automatic separation and butt joint bed-chair integrated robot of application No. 201510679347.8, a wheelchair portion comprises an all-directional moving chassis and a wheelchair back frame, a wheelchair leg bending mechanism frame, a wheelchair leg frame and a wheelchair foot plate frame which are connected in sequence to form a wheelchair integral frame, and a motor driving system 104 is arranged on the wheelchair integral frame; the sensor acquisition system 103 and the laser navigation device 102 are both arranged on one side of an all-directional moving chassis of the wheelchair part;

wherein, the wheelchair part is provided with a motor driving system A1-4; the sensor acquisition system A1-3 and the laser navigation device 1-2 are both arranged on one side of an omnidirectional moving chassis of the wheelchair part; the control system is a manual remote lever and is communicated with the main controller A1-1 or a bed side system; the motor driving system A1-4 is provided with an electric cylinder monitoring system A1-5 for monitoring the running state of the motor driving system A1-4.

The motor drive system 1-4 includes: a back-lifting electric push rod, a leg-bending electric push rod and a wheelchair rotating electric push rod; the electric cylinder monitoring system A1-5 is respectively connected with the back electric push rod, the leg bending electric push rod and the wheelchair rotating electric push rod so as to monitor the running state of the electric push rods.

The laser navigation device 1-2 is a laser sensor.

The sensor acquisition system 1-3 is a stroke limit sensor.

The bed side system includes: the system comprises a main controller B2-1, a sensor acquisition system B2-2 connected with the main controller B2-1, an electric cylinder monitoring system B2-3, a motor driving system B2-4 and a charging station system 2-5;

the main controller B2-1 is arranged on the bed body part and is communicated with the control system;

as shown in fig. 2, a block diagram of a bed side control system of the invention is shown, in an automatic separating and butting bed-chair integrated robot of application No. 201510679347.8, a motor driving system B is arranged on a bed body integral frame, and the motor driving system B comprises a left side turning electric push rod, a right side turning electric push rod and a bed body leg bending electric push rod; the left-side turning electric push rod, the right-side turning electric push rod and the bed body leg bending electric push rod are all connected with a main controller B;

a butt-joint bed plate is arranged at the position of the bed body part matched with the omnibearing moving chassis of the wheelchair, and a sensor acquisition system B2-2 is arranged on the butt-joint bed plate; the butt joint bed plate is also provided with a charging station system 2-5 which is in butt joint with the wheelchair part to realize charging.

The motor driving system B2-3 is also provided with an electric cylinder monitoring system B2-3 for monitoring the running state of the motor driving system B2-3.

The sensor acquisition system B2-2 comprises a plurality of travel limit sensors, the number of the butt joint sensors is the same as that of the sensor acquisition system A1-3, and the butt joint sensors correspond in position.

The motor driving system A1-4 further comprises a plurality of driving wheel motors, the driving wheel motors are connected with driving wheels, and the driving wheel motors are connected with the main controller A1-1; the two driving wheels are symmetrically arranged at the bottom of the all-directional moving chassis, and two universal wheels are arranged corresponding to the driving wheels to control the direction of the wheelchair.

The electric cylinder monitoring system A1-5 and the electric cylinder monitoring system B2-3 are Hall position sensors.

As shown in figure 3, the outline structure of the bed body is a sketch, the side of the bed body is fixed, the appearance of the bed body with outlines a-f is a laser sensor scanning area in the process of docking the wheelchair, and the wheelchair is positioned before docking. And a docking sensor is arranged in the c-d area of the outline and is used for detecting the completion of the docking of the wheelchair. Only after the butt joint sensor triggers and confirms that the butt joint is completed, the bed body main controller B2-1 starts a bed side motor driving system B2-3, and at the moment, the operations of left turning, right turning, leg lifting and the like of the bed body are carried out through the key handles.

As shown in figure 3, the outline structure of the wheelchair is simplified, and the chassis and the upper seat part of the wheelchair have a structure capable of rotating 90 degrees relatively. And a laser sensor is arranged behind the chassis and used for positioning the wheelchair by butting the outline of the detection area in the process. A docking sensor is arranged behind the chassis for detecting the completion of docking. After the wheelchair side docking sensor is triggered, the wheelchair side controller disables the wheelchair side electric cylinder driving system and the control system, and the operations of back lifting, leg bending, wheelchair rotation and the like of the wheelchair cannot be controlled manually.

As shown in the flow chart of fig. 4, a high-precision map of the bed-chair docking area is stored in the wheelchair control system. The user controls the wheelchair to move to the docking area through the armrest rocker, as shown in fig. 6, and the laser sensor at the rear side of the wheelchair chassis needs to be located in the area shown in the figure. And (3) executing automatic docking operation, establishing a regional map by the laser navigation system through scanning the side-docking appearance bed plate of the bed body, comparing and matching the regional map with a high-precision map stored in the system through an absolute attitude estimation method of the laser SLAM, realizing the positioning of the wheelchair in the regional map, and eliminating noise in the regional map by using a median filtering algorithm. The motor-driven system is used for controlling the wheelchair to automatically move to the docking initial position.

After the wheelchair moves to the initial butt joint position, the controller controls the wheelchair back plate and the leg plate to be laid flat through the electric cylinder driving system, the armrests on the two sides are laid down, and the seat above the wheelchair chassis rotates 90 degrees anticlockwise when viewed.

And the main controller calculates a target point of the wheelchair when the bed and the chair are combined according to the map comparison result and calculates a kinematic model of the automatic butt joint movement. And when the butt joint is started, the wheelchair moves towards the bed body, the control system controls the movement speeds of the two driving wheels according to the kinematics model until the butt joint sensor is triggered, the wheelchair stops moving, the motor band-type brakes of the driving wheels are opened, and the butt joint is completed. In the butt joint advancing process, the controller compares the advancing track of the wheelchair with the kinematic model in real time, simultaneously detects the distance between the wheelchair and the bed body in real time through laser, and if the track deviates, the controller adjusts the movement speeds of the two driving wheels by using a laser navigation differential correction algorithm to correct the track, so that the final successful butt joint of the wheelchair is ensured. And after the wheelchair triggers the butting limit sensor, stopping the movement and completing the butting.

As shown in fig. 5, which is a flow chart of the separation process, a user firstly manually places all bed boards horizontally and performs an automatic separation operation, the wheelchair is separated from the bed body and moves to a designated position, the seat part above the wheelchair chassis rotates clockwise 90 degrees in a overlooking mode, the armrests on the two sides automatically rise, the wheelchair back board and the leg boards automatically move and are adjusted to be in a sitting posture, and the separation is completed.

After the separation is finished, the wheelchair control system obtains the use permission, and the wheelchair can be manually controlled to walk through the rocker at the moment.

The bed chair has multiple functions of automatic butt joint and separation, back lifting, leg lifting, automatic armrests and the like, can meet the use requirements of users who do not move conveniently, and has multiple functions and high safety.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.