CN102670366B - Automatic abutting and control system for bed and chair integrated robot - Google Patents

Abstract

The invention discloses an automatic docking and control system for an integrated bed and chair robot, which comprises a bed and chair conversion mechanism, a bed body structure and a control system. The bed and chair conversion mechanism can be moved out or in from the bed body; the bed and chair conversion mechanism includes an integral frame, Parallel mechanism, linkage mechanism and omnidirectional chassis; the overall frame includes seat frame, curved leg frame, back frame, leg frame and foot frame, and the relative movement between each frame is through the linkage composed of multiple electric push rods. The mechanism realizes the bed and chair conversion function; and the bottom of the seat frame is connected to the omnidirectional chassis through the parallel mechanism, and the left and right rollover, front and rear tilting and lifting of the whole frame can be realized at the same time through the parallel mechanism. The omnidirectional chassis realizes the omnidirectional movement of the bed and chair conversion mechanism. The present invention can realize fully automatic conversion and separation between beds and chairs through the control system, and has a relatively complete conversion function between beds and chairs, as well as a turning function, greatly improving safety and comfort, and has a simple structure.

Description

An automatic docking and control system for an integrated bed and chair robot

technical field

The invention relates to the field of health care equipment, in particular, it is an integrated robot with the functions of turning over and transforming beds and chairs.

Background technique

Existing nursing beds are mostly provided with movable bed boards on the bed body to help patients sit up or change their lying positions, but their functions are relatively simple. Some products combine the functions of nursing beds and wheelchairs to improve the mobility of users, but most of them are less intelligent and their use is also subject to certain restrictions. There are also products that realize a simple auxiliary turning function to reduce the occurrence of bedsores, improve the breathing conditions of users during sleep, and reduce the work intensity of nursing staff. However, due to structural limitations, the range of motion of the turning bed board is very small, and the turning axis Located in the center of the bed surface, the turning function is not perfect, and the patient's sleeping position cannot be really changed. And there is no product combining the above two functions at present. Therefore, the elderly and disabled people who have been bedridden for a long time need a multi-degree-of-freedom, modular robot that can realize the function of a conventional nursing bed, combined with the bed and chair conversion function and the turning function, and has a high level of automation and intelligence. Nursing bed system.

Although the existing patent application number 201110023285.7 "a multifunctional nursing bed with integrated bed and chair" can satisfy both the bed and chair conversion function and the turning function, this multifunctional nursing bed cannot , it is easy to cause the user to slide down the body, and the comfort is poor, the safety is not high, and the structure is extremely complicated, the production cost is very high, and it is not easy to realize.

Contents of the invention

In view of the above shortcomings, the bed-chair integrated robot provided by the present invention can realize the conversion and separation between the bed and chair, and has a relatively complete conversion function between the bed and the chair, as well as the turning function, which greatly improves the safety and comfort. And the structure is simple.

An automatic docking and control system for a bed-chair integrated robot is characterized in that it includes a movable bed-chair conversion mechanism, a bed body fixed on the ground, and a control system.

The bed and chair conversion mechanism includes an integral frame, a parallel mechanism, a linkage mechanism and an omnidirectional chassis; wherein, the integral frame is a modular bed surface structure, including a seat frame, a curved leg frame, a back frame, a leg frame and Foot frame; wherein, a linkage mechanism composed of electric push rod A, electric push rod B, long connecting rod A, long connecting rod B, swing rod and roller is installed on the overall frame; the seat frame, curved legs are controlled by the linkage mechanism The relative movement between the frame, the back frame, the leg frame and the foot frame; the bottom of the seat frame is connected with the omnidirectional chassis through a parallel mechanism.

The seat frame is a structure of upper and lower layers, and the upper layer of the seat frame and the lower layer of the seat frame are relatively fixed through connecting rods; the rear side of the upper layer of the seat frame is respectively hinged with the backboard frame and the curved leg frame through hinges; , the curved leg frame is located in front of the upper rear side of the seat frame, and is located inside the upper seat frame; the back panel frame is located behind the upper rear side of the seat frame; the front side of the upper seat frame is hinged to the leg The board frame is connected, and the front side of the leg board frame is connected to the foot board frame.

The relative movement between the above-mentioned backboard frame and the seat frame is controlled by the electric push rod A, the body end of the electric push rod A is hinged with the lower layer of the seat frame, and the push rod end of the electric push rod A is hinged with the backboard frame.

The curved leg frame is overlapped on the support plate fixedly connected to the upper layer of the seat frame; after the curved leg frame is overlapped with the support plate, the curved leg frame is coplanar with the plane where the upper layer of the seat frame is located; the front and rear sides of the curved leg frame A longitudinal beam is installed between the centers; a swing rod is arranged directly below the longitudinal beam, one end of the swing rod is hinged to the lower layer of the seat frame, and the other end is hinged to a roller; the middle part of the swing rod is hinged to one end of the long connecting rod A, and the long connection The other end of the rod A is hinged to the backplane frame through the backplane frame beam B;

The relative movement between the leg frame and the seat frame is controlled by the electric push rod B, the body end of the electric push rod B is hinged to the lower layer of the seat frame, and the push rod end of the electric push rod B is hinged to the leg frame.

The rear side of the footboard frame is hingedly connected with the front crossbeam of the footboard frame by a hinge, and the footboard connecting rod is vertically connected on the footboard frame; one end of the long connecting rod B is hingedly connected with the footboard connecting rod, and the long connecting rod B The other end of the seat frame is hinged on the seat vertical beam fixedly connected between the upper floor of the seat frame and the front crossbeam of the lower floor of the seat frame.

The parallel mechanism is composed of four electric push rods C, the motor ends of the four electric push rods C are hinged with the upper installation frame through universal hinges, and the push rod ends of the four electric push rods C are respectively connected to the seat through universal hinges. The lower floor of the chair frame is hinged, and the connecting lines between the four universal hinges on the upper mounting frame and the four universal hinges on the lower floor of the seat frame are all rectangular.

The bed body is a tubular rectangular structure, with openings designed on the side of the bed body, a bed surface designed on the top surface of the bed body, and a bed-chair conversion mechanism setting opening connected with the opening on the bed surface.

The control system is used to realize the movement of the bed and chair conversion mechanism, the control of each electric push rod and the automatic docking control between the bed and chair conversion mechanism 1 and the bed body, including a controller, a joystick, a key panel, a laser radar, and a collision sensor. , motor driver, push rod driver and push rod driver, and marking plate A, marking plate B, and marking plate C.

Among them, the joystick is used to send the x-axis and y-axis input variables of the bed-chair conversion mechanism to the controller, and the controller converts the x-axis and y-axis input variables sent by the joystick into the speeds of the four driving motors v _r , v _l , v _f , v _b :

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="k"\; filenames="HDA00001617471700011.png"\; state="\{\{state\}\}">k</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; the\; y</span>}\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; l</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="k"\; filenames="HDA00001617471700011.png"\; state="\{\{state\}\}">k</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; the\; y</span>}\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="k"\; filenames="HDA00001617471700011.png"\; state="\{\{state\}\}">k</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; the\; y</span>}\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="k"\; filenames="HDA00001617471700011.png"\; state="\{\{state\}\}">k</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; the\; y</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

Among them, v _r , v _l , v _f , and v _b are the speeds of the driving motors located at the left, right, front, and rear respectively; k ₁ and k ₂ are proportional constants; thus, the four driving motors are respectively sent by the controller Provide four motor drivers for respectively driving the four driving motors, thereby respectively controlling the speed of each driving motor through the four motor drivers, so as to realize the forward, backward and turning of the bed and chair conversion mechanism.

The button panel sends the control signal of the electric push rod A to the controller, and the controller sends the received control signal of the electric push rod A to the push rod driver A installed on the conversion mechanism of the bed and chair, thus through the push rod The driver A controls the extension and shortening of the electric push rod A to realize the lifting or lowering of the backplane frame; in the same way, the control signal of the electric push rod B is sent to the controller through the key panel, and the received electric push rod is received by the controller. The control signal of B is sent to the push rod driver A, so that the extension and shortening of the electric push rod B is controlled by the push rod driver A to realize the lifting or lowering of the leg frame and the foot frame; the electric push rod is sent to the controller through the button panel Push rod C control signal, through the controller, the received control signal of electric push rod C is sent to push rod driver B, thereby controlling the extension and shortening of electric push rod C through push rod driver B, and realizing the bed and chair conversion mechanism Tilt controls for front, back, left, and right directions.

The laser radar, marking board A, marking board B and marking board C are used to realize the docking between the bed and chair conversion mechanism and the bed body, wherein the marking board A is located under the bed surface on the front side of the bed body, and the marking board B is located at the bottom of the bed. Below the bed surface on the rear side of the body, the marking plate C is located under the bed surface on the side opposite to the opening in the bed body, and the marking plate A, marking plate B, and marking plate C are respectively parallel to the side of the bed where they are located; the laser radar is installed on the bed chair In the conversion mechanism, the seat frame is located on one side of the seat frame; the position of the laser radar is set as the origin O, the direction pointing directly behind the bed and chair conversion mechanism is the X-axis direction, and the direction pointing to the bed and perpendicular to the X-axis is Y In the coordinate direction, the laser radar scans the three marking plates A, marking plate B, and marking plate C in real time, and obtains the coordinate points (x ₁ , y ₁ ) of each point on the marking plate A relative to the coordinate system XY, and the coordinate points on the marking plate B A series of coordinate points (x ₂ , y ₂ ) of each point of each point relative to the coordinate system XY and a series of coordinate points (x ₃ , y ₃ ) of each point on the marking board C relative to the coordinate system XY are sent to the controller , processed through the controller, specifically:

Ⅰ. Respectively fit the linear equations of marker board A, marker board B and marker board C in the XY coordinate system y ₁ =a ₁ +b ₁ x, y ₂ =a ₂ +b ₂ x, y ₃ =a ₃ + b ₃ x, completed by:

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\frac{\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}<span\; class="notranslate">\; -</span>\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}}{\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span>{\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\\ {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>{\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; b</span>}{\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

Among them, a _i is the intercept of the straight line on the Y axis, b _i is the slope of the straight line; i=1, 2, 3;

Ⅱ. According to the straight line equations of the fitted marking plate A, marking plate B and marking plate C in the XY coordinate system, the inclination angle θ _i of the three straight lines and the distance d _i of the straight line from the origin are obtained:

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&times;</span>\frac{\mathrm{<span\; class="notranslate">\; 180</span>}}{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}\\ {\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\sqrt{\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

Ⅲ. Obtain the coordinates (x _P , y _P ) of the midpoint P of the marking board B in the XY coordinate system, and the deflection angle α of the marking board B relative to the conversion mechanism of the bed and chair:

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="d"\; filenames="HDA00001617471700011.png"\; state="\{\{state\}\}">d</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ \mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 180</span>}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

Among them, _d1 is the distance from the origin O of the coordinates of the laser radar to the marking plate A, _d2 is the distance from the origin O of the coordinates of the laser radar to the marking plate C; _d3 is the distance from the origin O of the coordinates of the laser radar to the marking plate B ; θ ₁ , θ ₂ , θ ₃ are the inclination angles of the linear equations of the marking plates A, B, and C in the XY coordinate system, respectively.

Ⅳ. When the bed-chair conversion mechanism and the bed body are in the docking state, the coordinates of point P are (x′ _P , y′ _P ), and the deflection angle of the marking plate B relative to the bed-chair conversion mechanism is α′, then through the controller According to formula (4), the speeds v _r , v _l , v _f , v _b of the four drive motors of the bed-chair conversion mechanism are obtained:

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; l</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$

As a result, the four drivers control the work of the four driving motors according to the rotational speeds in formula (4), so that the connection between the bed-chair conversion mechanism and the bed body can be realized.

A collision sensor is installed on the left side of the seat frame in the bed-chair conversion mechanism. When the left side of the seat frame in the bed-chair conversion mechanism contacts the bed body, the collision sensor sends a collision signal to the controller, and the controller receives After the control signal, the four drive motors are controlled to stop moving.

The advantages of the present invention are:

1. The bed-chair integrated robot of the present invention can realize the conversion, separation and combination between beds and chairs;

2. In the bed-chair integrated robot of the present invention, in the process of lifting the backboard, the bent leg board does not make any movement first, and the user can let the backboard slightly lift up on the bed to make himself more comfortable; when the backboard is raised at an angle When it exceeds 45 degrees, the bent leg board starts to move, and finally when the back board is fully lifted, the bent leg board is tilted up to 10 degrees, which avoids the user’s body slipping during the sitting up process, greatly improving safety, and at the same time Improved comfort in the seat state;

2. In the bed-chair integrated robot of the present invention, the relative movement between the back plate and the curved leg plate can be driven by a motor through the linkage mechanism, and the relative movement between the leg plate and the foot plate is also driven by a motor through the linkage mechanism. When the leg plate falls , the foot plate is always kept parallel to the seat to provide support for the user's feet, thereby greatly reducing the manufacturing cost, and the structure is simple;

3. The bed-chair integrated robot of the present invention, through the four-column parallel mechanism under the seat, can simultaneously realize the functions of the nursing device to turn left and right, tilt forward and backward, and lift;

4. The bed-chair integrated robot of the present invention can realize the omnidirectional movement of the bed-chair conversion mechanism through the omnidirectional chassis;

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the bed-chair integrated robot of the present invention;

Fig. 2 is a schematic diagram of the overall structure of the bed and chair conversion mechanism in the present invention;

Fig. 3 is a schematic diagram of the connection between the overall frame and the linkage mechanism;

Fig. 4 is a structural schematic diagram when the leg board frame moves downward to the limit;

Fig. 5 is a schematic diagram of the overall frame structure when the back frame, curved leg frame, leg frame and foot frame are all in a flat state;

Fig. 6 is a structural schematic diagram after the curved leg frame is lifted;

Fig. 7 is a top perspective schematic diagram of the omnidirectional chassis structure;

Fig. 8 is a schematic diagram of the connection mechanism between the upper installation frame and the lower installation frame of the omnidirectional chassis and a schematic diagram of the connection of the shock absorbing spring;

Fig. 9 is a schematic diagram of the drive mode between the drive motor and the transmission gear;

Fig. 10 is a structural schematic diagram of a parallel mechanism;

Figure 11 is a state diagram of the parallel mechanism when the overall frame is tilted forward;

Figure 12 is a state diagram of the parallel mechanism when the overall frame is tilted backward;

Fig. 13 is a state diagram of the parallel mechanism when the overall frame is raised vertically;

14 is a schematic diagram of the installation positions of the laser radar, the collision sensor, and the marking board A, the marking board B, and the marking board C;

Fig. 15 is a schematic diagram of the docking process of the bed body and the bed chair conversion mechanism.

In the picture:

1-Bed chair conversion mechanism 2-Bed body 3-Control system 101-Overall frame

102-Parallel mechanism 103-Linkage mechanism 104-Omnidirectional chassis 1011-Seat frame

1012-curved leg frame 1013-back frame 1014-leg frame 1015-foot frame

101a-support plate 101b-longitudinal beam 101c-foot plate link 101d-seat vertical beam

1021-Electric actuator C 1031-Electric actuator A 1032-Electric actuator B 1033-Long connecting rod A

1034-Long connecting rod B 1035-Swing rod 1036-Roller 1041-Upper rectangular installation

Frame

1042-lower rectangular installation 1043-shaft installation plate 1044-omnidirectional wheel 1045-drive motor

frame

1046-shock absorbing spring 1047-omnidirectional wheel seat 1048-axle 1049-transmission gear A

1050-Transmission gear B 201-Opening 202-Bed surface 203-Bed chair conversion mechanism

Setting port

301-Controller 302-Joystick 303-Key Panel 304-Lidar

305-Collision sensor 306-Motor driver 307-Push rod driver A 308-Push rod driver B

309-marker plate A 310-marker plate B 311-marker plate C

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

The present invention provides a bed-chair integrated robot, as shown in FIG. 1 , including a movable bed-chair conversion mechanism 1 , a bed body 2 fixed on the ground, and a control system 3 . The inside of the bed body 2 is used to place the bed chair conversion mechanism 1 . The control system 3 is used to realize the control of the bed-chair integrated mechanical hospital bed of the present invention.

The bed and chair conversion mechanism 1 includes an overall frame 101, a parallel mechanism 102, a linkage mechanism 103 and an omnidirectional chassis 104, as shown in Fig. 2 and Fig. 3 . Wherein, the overall frame 101 is a modular bed surface structure, including a seat frame 1011 , a curved leg frame 1012 , a back frame 1013 , a leg frame 1014 and a foot frame 1015 . Seat frame 1011, curved leg frame 1012, backboard frame 1013, leg board frame 1014 and foot board frame 1015 are all aluminum alloy rectangular frame structures. Wherein, a linkage mechanism 103 composed of electric push rod A1031, electric push rod B1032, long connecting rod A1033, long connecting rod B1034, swing rod 1035, and roller 1036 is installed on the overall frame 101, as shown in Figure 3, through the linkage mechanism 102 controls the relative movement between the seat frame 1011 , the curved leg frame 1012 , the back frame 1013 , the leg frame 1014 and the foot frame 1015 . The bottom of the seat frame 1011 is connected with the omnidirectional chassis 104 through the parallel mechanism 102 . The omnidirectional chassis 104 is used to control the overall movement of the bed and chair conversion mechanism 1, and the parallel mechanism 102 controls the inclination of the overall frame 101 of the bed and chair conversion mechanism 1 in the four directions of front, rear, left and right, so that the bed and chair conversion mechanism 1 Achievable turning action.

The seat frame 1011 has a two-layer structure. As shown in FIG. 3 , the upper layer of the seat frame 1011 and the lower layer of the seat frame 1011 are relatively fixed by connecting rods. The rear side of the upper layer of the seat frame 1011 is respectively hinged with the backboard frame 1013 and the curved leg frame 1012 through hinges; wherein the curved leg frame 1012 is located in front of the upper rear side of the seat frame 1011 and is located Inside; the backboard frame 1013 is located behind the side edge of the upper rear part of the seat frame 1011 . The upper front side of the seat frame 1011 is connected to the leg frame 1014 by hinges, and the front side of the leg frame 1014 is connected to the foot frame 1015 . The upper surface of the seat frame 1011, the backboard frame 1013, the curved leg frame 1012, the leg board frame 1014 and the upper surface of the footboard frame 1015 are all covered with soft materials, thereby forming the seat surface, the backboard surface, the curved leg surface, and the legs. deck and foot deck.

The relative movement between the above-mentioned back frame 1013 and the seat frame 1011 is controlled by the electric push rod A1031, the body end of the electric push rod A1031 is hinged with the lower layer of the seat frame 1011, and the push rod end of the electric push rod A1031 is hinged with the back frame 1013 The hinge of the push rod end of the electric push rod A1031 and the back frame 1013 is close to the hinge of the back frame 1013 and the upper layer of the seat frame 1011, so that the back frame 1013 can be subjected to more pressure exerted by the push rod end of the electric push rod A1031 Good push and pull. When the push rod end of the electric push rod A1031 is shortened to the limit (that is, the distance between the body end of the electric push rod A1031 and the push rod end is the smallest), the backplane frame 1013 is coplanar with the plane where the upper layer of the seat frame 1011 is located. When the push rod end of the electric push rod A1031 is extended, the back frame 1013 is pushed by the push rod end of the electric push rod A1031, so that the back frame 1013 rotates counterclockwise around the hinge between the back frame 1013 and the seat frame 1011 , when the push rod end of the electric push rod A1031 is extended to the limit (that is, the distance between the body end of the electric push rod A1031 and the push rod end is the largest), the angle between the back frame 1013 and the horizontal plane is 75°.

The curved leg frame 1012 is overlapped on the support plate 101a fixedly connected to the upper layer of the seat frame 1011, and provides mechanical support for the curved leg frame 1012 through the support plate 101a, preventing the curved leg frame 1012 from continuing to move downward. After the curved leg frame 1012 is overlapped with the support plate 101a, the curved leg frame 1012 is coplanar with the plane where the upper layer of the seat frame 1011 is located. A longitudinal beam 101b with a certain width is installed between the center of the front and rear sides of the curved leg frame 1012 . A swing rod 1035 is arranged directly below the longitudinal beam 101b. One end of the swing rod 1035 is hinged to the lower layer of the seat frame 1011, and the other end is hinged to a roller 1036. The middle part of the swing rod 1035 is hingedly connected to one end of the long connecting rod A1033, and the other end of the long connecting rod A1033 is hingedly connected to the backplane frame 1013 through the beam B of the backplane frame 1013, and the hinge between the long connecting rod A1033 and the backplane frame 1013 is close to the backplane frame 1013 and the hinge of the seat frame 1011 upper layer, so that the long connecting rod A1033 can be subjected to better pulling force and pushing force applied by the backboard frame 1013. In the above structure, when the backboard frame 1013 is in a horizontal state, the rollers 1036 are not in contact with the curved leg frame 1012, and there is a gap. At this time, the curved leg frame 1012 maintains a horizontal state under the mechanical support of the support plate 101a on the seat frame 1011. When the backplane frame 1013 moves counterclockwise (that is, when the backplane frame 1013 is gradually lifted under the push of the push rod end of the electric push rod A1031), the backplane frame 1013 pulls the long connecting rod A1033, so that the swing rod 1035 is supported by the long connecting rod The pulling force of A1033 moves clockwise (that is, the swing bar 1035 is gradually lifted), so that the roller 1036 is lifted up. When the angle between the backboard frame 1013 and the horizontal plane was 45°, the rollers 1036 were just lifted to contact with the lower surface of the longitudinal beam 101c on the curved leg frame 1012, and the curved leg frame 1012 was thrown in a horizontal state at this moment. When the backplane frame 1013 continues to move counterclockwise, the long connecting rod A1033 pulls the swing rod 1035 to continue to move clockwise. At this time, the roller 1036 will continue to lift up and roll on the longitudinal beam 101c, thus passing the roller 1036 Longitudinal beam 101c rolls on the bottom surface, promotes and jacks up leg board frame 1014 and bent leg frame 1012, makes leg board frame 1014 and bent leg frame 1012 rotate clockwise with the joint of bent leg frame 1012 and seat frame 1011 as an axis (that is, leg board Frame 1014 bends leg frame 1012 and lifts up gradually). Through the above-mentioned structure, when the user operates the backboard frame 1013 on the bed to raise the angle less than 45°, the bent leg frame 1012 will not take any action, so that the user's legs will not be disturbed by the bent leg frame 1012, so that The user's comfort is increased. When the lifting angle of the backboard frame 1013 is greater than 45 degrees, the user will slide down to a certain extent, and the lifting of the curved leg frame 1012 at this time effectively prevents the human body from sliding down. When the angle between the back frame 1013 and the horizontal plane is 75°, the angle between the curved leg frame 1012 and the horizontal plane is 10°. Through the mutual linkage between the bent leg frame 1012 and the back frame 1013, the user can obtain a more comfortable sitting state.

The relative movement between the above-mentioned leg frame 1014 and the seat frame 1011 is controlled by the electric push rod B1032, the body end of the electric push rod B1032 is hingedly connected with the lower floor of the seat frame 1011, and the push rod end of the electric push rod B1032 is connected to the leg frame 1014. Hinge connection, the hinge of the push rod end of the electric push rod B1032 and the leg frame 1014 is close to the hinge of the leg frame 1014 and the upper layer of the seat frame 1011, so that the leg frame 1014 can be pushed by the electric push rod B1032 Better push and pull forces applied at the end. Through the above structure, when the push rod end of the electric push rod B1032 is extended, the leg frame 1014 is rotated clockwise with the hinge joint between the leg frame 1014 and the seat frame 1011 as the axis, and when the push rod end of the electric push rod B1032 When it is extended to the limit (that is, the distance between the body end of the electric push rod A1031 and the push rod end is the largest), the angle between the leg frame 1014 and the horizontal plane is 10°, thus the lifting of the leg frame 1014 can avoid Relative interference and collision phenomena that may be encountered when the bed-chair conversion mechanism 1 is docked or separated from the bed body 2 . When the push rod end of the electric push rod B1032 is shortened, the leg board frame 1014 is rotated counterclockwise with the hinge joint of the leg board frame 1014 and the seat frame 1011 as an axis. When the push rod end of the electric push rod B1032 is shortened to the limit (that is, the distance between the body end of the electric push rod A1031 and the push rod end is the smallest), the angle between the leg plate frame 1014 and the horizontal plane is -70°, as shown in Figure 4 , thus the back frame 1013 cooperates with the leg frame 1014 to lift upwards so that the user is in a sitting state.

The rear side of the foot frame 1015 is hingedly connected to the front beam of the leg frame 1014 through a hinge, and the foot frame 1015 is vertically connected with a foot link 101c. One end of the long connecting rod B1034 is hingedly connected with the foot plate connecting rod 101c, and the other end of the long connecting rod B1034 is hinged on the seat vertical beam 101d fixedly connected between the upper floor of the seat frame 1011 and the lower front beam of the seat frame 1011. Wherein, the hinge between the long connecting rod B1034 and the foot frame 1015 connecting rod, the vertical line between the hinge of the leg frame 1014 and the foot frame 1015, the hinge between the long connecting rod B1034 and the seat frame 1011, the leg frame 1014 and the seat frame 1011 The vertical lines between the hinges between the seat frames 1011 are always kept parallel, and the two sides of the leg frame 1014 are always kept parallel to the long connecting rod B1034. As shown in Fig. 3, Fig. 4 and Fig. 5, under the effect of the long connecting rod B1034, no matter the angle between the leg frame 1014 and the horizontal plane is any size, the plane where the leg frame 1015 is located and the upper layer of the seat frame 1011 and the seat The plane where the lower layer of the frame 1011 is located is always kept parallel. When the leg frame 1014 moves to be flat with the surface of the seat frame 1011 , the foot frame 1015 is also flat with the surface of the seat frame 1011 . When the leg frame 1014 moves counterclockwise to the extreme position, the foot frame 1015 is still parallel to the plane where the upper layer of the seat frame 1011 and the lower layer of the seat frame 1011 are located. The foot frame 1015 is used to provide support for the user's footsteps, which increases the comfort of the bed and chair conversion mechanism 1 .

When in the bed state, the bed and chair conversion mechanism 1 is located inside the bed body 2, and the bed body 2 and the bed and chair conversion mechanism 1 are relatively fixed, and the back frame 1013, curved leg frame 1012, leg frame 1014 and foot frame 1015 are all in a flat state. State, as shown in Figure 5, this state can realize the whole function as bed. In this state, the user can operate the backboard frame 1013 to lift up to a certain angle, and when the angle is less than 45°, the bent leg frame 1012 will not be moved, thereby realizing the independent back lifting function, as shown in FIG. 3 .

When the user performs the conversion operation of the bed and chair, the back frame 1013 and the leg frame 1014 can be controlled to move to the wheelchair state at the same time, so as to realize the function of sitting up. Now the curved leg frame 1012 is lifted, as shown in Figure 6, the foot plate frame 1015 remains flat with the seat frame 1011 all the time, effectively avoiding the situation that the user's body glides in the process of sitting up, and providing a comfortable seat for the user's feet. Provide support to improve the safety and comfort of the user when sitting up.

The omnidirectional chassis 104 is a high-load omnidirectional wheel chassis, which is a two-layer structure, as shown in Figure 7, including an upper installation frame 1041, a lower installation frame 1042, four shafting installation plates Omni-directional wheels 1044, four driving motors 1045 and four damping springs 1046. Wherein, the upper installation frame 1041 and the lower installation frame 1042 are relatively fixedly connected by connecting pieces. The four shafting installation plates 1043 are hingedly connected with the lower installation frame 1042 and located inside the lower installation frame 1042 , thereby reducing the volume of the omnidirectional chassis 104 to the greatest extent. The upper surface of each shafting installation plate 1043 is hingedly connected to the upper installation frame 1041 through a high stiffness damping spring 1046, as shown in FIG. 8 . An omnidirectional wheel seat 1047 is fixed on the bottom surface of each shafting mounting plate 1043, and an omnidirectional wheel 1044 is pivotally connected to the omnidirectional wheel seat 1047 through a wheel shaft 1048, and the four omnidirectional wheels 1044 are arranged in a cross shape. A driving motor 1045 is respectively fixed on the bottom surface of the four shafting mounting plates 1043, and the shafting of the four driving motors 1045 is offset relative to the shafting N of the four omnidirectional wheels 1044, and the distance between each driving motor 1045 and the omnidirectional wheel 1044 The driving method is as follows: the output shaft of each drive motor 1045 is fixedly sleeved with a transmission gear A1049, and each wheel shaft 1048 is sleeved with a transmission gear B1050, and the transmission gear A1049 meshes with the transmission gear B1050, so that each drive motor Power is transmitted between 1045 and each omnidirectional wheel 1044 through gears, as shown in FIG. 9 . The omnidirectional wheel 1044 is a 90° omnidirectional wheel 1044 with a diameter of 203mm, a wheel width of 77mm, and a single wheel load of 120kg; the driving motor 1045 is a DC brushed motor with an output power of 200W.

Through the above structure, when the upper installation frame 1041 is subjected to downward pressure, each shaft system installation plate 1043 hinged with the lower installation frame 1042 is stressed and rotates along the hinge, so that each omnidirectional wheel 1044 can be rotated when impacted. The omnidirectional chassis 104 moves up and down in the vertical direction, and during the movement, each omnidirectional wheel 1044 is always perpendicular to the omnidirectional chassis 104, realizing the independent shock absorption of each omnidirectional wheel 1044, and ensuring the performance of each omnidirectional wheel 1044 On the premise of this, the obstacle-surmounting ability that general omnidirectional chassis does not have is realized, and the phenomenon of vibration and noise of omnidirectional chassis 104 is alleviated through four damping springs 1046 .

The upper installation frame 1041 of the omnidirectional chassis 104 is connected to the lower layer of the seat frame 1011 through a parallel mechanism 102 . The parallel mechanism 102 is composed of four electric push rods C1021, as shown in Figure 10, the motor ends of the four electric push rods C1021 are hinged to the upper installation frame 1041 through universal hinges, and the push rod ends of the four electric push rods C1021 are respectively The universal hinge is hinged with the lower floor of the seat frame 1011, and the connection lines between the four universal hinges on the upper mounting frame 1041 and the four universal hinges on the lower floor of the seat frame 1011 are all rectangular, thus The whole bed and chair conversion mechanism 1 can be connected with the omnidirectional chassis 104 through four electric push rods C1021. In the above structure, in order to make the bed-chair conversion mechanism 1 stable when subjected to an external force, it is necessary to make the rectangular area formed by the connection lines between the four universal hinges on the lower layer of the seat frame 1011 larger than that on the upper rectangular mounting frame 1041. The connection lines between the four universal hinges form a rectangle, and the hinge joint between each electric push rod C1021 and the seat frame is located outside the hinge joint between each electric push rod C1021 and the upper rectangular mounting frame 1041.

The bed body 2 is a cylindrical rectangular steel frame structure, as shown in Figure 1, an opening 201 is designed on the side of the bed body 2, a bed surface 202 is designed on the top surface of the bed body, and a bed surface 202 is opened on the bed surface 202. The opening 203 for the bed and chair conversion mechanism communicated with the opening 201 is used to provide a place for the bed and chair conversion mechanism 1 . The length of the opening 201 is located between the length of the seat mechanism 1011 in the bed and chair conversion mechanism 1 and the overall length of the bed and chair conversion mechanism 1 (that is, when the bed and chair conversion mechanism 1 is in a flat state as a whole, the front side of the foot frame 1015 and the back frame 1013 rear side spacing), so that when the bed-chair conversion mechanism 1 is in the seat state, it can enter the bed body 2 through the opening 201, and realize the flattened state of the bed body 2 through the side of the bed body 2 The circumferential positioning of the conversion mechanism 1 is to improve the stability of the bed chair conversion mechanism 1 when the bed state is used. When the bed and chair conversion mechanism 1 is in the flattened state inside the bed body 2, the upper surface of the bed and chair conversion mechanism 1 (the above-mentioned foot board surface, leg board surface, seat surface and back board surface) is joined with the upper surface of the bed body 2, Form a complete bed surface. Above-mentioned bed body 2 surroundings can add manual pulling type dress guardrail as required.

When in the bed state and wheelchair state, the user can operate the push rod ends of the four electric push rods C1021 in the parallel mechanism 102 to extend or shorten, so as to realize various functions such as raising and lowering the bed surface, tilting back and forth and turning left and right in the bed state. Function, to meet the nursing, treatment, anti-decubitus and other requirements. The specific operation is as follows: In the initial state, the four electric push rods C1021 are at the original length (that is, the distance between the telescopic ends of the four electric push rods C1021 and the body end is the smallest), and the overall frame 101 remains parallel to the omnidirectional chassis 104 at this time. When the two electric push rods C1021 at the front or the two electric push rods C1021 at the rear are elongated, the length ratio of the four electric push rods C1021 changes, thereby driving the overall frame 101 of the bed and chair conversion mechanism 1 to be opposite to each other. The omnidirectional chassis 104 is tilted backward or forward, as shown in FIGS. 11 and 12 . When the two electric push rods C1021 at the front or the two electric push rods C1021 at the rear are synchronously extended to the limit position (that is, the distance between the telescopic end of the electric push rod C1021 and the end of the body is the largest), the whole body of the bed and chair conversion mechanism 1 The frame 101 is inclined 45° backward or 45° forward relative to the omnidirectional chassis 104 . At this time, if the bed-chair conversion mechanism 1 is in the bed state, the function of tilting the bed surface backward or forward can be realized; if the bed-chair conversion mechanism 1 is in the wheelchair state, the function of the wheelchair tilting backward or forward can be realized . In the same way, when the two electric push rods C1021 on the left or the two electric push rods C1021 on the right extend synchronously, the length ratio of the four electric push rods C1021 changes, thereby driving the bed-chair conversion mechanism The overall frame 101 of 1 is inclined to the right or to the left relative to the omnidirectional chassis 104. When the two electric push rods C1021 on the left side or the two electric push rods C1021 on the right side are stretched to the limit position, the overall frame 101 of the bed and chair conversion mechanism 1 is inclined to the right by 60° or to the right relative to the omnidirectional chassis 104 Tilt to the left by 60°; at this time, if the bed-chair conversion mechanism 1 is in the bed state, the bed surface can be tilted to the right or to the left, so that the user can turn right or left. When the four electric push rods C1021 are extended synchronously, since the length ratio of the four electric push rods C1021 does not change, the overall frame 101 driving the bed-chair conversion mechanism 1 rises vertically, as shown in FIG. 13 . When the electric push rod C1021 is extended to the limit position state, the overall frame 101 of the seat frame 1011 conversion mechanism is raised upwards by 100mm relative to the omnidirectional chassis 104; The function of raising the bed surface; if the bed-chair conversion mechanism 1 is in the wheelchair state, the function of raising the wheelchair can be realized.

The control system 3 is used to realize the movement of the bed and chair conversion mechanism 1, the control of each electric push rod and the automatic docking control between the bed and chair conversion mechanism 1 and the bed body 2, including a controller 301, a joystick 302, and a button panel 303 , laser radar 304, collision sensor 305, motor driver 306, push rod driver 307 and push rod driver 308, and marking plate A309, marking plate B310, and marking plate C311.

Among them, the joystick 302 is used to send the x and y axis input variables of the bed and chair conversion mechanism 1 to the controller 301, and the controller 301 converts the x and y axis input variables sent by the joystick 302 into the speeds of the four driving motors 1045 v _r , v _l , v _f , v _b :

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="k"\; filenames="HDA00001617471700011.png"\; state="\{\{state\}\}">k</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; the\; y</span>}\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; l</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="k"\; filenames="HDA00001617471700011.png"\; state="\{\{state\}\}">k</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; the\; y</span>}\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="k"\; filenames="HDA00001617471700011.png"\; state="\{\{state\}\}">k</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; the\; y</span>}\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="k"\; filenames="HDA00001617471700011.png"\; state="\{\{state\}\}">k</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; the\; y</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

Among them, v _r , v _l , v _f , and v _b are the speeds of the drive motors located at the left, right, front, and rear, respectively; k ₁ , k ₂ are proportional constants.

Thus, the four drive motors 1045 are respectively sent to the four motor drivers 306 respectively used to drive the four drive motors through the controller 301, thereby controlling the speeds of the respective drive motors 1045 through the four motor drivers 306 to realize the bed chair. The forward, backward and turning of conversion mechanism 1.

The button panel 303 is used to realize the control of the electric push rod A1031, the electric push rod B1032, and the four electric push rods C1021, thereby realizing the lifting and lowering of the back frame 1013 in the wheelchair conversion mechanism 1, and the lifting and lowering of the leg frame 1014 and the four electric push rods C1021. The foot frame 1015 is raised and lowered together, and the control of the inclination of the bed and chair conversion mechanism 1 in the front, rear, left, and right directions. Specifically: send the control signal of the electric push rod A1031 (the extension and shortening signal of the electric push rod A1031) to the controller 301 through the key panel 303, and send the received control signal of the electric push rod A1031 to the controller 301 The push rod driver A307 installed on the bed and chair conversion mechanism 1 controls the elongation and shortening of the electric push rod A1031 through the push rod driver A307 to realize the lifting or lowering of the back frame 1013; similarly, through the key panel 303 Send the motor push rod B1032 control signal (the extension and shortening signal of the electric push rod B1032) to the controller 301, and send the received control signal of the electric push rod B1032 to the push rod driver A307 through the controller 301, thereby passing The push rod driver A307 controls the elongation and shortening of the electric push rod B1032 to realize the lifting or lowering of the leg frame 1014 and the foot frame 1015; the control signal of the electric push rod C1021 is sent to the controller 301 through the key panel 303 (located on the front side, The two electric push rods C1021 on the rear side, the left side, and the right side are extended simultaneously or the signal from the left end), and the received control signal of the electric push rod C1021 is sent to the push rod driver B308 through the controller 301, thus through the push rod The rod driver 308B controls the extension and shortening of the electric push rod C1021 to realize the tilt control of the bed and chair conversion mechanism 1 in the front, rear, left, and right directions.

The above-mentioned driving button panel 303 includes a backboard lifting button, a backboard lowering button, a footboard lifting button, a footboard lowering button, a forward leaning button, a backward leaning button, a left leaning button, a right leaning body button and a body button for canceling an inclination state; Press different buttons to make the bed and chair conversion mechanism complete the corresponding action.

The laser radar 304 and the marking plate A309, the marking plate B310 and the marking plate C311 are used to realize the docking between the bed and chair conversion mechanism 1 and the bed body 2, wherein the marking plate A309 is located on the front side of the bed body 2 Below the surface 202, the marking plate B310 is located under the bed surface 202 on the rear side of the bed body 2, and the marking plate C311 is located under the bed surface 202 on the side opposite to the opening 201 in the bed body 2. The marking plate A309, the marking plate B310, and the marking plate C311 are respectively connected to the The sides of the bed body 2 are parallel; the laser radar 304 is installed on the seat frame 1011 of the bed-chair conversion mechanism 1 and is located on one side of the seat frame 1011 . Set the position of the laser radar 304 as the origin O, the direction pointing directly behind the bed and chair conversion mechanism 1 is the X-axis direction, the direction pointing to the bed body 2 and perpendicular to the X-axis is the Y coordinate direction, and scan three marks in real time through the laser radar 304 Plate A309, marking plate B310, and marking plate C311, obtain the coordinate points (x ₁ , y ₁ ) of each point on the marking plate A309 relative to the coordinate system XY, and a series of coordinates of each point on the marking plate B310 relative to the coordinate system XY The coordinate point (x ₂ , y ₂ ) and a series of coordinate points (x ₃ , y ₃ ) of each point on the marking board C311 relative to the coordinate system XY are sent to the controller 301 for processing by the controller 301, specifically :

Ⅰ. Respectively fit the linear equations of marker plate A309, marker plate B310 and marker plate C311 in the XY coordinate system y ₁ =a ₁ +b ₁ x, y ₂ =a ₂ +b ₂ x, y ₃ =a ₃ + b ₃ x, completed by:

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\frac{\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}<span\; class="notranslate">\; -</span>\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}}{\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="x\; i"\; filenames="HDA00001617471700011.png"\; state="\{\{state\}\}">x</figure-callout></span><figure-callout\; id="2"\; label="x\; i"\; filenames="HDA00001617471700011.png"\; state="\{\{state\}\}">\; </figure-callout>}}_{\mathrm{<span\; class="notranslate">\; </span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span>{\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\\ {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>{\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; b</span>}{\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

Among them, a _i is the intercept of the straight line on the Y axis, b _i is the slope of the straight line; i=1, 2, 3.

Ⅱ. According to the straight line equations of the fitted marking plate A309, marking plate B310 and marking plate C311 in the XY coordinate system, the inclination angle θ _i of the three straight lines and the distance d _i of the straight line from the origin are obtained:

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&times;</span>\frac{\mathrm{<span\; class="notranslate">\; 180</span>}}{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}\\ {\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\sqrt{\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

III. Obtain the coordinates (x _P , y _P ) of the midpoint P of the marking plate B310 in the XY coordinate system, and the deflection angle α of the marking plate B310 relative to the bed and chair conversion mechanism 1 (when the marking plate B310 is parallel to the X axis, α=0):

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="d"\; filenames="HDA00001617471700011.png"\; state="\{\{state\}\}">d</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ \mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 180</span>}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

Among them, _d1 is the distance from the coordinate origin O of the laser radar to the marking plate A309, _d2 is the distance from the coordinate origin O of the laser radar to the marking plate C310; _d3 is the distance from the coordinate origin O of the laser radar to the marking plate B311 ; θ ₁ , θ ₂ , θ ₃ are the inclination angles of the linear equations of the marking plates A309, B310, and C311 in the XY coordinate system, respectively.

Ⅳ. Let the bed-chair conversion mechanism 1 be located inside the bed body and form an integrated structure with the bed body 2 (that is, when the bed-chair conversion mechanism 1 and the bed body 2 are in the docking completion state), the coordinates of point P are (x′ _P , y′ _P ), the deflection angle of the marking plate B310 relative to the bed-chair conversion mechanism 1 is α′, then the speeds v _r , v _l , v _f of the four drive motors 1045 of the bed-chair conversion mechanism 1 can be obtained by the controller according to formula (4) , v _b :

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; l</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$

Thus, the four drivers 306 respectively control the operation of the four driving motors 1045 according to the rotational speeds in formula (4), so that the docking between the bed-chair conversion mechanism 1 and the bed body 2 can be realized.

In the above-mentioned docking process, when the left side of the seat frame 1011 in the bed-chair conversion mechanism 1 contacts the bed body, a collision signal is sent to the controller 301 through the collision sensor 309 installed on the seat frame 1011, and the controller 301 receives After receiving the control signal, the four drive motors 1045 are controlled to stop moving, and the docking process is completed.

Claims (10)

1. An automatic docking and control system for a bed-chair integrated robot, characterized in that it includes a movable bed-chair conversion mechanism, a bed body fixed on the ground, and a control system; The bed and chair conversion mechanism includes an integral frame, a parallel mechanism, a linkage mechanism and an omnidirectional chassis; wherein, the integral frame is a modular bed surface structure, including a seat frame, a curved leg frame, a back frame, a leg frame and Foot frame; wherein, a linkage mechanism composed of electric push rod A, electric push rod B, long connecting rod A, long connecting rod B, swing rod and roller is installed on the overall frame; the seat frame, curved legs are controlled by the linkage mechanism The relative movement between the frame, the back frame, the leg frame and the foot frame; the bottom of the seat frame is connected with the omnidirectional chassis through a parallel mechanism; The seat frame is a structure of upper and lower layers, and the upper layer of the seat frame and the lower layer of the seat frame are relatively fixed through connecting rods; the rear side of the upper layer of the seat frame is respectively hinged with the backboard frame and the curved leg frame through hinges; , the curved leg frame is located in front of the upper rear side of the seat frame, and is located inside the upper seat frame; the back panel frame is located behind the upper rear side of the seat frame; the front side of the upper seat frame is hinged to the leg Board frame connection, the front side of the leg board frame is connected to the foot board frame; The relative movement between the above-mentioned back frame and the seat frame is controlled by the electric push rod A, the body end of the electric push rod A is hinged to the lower layer of the seat frame, and the push rod end of the electric push rod A is hinged to the back frame; The curved leg frame is overlapped on the support plate fixedly connected to the upper layer of the seat frame; after the curved leg frame is overlapped with the support plate, the curved leg frame is coplanar with the plane where the upper layer of the seat frame is located; the front and rear sides of the curved leg frame A longitudinal beam is installed between the centers; a swing rod is arranged directly below the longitudinal beam, one end of the swing rod is hinged to the lower layer of the seat frame, and the other end is hinged to a roller; the middle part of the swing rod is hinged to one end of the long connecting rod A, and the long connection The other end of the rod A is hinged to the backplane frame through the backplane frame beam B; The relative movement between the leg frame and the seat frame is controlled by the electric push rod B, the body end of the electric push rod B is hinged to the lower layer of the seat frame, and the push rod end of the electric push rod B is hinged to the leg frame; The rear side of the footboard frame is hingedly connected with the front crossbeam of the footboard frame by a hinge, and the footboard connecting rod is vertically connected on the footboard frame; one end of the long connecting rod B is hingedly connected with the footboard connecting rod, and the long connecting rod B The other end of the hinge is hinged on the seat vertical beam fixedly connected between the upper layer of the seat frame and the front crossbeam of the lower layer of the seat frame; The parallel mechanism is composed of four electric push rods C, the motor ends of the four electric push rods C are hinged with the upper installation frame through universal hinges, and the push rod ends of the four electric push rods C are respectively connected to the seat through universal hinges. The lower layer of the chair frame is hinged, and the connection lines between the four universal hinges on the upper mounting frame and the four universal hinges on the lower layer of the seat frame are all rectangular; The bed body is a cylindrical rectangular structure, an opening is designed on the side of the bed body, a bed surface is designed on the top surface of the bed body, and a bed-chair conversion mechanism opening connected with the opening is opened on the bed surface; The control system is used to realize the movement of the bed and chair conversion mechanism, the control of each electric push rod and the automatic docking control between the bed and chair conversion mechanism and the bed body, including a controller, a joystick, a button panel, a laser radar, a collision sensor, Motor driver, push rod driver and push rod driver, and marking plate A, marking plate B, and marking plate C; Among them, the joystick is used to send the x-axis and y-axis input variables of the bed-chair conversion mechanism to the controller, and the controller converts the x-axis and y-axis input variables sent by the joystick into the speeds of the four driving motors v _r , v _l , v _f , v _b : $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; the\; y</span>}\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; l</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; the\; y</span>}\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; the\; y</span>}\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; the\; y</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$ Among them, v _r , v _l , v _f , and v _b are the speeds of the driving motors located at the left, right, front, and rear respectively; k ₁ and k ₂ are proportional constants; Thus, the four driving motors are respectively sent to four motor drivers respectively used to drive the four driving motors through the controller, thereby respectively controlling the speed of each driving motor through the four motor drivers, so as to realize the advancement, back and turn; The button panel sends the control signal of the electric push rod A to the controller, and the controller sends the received control signal of the electric push rod A to the push rod driver A installed on the conversion mechanism of the bed and chair, thus through the push rod The driver A controls the extension and shortening of the electric push rod A to realize the lifting or lowering of the backplane frame; similarly, the control signal of the electric push rod B is sent to the controller through the key panel, and the received electric push rod B is transmitted through the controller. The control signal of B is sent to the push rod driver A, so that the extension and shortening of the electric push rod B is controlled by the push rod driver A to realize the lifting or lowering of the leg frame and the foot frame; the electric push rod is sent to the controller through the button panel Push rod C control signal, through the controller, the received control signal of electric push rod C is sent to push rod driver B, thereby controlling the extension and shortening of electric push rod C through push rod driver B, and realizing the bed and chair conversion mechanism The control of tilting in the front, back, left, and right directions; The laser radar, marking board A, marking board B and marking board C are used to realize the docking between the bed and chair conversion mechanism and the bed body, wherein the marking board A is located under the bed surface on the front side of the bed body, and the marking board B is located at the bottom of the bed. Below the bed surface on the rear side of the body, the marking plate C is located under the bed surface on the side opposite to the opening in the bed body, and the marking plate A, marking plate B, and marking plate C are respectively parallel to the side of the bed where they are located; the laser radar is installed on the bed chair In the conversion mechanism, the seat frame is located on one side of the seat frame; the position of the laser radar is set as the origin O, the direction pointing directly behind the bed and chair conversion mechanism is the X-axis direction, and the direction pointing to the bed and perpendicular to the X-axis is Y In the coordinate direction, the laser radar scans the three marking plates A, marking plate B, and marking plate C in real time, and obtains the coordinate points (x ₁ , y ₁ ) of each point on the marking plate A relative to the coordinate system XY, and the coordinate points on the marking plate B A series of coordinate points (x ₂ , y ₂ ) of each point of each point relative to the coordinate system XY and a series of coordinate points (x ₃ , y ₃ ) of each point on the marking board C relative to the coordinate system XY are sent to the controller , processed through the controller, specifically: Ⅰ. Respectively fit the linear equations of marker board A, marker board B and marker board C in the XY coordinate system y ₁ =a ₁ +b ₁ x, y ₂ =a ₂ +b ₂ x, y ₃ =a ₃ + b ₃ x, completed by: $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\frac{\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}<span\; class="notranslate">\; -</span>\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}}{\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span>{\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\\ {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>{\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; b</span>}{\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$ Among them, a _i is the intercept of the straight line on the Y axis, b _i is the slope of the straight line; i=1, 2, 3; Ⅱ. According to the straight line equations of the fitted marking plate A, marking plate B and marking plate C in the XY coordinate system, the inclination angle θ _i of the three straight lines and the distance d _i of the straight line from the origin are obtained: $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&times;</span>\frac{\mathrm{<span\; class="notranslate">\; 180</span>}}{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}\\ {\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\sqrt{\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$ Ⅲ. Obtain the coordinates (x _P , y _P ) of the midpoint P of the marking board B in the XY coordinate system, and the deflection angle α of the marking board B relative to the conversion mechanism of the bed and chair: $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ \mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 180</span>}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$ Among them, _d1 is the distance from the origin O of the coordinates of the laser radar to the marking plate A, _d2 is the distance from the origin O of the coordinates of the laser radar to the marking plate C; _d3 is the distance from the origin O of the coordinates of the laser radar to the marking plate B ; θ ₁ , θ ₂ , θ ₃ are the inclination angles of the linear equations of the marking plates A, B, and C in the XY coordinate system, respectively; Ⅳ. When the bed-chair conversion mechanism and the bed body are in the docking state, the coordinates of point P are (x' _P , y' _P ), and the deflection angle of the marking plate B relative to the bed-chair conversion mechanism is α', then through the controller According to formula (4), the speeds v _r , v _l , v _f , v _b of the four drive motors of the bed-chair conversion mechanism are obtained: $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; l</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$ As a result, the four drivers control the work of the four driving motors respectively according to the rotational speed in formula (4), so that the connection between the bed-chair conversion mechanism and the bed body can be realized; A collision sensor is installed on the left side of the seat frame in the bed-chair conversion mechanism. When the left side of the seat frame in the bed-chair conversion mechanism contacts the bed body, the collision sensor sends a collision signal to the controller, and the controller receives After the control signal, the four drive motors are controlled to stop moving. 2. A bed-chair integrated robot automatic docking and control system as claimed in claim 1, characterized in that: the push rod end of the electric push rod A and the hinge of the back frame are close to the upper layer of the back frame and the seat frame The hinge of the push rod end of the electric push rod B and the hinge of the leg frame is close to the hinge of the leg frame and the upper layer of the seat frame. 3. A bed-chair integrated robot automatic docking and control system as claimed in claim 1, characterized in that: when the push rod end of the electric push rod A is shortened to the limit, the plane where the backboard frame and the upper layer of the seat frame are located are in the same plane. surface; when the push rod end of the electric push rod A is extended to the limit, the angle between the back frame and the horizontal plane is 75°. 4. A bed-chair integrated robot automatic docking and control system as claimed in claim 1, characterized in that: when the back frame is in a horizontal state, there is a gap between the rollers and the curved-leg frame, and the curved-leg frame is at this time level state. 5. A bed-chair integrated robot automatic docking and control system as claimed in claim 1, characterized in that: when the angle between the back frame and the horizontal plane is 45°, the rollers and the lower surface of the longitudinal beam on the curved leg frame At this time, the curved leg frame is in a horizontal state; when the angle between the back frame and the horizontal plane is 75°, the angle between the curved leg frame and the horizontal plane is 10°. 6. A bed-chair integrated robot automatic docking and control system as claimed in claim 1, characterized in that: when the push rod end of the electric push rod B is stretched to the limit, the angle between the leg frame and the horizontal plane is 10°; when the push rod end of the electric push rod B is shortened to the limit, the angle between the leg plate frame and the horizontal plane is -70°. 7. A bed-chair integrated robot automatic docking and control system according to claim 1, characterized in that: the hinge between the long connecting rod A and the back frame is close to the hinge between the back frame and the upper layer of the seat frame . 8. A bed-chair integrated robot automatic docking and control system as claimed in claim 1, characterized in that: the hinge between the long connecting rod B and the connecting rod of the foot frame, and the hinge between the leg frame and the foot frame The vertical line between the hinge of the long connecting rod B and the seat frame, and the vertical line between the hinge of the leg frame and the seat frame are always parallel, and the two sides of the leg frame are connected to the long connecting rod B Always keep parallel. 9. A bed-chair integrated robot automatic docking and control system as claimed in claim 1, characterized in that: the omnidirectional chassis is a high-load omnidirectional wheel chassis, which is a two-layer structure, including an upper installation frame, The lower installation frame, four shaft installation plates, four omnidirectional wheels, four drive motors and four shock absorbing springs; among them, the upper installation frame and the lower installation frame are relatively fixedly connected by connecting pieces; the four shaft installations The plates are hingedly connected with the lower mounting frame and located inside the lower mounting frame; the upper surface of each shafting mounting plate is hinged with the upper mounting frame through a high stiffness damping spring; each shafting mounting plate is fixed on the bottom surface with a Omni-directional wheel seat, an omni-directional wheel is connected to the omni-directional wheel seat through the axle shaft, and the four omni-directional wheels are arranged in a cross shape; a drive motor is respectively fixed on the bottom surface of the four shaft installation plates, and the shafts of the four drive motors The system is offset with respect to the shaft system N of the four omnidirectional wheels. The driving mode between each drive motor and the omnidirectional wheels is: the output shaft of each drive motor is fixedly sleeved with transmission gear A, and on each wheel shaft A transmission gear B is sleeved, and the transmission gear A and the transmission gear B mesh. 10. A bed-chair integrated robot automatic docking and control system as claimed in claim 1, characterized in that: the area of the rectangle formed by the connection lines between the four universal hinges on the lower layer of the seat frame is larger than the rectangular area of the upper layer. The connection lines between the four universal hinges on the frame form a rectangle, and the joint between each electric push rod C and the seat frame is located outside the joint between each electric push rod C and the upper rectangular mounting frame.

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