Control method of medical intelligent pushcart based on distributed sensor

Abstract

The invention provides a control method of a medical intelligent pushcart based on a distributed sensor. By using an IMU inertial sensor, a four-wheel independent drive and an independent steering control system, intelligent control of independent control steering and speed of the medical pushcart are realized. The invention relates to the technical field of medical pushcarts. The control method of the medical intelligent pushcart based on the distributed sensor comprises the steps of A, selecting a working mode; and B, collecting data of a distributed flexible film pressure sensor; filteringand storing the data; judging a force applying direction and force value; analyzing a movement intention through kinematics; controlling the speed of the pushcart through analysis acting time length;judging the movement intention of a force applying person according to a command; controlling a corresponding motor to work; starting a PID algorithm to adjust an operation posture to a step H; and corresponding detecting the operation posture of the medical pushcart and the action intention of the force applying person. According to the control method of the medical intelligent pushcart based onthe distributed sensor, the method is simple and reliable, dangers caused by false operations are avoided, time and labor are saved, the control of the medical intelligent pushcart suitable for beingused on site under complicated environment conditions in the medical industry is more humanized.

Description

Technical field [0001] The invention relates to the technical field of medical carts, and specifically refers to a distributed flexible film pressure sensor that detects the running posture of the medical cart and the action intention of the actor, combined with an IMU inertial sensor, and can be independently controlled by a four-wheel independent drive independent steering control system Intelligent control method for steering and speed. Background technique [0002] At present, the design of medical carts still retains the traditional production mode to a large extent, and the improvement of medical carts is only the improvement of machinery. According to investigations, Chinese patent 201620597906.0 discloses a patient transfer cart based on a steering system, which is mainly composed of caster components, a chassis and a bed body. Its direction handle controls the direction of the cart, which not only saves time and manpower, but also ensures the push The direction of the c...

AI Technical Summary

Problems solved by technology

However, the invention still operates according to the turning of the traditional cart, and the steering and rotation speed cannot be controlled independently, which is inconvenient for the cart to operate in a complex environment.

As mentioned above, there are many existing medical carts, such as relying on the thrust of people to drive the universal wheels to rotate. There is no clear direction when the cart is pushed, and the cart will turn randomly. The speed of the cart is controlled by the thrust. In large cases, it is very labor-intensive, especially when reversing or turning in a complex environment, the control is inflexible and time-consuming

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