Vehicle-mounted double-layer stretcher, vibration reduction platform of vehicle-mounted double-layer stretcher and control method

Abstract

The invention provides a vehicle-mounted double-layer stretcher, a vibration reduction platform of the vehicle-mounted double-layer stretcher and a control method. The method comprises the steps: acquiring a three-dimensional angular velocity value and a three-dimensional acceleration value of the vehicle-mounted double-layer stretcher, and calculating the pose information and speed information of the vehicle-mounted double-layer stretcher; according to the robot kinematics model, the pose information and the speed information, calculating the expected stretching speed of each electric cylinder of the vehicle-mounted double-layer stretcher and the expected length of the connecting point of each electric cylinder and the base of the vehicle-mounted double-layer stretcher and the lower-layer stretcher; acquiring expected positions, expected speeds and real-time torque feedforward of all the connecting shafts based on the robot dynamic model, the expected telescopic speed, the expected length and the real-time acceleration corresponding to all the connecting shafts; using a BP neural network for inputting the expected position, the expected speed, the real-time torque feedforward and the load torque of each connecting shaft so as to update the control rate parameter; and enabling a damping platform to perform self-balancing based on the control rate parameter. The vibration angle and speed are compensated based on robot kinematics and dynamics.

Description

technical field [0001] The invention relates to the technical field of rescue equipment, in particular to a vehicle-mounted double-layer stretcher, a vibration-damping platform and a control method for the vehicle-mounted double-layer stretcher. Background technique [0002] In existing ambulances or military rescue vehicles, the used stretchers have no or only slight vibration reduction effect, and those with cushioning performance also belong to passive vibration reduction. like figure 1 As shown, the vibration reduction or cushioning performance of this stretcher bed is not good, and it can have a certain vibration reduction effect on vibrations with high frequencies, but it has almost no vibration reduction effect on vibrations with low vibration frequencies and large fluctuations. It will seriously affect the treatment of patients or wounded. For example, in scenarios such as battlefields, the ground is uneven, and if the vibration reduction of the stretcher bed in th...

AI Technical Summary

Problems solved by technology

like figure 1 As shown, the vibration reduction or cushioning performance of this stretcher bed is not good, and it can have a certain vibration reduction effect on vibrations with high frequencies, but it has almost no vibration reduction effect on vibrations with low vibration frequencies and large fluctuations. Will seriously affect the treatment of patients or wounded

For example, in scenarios such as battlefields, the ground is uneven, and if the vibration reduction of the stretcher bed in the rescue vehicle is not done well, sometimes it will even affect the life safety of the wounded

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