Method for realizing automatic synchronous operation of double beds and control device thereof

Abstract

The invention relates to a method for realizing automatic synchronous operation of double beds and a control device thereof, and the method comprises the following steps: 1, after the double beds are powered on, a remote controller drives motors to operate at the same time, and the periodic up-and-down swinging direction of bed bodies is judged; step 2, synchronous control; 3, when the running directions of the two machine tools are inconsistent, the slave machine tool decelerates by 20%, after the main machine tool runs to the same direction, the distance difference between the machine tool body and the infrared sensor starts to be judged, and then synchronous control in the step 2 is executed; 4, the positions of the double beds are judged; 5, after the double beds are remotely controlled to stop, the bed bodies are not located at the horizontal position, the driver controls the motor to stop, and the stop action needs to be executed after the horizontal position is obtained through photoelectric distance measurement. According to the invention, the synchronism of the double beds can be quickly adjusted.

Description

Technical Field

[0001] The invention belongs to the technical field of control and drive of low-voltage DC motors, and relates to a method for realizing automatic synchronous operation of two beds, in particular to a method for realizing automatic synchronous operation of two beds and a control device thereof. Background Art

[0002] In the development of contemporary society, with the advancement and progress of science and technology, people have higher pursuits for quality of life and health, especially there is an urgent need for joint mobility or rehabilitation training during illness, and there is an urgent need to solve the practical needs of specific audiences in this field.

[0003] Looking at the current physical therapy and rehabilitation applications, most of them are still mechanical hand-cranked, requiring the assistance of traction equipment or external force, especially in some occasions where patients need to train independently, the existing control method cannot be realized. In this case, a new type of intelligent automatic control method came into being to meet the market demand for functional applications

[0004] The existing control method has the disadvantages of being inconvenient to operate, being unable to be remotely controlled, and being unable to automatically return to a horizontal position after use.

[0005] Traditional physical therapy rehabilitation beds can only achieve single bed control, have poor operating stability and are accompanied by loud noise during operation. Summary of the invention

[0006] In order to solve the above technical problems, the object of the present invention is to provide a method for realizing automatic synchronous operation of double beds and a control device thereof.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] A method for realizing automatic synchronous operation of two beds comprises the following steps:

[0009] Step 1: After the twin beds are powered on, the remote controller drives the motors to run at the same time. First, the direction of the bed's periodic up and down swing needs to be determined. During the motor operation, the infrared ranging sensor records the distance between the bed and the infrared sensor at time t1, and then records the distance between the bed and the infrared sensor at time t2 again after an interval of 200ms.

[0010] Step 2: Synchronous control. When the two beds are running in the same direction, the speed of one bed (the main bed) is kept unchanged. The other bed (the slave bed) obtains the distance between the bed and the infrared sensor measured by the previous bed (the main bed) through SPI communication, and compares the difference δ between its own bed (the slave bed) and the infrared sensor.

[0011] Step 3: When the two beds are running in different directions, the slave bed slows down by 20% and waits for the main bed to run in the same direction before starting to determine the distance difference between the bed and the infrared sensor, and then executing the synchronous control of step 2;

[0012] Step 4: When δ<0, the slave machine tool has not caught up with the main machine tool, and the slave machine tool automatically accelerates to catch up with the main machine tool according to the change in the distance difference PID. When δ>0, the slave machine tool runs ahead of the main machine tool, and the slave machine tool automatically decelerates according to the change in the distance difference PID to wait for the distance difference of the main machine tool to close.

[0013] Step 5: After the double beds are remotely stopped, if the bed is not in a horizontal position after the stop command is issued, the driver controls the motor to stop and needs to wait for the photoelectric ranging to obtain the horizontal position before executing the stop action, and then brakes to prevent the position from moving. This ensures that the next simultaneous start-up can quickly enter the synchronous operation state and reduce the synchronization time.

[0014] Preferably, in the method for realizing automatic synchronous operation of two beds, in step 1, the upward or downward movement direction of the bed is determined by measuring the distance difference.

[0015] Preferably, in the method for realizing automatic synchronous operation of two beds, in step 4, when the distance difference δ between the two beds is within 10 mm, the speed of the motors of the two beds is controlled to the same value after the requirements for synchronous operation are met, thereby realizing long-term synchronous operation.

[0016] Preferably, in the method for implementing automatic synchronous operation of two beds, in step 4, when there is a speed difference due to different loads during operation and asynchronous operation occurs again, the action of step 3 is repeated, and the speed of the main machine bed is kept unchanged, and the slave machine tool synchronizes the operation of the main machine bed according to the distance difference.

[0017] Preferably, the control device for automatic synchronous operation of a double bed comprises a power supply, a first control unit and a second control unit of the same module, the output end of the power supply is connected to the input end of the first control unit, the output end of the power supply is connected to the input end of the second control unit, the first control unit is interactively connected to the SPI communication circuit, the second control unit is interactively connected to the SPI communication circuit, and also comprises a remote control, the output end of the remote control is connected to the input end of the first remote control control unit, the control end of the first remote control control unit is connected to the controlled end of the first control unit, the output end of the remote control is connected to the input end of the second remote control control unit, and the control end of the second remote control control unit is connected to the controlled end of the second control unit.

[0018] Preferably, in the control device for automatic synchronous operation of a double bed, the first control unit includes a power adapter module, the output end of the power adapter module is connected to the input end of the motor drive module, the output end of the motor drive module is connected to the input end of the DC brushless motor, the output end of the DC brushless motor is connected to the input end of the rehabilitation training bed, the output end of the rehabilitation training bed is connected to the input end of the ranging module, the output end of the ranging module is connected to the input end of the synchronization control module, the synchronization control module is interactively connected to the SPI communication circuit, the output end of the synchronization control module is connected to the input end of the 485 communication module, the output end of the 485 communication module is connected to the input end of the motor drive module, the output end of the motor drive module is connected to the input end of the fault detection module, and the output end of the fault detection module is connected to the fault indicator light.

[0019] Preferably, in the control device for automatic synchronous operation of two beds, the first remote control control unit and the second remote control control unit are the same remote control module;

[0020] The first remote control control unit includes a remote control control module and a TTL communication module, the input end of the remote control control module is connected to the output end of the remote control, the output end of the remote control module is connected to the input end of the TTL communication module, and the output end of the TTL communication module is connected to the input end of the synchronization control module.

[0021] Preferably, in the control device for automatic synchronous operation of two beds, the distance measuring module is an infrared distance measuring sensor.

[0022] Preferably, in the control device for automatic synchronous operation of two beds, the chip model used by the synchronous control module is APM32F030c8T6, and the chip model used by the fault detection module is IRMCF171.

[0023] By means of the above scheme, the present invention has at least the following advantages:

[0024] The present invention can realize the functions of real-time motor-driven synchronous operation of double beds, remote control gear switching, and automatic horizontal position search when the machine is stopped, and the operation is simple and convenient.

[0025] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 is a flow chart of the present invention;

[0028] Figure 2 It is a control principle block diagram of the present invention;

[0029] Figure 3 is a circuit diagram of the motor drive module of the present invention;

[0030] Figure 4 is a circuit diagram of a synchronous control module of the present invention;

[0031] Figure 5 It is a circuit diagram of the 485 communication module of the present invention;

[0032] Figure 6 1 is a circuit diagram of the SPI communication module of the present invention;

[0033] Figure 7 1 is a circuit diagram of a fault detection module of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0036] Example

[0037] like Figures 2 to 6As shown, a control circuit for a controller driving a motor to realize synchronous motion of two machines includes a power supply 1, a first control unit 2 and a second control unit 3 of the same module, the output end of the power supply 1 is connected to the input end of the first control unit 2, the output end of the power supply 1 is connected to the input end of the second control unit 3, the first control unit 2 is interactively connected to an SPI communication circuit 7, the second control unit 3 is interactively connected to the SPI communication circuit 7, and also includes a remote controller 4, the output end of the remote controller 4 is connected to the input end of a first remote control control unit 5, the control end of the first remote control control unit 5 is connected to the controlled end of the first control unit 2, the output end of the remote controller 4 is connected to the input end of a second remote control control unit 6, and the control end of the second remote control control unit 6 is connected to the controlled end of the second control unit 3.

[0038] In the present invention, the first control unit 2 includes a power adapter module 21, the output end of the power adapter module 21 is connected to the input end of the motor drive module 22, the output end of the motor drive module 22 is connected to the input end of the DC brushless motor 23, the output end of the DC brushless motor 23 is connected to the input end of the rehabilitation training bed 24, the output end of the rehabilitation training bed 24 is connected to the input end of the ranging module 25, the output end of the ranging module 25 is connected to the input end of the synchronization control module 26, the synchronization control module 26 is interactively connected to the SPI communication circuit 7, the output end of the synchronization control module 26 is connected to the input end of the 485 communication module 27, the output end of the 485 communication module 27 is connected to the input end of the motor drive module 22, the output end of the motor drive module 22 is connected to the input end of the fault detection module 28, and the output end of the fault detection module 28 is connected to the fault indicator light 29.

[0039] In the present invention, the first remote control control unit 5 and the second remote control control unit 6 are the same remote control module;

[0040] The first remote control control unit 5 includes a remote control control module 51 and a TTL communication module 52, the input end of the remote control control module 51 is connected to the output end of the remote control 4, the output end of the remote control control module 51 is connected to the input end of the TTL communication module 52, and the output end of the TTL communication module 52 is connected to the input end of the synchronization control module 26.

[0041] The distance measuring module described in the present invention is a 25 infrared distance measuring sensor.

[0042] The chip model used by the synchronization control module 26 in the present invention is APM32F030c8T6.

[0043] The chip model used by the fault detection module 28 in the present invention is IRMCF171.

[0044] The working principle of the present invention is as follows:

[0045] When working, the external 220V power supply is converted into a 29VDC 3A regulated power supply through the power adapter module to supply the motor drive module. The motor drive module controls the DC brushless motor. At the same time, the DC brushless motor drives the forward and backward swing motor of the rehabilitation training bed, the automatic lifting motor of the bed head, and the joint flexion and extension push rod motor, and is monitored by the ranging module. At the same time, the corresponding information is transmitted to the synchronization control module to realize synchronous control, and the feedback is sent to the motor drive module through the 485 communication module to further improve the synchronization.

[0046] in:

[0047] Power adapter module:

[0048] Converts AC 220VAC mains power into a DC 29VDC 3A regulated power supply, providing stable and reliable voltage input for the motor driver.

[0049] Motor drive module:

[0050] As shown in Figure 2, the variable frequency sine wave control method is adopted. At rated power, compared with the traditional electrolytic capacitor solution, the reactive power is reduced, the harmonic noise is greatly reduced, and the actual speed of the motor can be detected in real time. The design adopts a closed-loop control mode for the adjustment of the motor. When there is a deviation between the set target speed and the actual speed, the PID dynamically adjusts the actual speed to the target speed, which has better stability.

[0051] Synchronous control module:

[0052] In order to achieve the purpose of synchronization of the two beds through distance measurement, each bed uses a synchronization control module, and obtains the current position status of the bed through SPI master-slave communication. When the distance sensor detects that the position is not synchronized, it sends a 485 communication instruction to the motor driver, and the slave starts to dynamically PID adjust the motor speed. When the running positions of the two beds are close to the same, the slave bed body switches to the main bed body to run at the same speed, thereby achieving the requirement of synchronous operation of the two beds.

[0053] Distance measurement module:

[0054] The ranging module uses a high-precision infrared ranging sensor with a measurement accuracy error of 1mm, a power supply voltage of 5V, and a ranging range of 10-70CM to achieve real-time monitoring of the bed position.

[0055] The remote controller is a remote control module (remote controller and remote control module known in the art):

[0056] The remote control circuit and remote control use 2.4G wireless communication. The electromagnetic wave transmission has penetration, reflection and diffraction. This method can achieve long distance, wide range, and a single remote control to control multiple devices at the same time, thereby realizing synchronous start and shutdown operations.

[0057] TTL communication module:

[0058] After receiving the gear switching request sent by the remote controller, the remote control circuit sends a gear command to the synchronous control box through TTL communication to switch the actual operating gear.

[0059] SPI communication module:

[0060] The current position information between the two beds is exchanged through SPI communication. When the synchronization box obtains the position deviation between the beds, it performs synchronous PID adjustment.

[0061] 485 communication module:

[0062] The interface adopts the standard RS485 communication protocol, and the communication command is sent once every 1 second. When the communication is abnormally interrupted for more than 30 seconds, the motor driver will automatically stop, which improves reliability and safety.

[0063] Brushless DC Motor:

[0064] The motor uses a brushless DC motor with a reducer with a reduction ratio of 1:50, so as to achieve the purpose of high torque starting when running at low speed.

[0065] Rehabilitation training bed (existing technology in this field):

[0066] The bed body is equipped with a forward and backward swing motor, an automatic bed head lifting motor, a joint flexion and extension push rod motor, and a position locking device.

[0067] Fault detection module:

[0068] The motor driver fault detection circuit processing includes motor overcurrent alarm, step loss alarm, stall alarm, phase loss alarm, overvoltage alarm, and undervoltage alarm. The overcurrent alarm includes hardware overcurrent alarm and software overcurrent alarm, and the fault code is displayed through the indicator light. The software overcurrent protection collects the voltage between the current sampling resistor and amplifies it. When the collected current value exceeds the limit value, the output of the power device is turned off. The dual overcurrent protection of hardware and software improves the reliability of the variable frequency drive and further protects the safety of the motor and the user.

[0069] The working principle of the present invention is as follows:

[0070] like Figure 1As shown, a method for realizing automatic synchronous operation of two beds includes the following steps:

[0071] Step 1: After the twin beds are powered on, the remote controller drives the motors to run at the same time. First, the direction of the bed's periodic up and down swing needs to be determined. During the motor operation, the infrared ranging sensor records the distance between the bed and the infrared sensor at time t1, and then records the distance between the bed and the infrared sensor at time t2 again after an interval of 200ms.

[0072] Step 2: Synchronous control. When the two beds are running in the same direction, the speed of one bed (the main bed) is kept unchanged. The other bed (the slave bed) obtains the distance between the bed and the infrared sensor measured by the previous bed (the main bed) through SPI communication, and compares the difference δ between its own bed (the slave bed) and the infrared sensor.

[0073] Step 3: When the two beds are running in different directions, the slave bed slows down by 20% and waits for the main bed to run in the same direction before starting to determine the distance difference between the bed and the infrared sensor, and then executing the synchronous control of step 2;

[0074] Step 4: When δ<0, the slave machine tool has not caught up with the main machine tool, and the slave machine tool automatically accelerates to catch up with the main machine tool according to the change in the distance difference PID. When δ>0, the slave machine tool runs ahead of the main machine tool, and the slave machine tool automatically decelerates according to the change in the distance difference PID to wait for the distance difference of the main machine tool to close.

[0075] Step 5: After the double beds are remotely stopped, if the bed is not in a horizontal position after the stop command is issued, the driver controls the motor to stop and needs to wait for the photoelectric ranging to obtain the horizontal position before executing the stop action, and then brakes to prevent the position from moving. This ensures that the next simultaneous start-up can quickly enter the synchronous operation state and reduce the synchronization time.

[0076] Wherein, in the step 1, the upward or downward movement direction of the bed is determined by measuring the distance difference.

[0077] In step 4, when the distance difference δ between the two beds is within 10 mm, the twin beds meet the requirement of synchronous operation and control the speed of the motors to the same value to achieve long-term synchronous operation.

[0078] In step 4, when there is a speed difference due to different loads during operation and asynchronous operation occurs again, the action of step 3 is repeated, and the speed of the main machine tool is kept unchanged, and the slave machine tool synchronizes the operation of the main machine tool body according to the distance difference.

[0079] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0080] In the description of this application, it should be noted that the terms "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0081] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or vertical, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0082] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0083] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the technical principles of the present invention, and these improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for realizing automatic synchronous operation of two beds, characterized in that: The following steps are involved: Step 1: After the twin beds are powered on, the remote controller drives the motors to run at the same time. First, the direction of the bed's periodic up and down swing needs to be determined. During the motor operation, the infrared ranging sensor records the distance between the bed and the infrared sensor at time t1, and then records the distance between the bed and the infrared sensor at time t2 again after an interval of 200ms. Step 2: Synchronous control. When the two beds are running in the same direction, the speed of one bed is kept unchanged. The other bed obtains the distance between the bed and the infrared sensor measured by the previous bed through SPI communication, and compares the difference δ between the distance between its own bed and the infrared sensor. Step 3: When the two beds are running in different directions, the slave bed slows down by 20% and waits for the main bed to run in the same direction before starting to determine the distance difference between the bed and the infrared sensor, and then executing the synchronous control of step 2; Step 4: When δ<0, the slave machine tool has not caught up with the main machine tool, and the slave machine tool automatically accelerates to catch up with the main machine tool according to the change in the distance difference PID. When δ>0, the slave machine tool runs ahead of the main machine tool, and the slave machine tool automatically decelerates according to the change in the distance difference PID to wait for the distance difference of the main machine tool to close. Step 5: After the double beds are remotely stopped, if the bed is not in a horizontal position after the stop command is issued, the driver controls the motor to stop and needs to wait for the photoelectric ranging to obtain the horizontal position before executing the stop action, and then brakes to prevent the position from moving. This ensures that the next simultaneous start-up can quickly enter the synchronous operation state and reduce the synchronization time.

2. A method for realizing automatic synchronous operation of two beds according to claim 1, characterized in that: In step 1, the upward or downward movement direction of the bed is determined by measuring the distance difference.

3. The method for realizing automatic synchronous operation of two beds according to claim 1, characterized in that: In step 4, when the distance difference δ between the two beds is within 10 mm, the twin beds meet the requirement of synchronous operation and control the speed of the motors to the same value to achieve long-term synchronous operation.

4. The method for realizing automatic synchronous operation of two beds according to claim 1, characterized in that: In step 4, when there is a speed difference due to different loads during operation and asynchronous operation occurs again, the action of step 3 is repeated, and the speed of the main machine tool is kept unchanged, and the slave machine tool synchronizes the operation of the main machine tool body according to the distance difference.

5. A control device for automatic synchronous operation of two beds, characterized in that: The implementation method according to any one of claims 1 to 4.

6. A control device for automatic synchronous operation of two beds according to claim 5, characterized in that: The invention comprises a power supply (1), a first control unit (2) and a second control unit (3) of the same module, wherein the output end of the power supply (1) is connected to the input end of the first control unit (2), the output end of the power supply (1) is connected to the input end of the second control unit (3), the first control unit (2) is interconnected with an SPI communication circuit (7), the second control unit (3) is interconnected with the SPI communication circuit (7), and further comprises a remote controller (4), the output end of the remote controller (4) is connected to the input end of a first remote control control unit (5), the control end of the first remote control control unit (5) is connected to the controlled end of the first control unit (2), the output end of the remote controller (4) is connected to the input end of a second remote control control unit (6), and the control end of the second remote control control unit (6) is connected to the controlled end of the second control unit (3).

7. A control device for automatic synchronous operation of two beds according to claim 6, characterized in that: The first control unit (2) comprises a power adapter module (21), the output end of the power adapter module (21) is connected to the input end of the motor drive module (22), the output end of the motor drive module (22) is connected to the input end of the DC brushless motor (23), the output end of the DC brushless motor (23) is connected to the input end of the rehabilitation training bed (24), the output end of the rehabilitation training bed (24) is connected to the input end of the distance measuring module (25), the output end of the distance measuring module (25) is connected to the input end of the synchronization control module (26), the synchronization control module (26) is interconnected with the SPI communication circuit (7), the output end of the synchronization control module (26) is connected to the input end of the 485 communication module (27), the output end of the 485 communication module (27) is connected to the input end of the motor drive module (22), the output end of the motor drive module (22) is connected to the input end of the fault detection module (28), and the output end of the fault detection module (28) is connected to the fault indicator light (29).

8. The control device for automatic synchronous operation of two beds according to claim 6, characterized in that: The first remote control control unit (5) and the second remote control control unit (6) are the same remote control module; The first remote control control unit (5) comprises a remote control module (51) and a TTL communication module (52), the input end of the remote control module (51) is connected to the output end of the remote controller (4), the output end of the remote control module (51) is connected to the input end of the TTL communication module (52), and the output end of the TTL communication module (52) is connected to the input end of the synchronization control module (26).

9. The control device for automatic synchronous operation of two beds according to claim 6, characterized in that: The distance measuring module is (25) an infrared distance measuring sensor.

10. The control device for automatic synchronous operation of two beds according to claim 6, characterized in that: The chip model used by the synchronous control module (26) is APM32F030c8T6, and the chip model used by the fault detection module (28) is IRMCF171.

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