Pull rope guiding type electric drive base for moving bedside ultrasonic machine and control method

Abstract

The invention discloses a pull rope guiding type electric drive base for moving a bedside ultrasonic machine and a control method. The pull rope guiding type electric drive base comprises an operation side guiding rope, a guiding rope magnetic connecting buckle, a base side guiding rope, a pull rope type displacement sensor, a main control machine box, a battery pack, universal front wheels, hub motor rear wheels and a base supporting plate. The operation side guide rope is connected with the base side guide rope through the magnetic connection buckle, and the base side guide rope is connected with an internal pull rope of the pull rope type displacement sensor. The microcontroller collects displacement signals of the two displacement sensors in real time and adjusts the rotating speed of the rear wheel of the hub motor based on the common-mode control ring and the differential-mode control ring, so that the electric drive base moves straightly and steers along with the operator guide rope. Array type bolt holes are formed in the base supporting plate, so that the base supporting plate is adaptive to bedside ultrasonic machines of different models. The device is simple in structure, low in software and hardware cost and simple in installation and operation mode, can be quickly transformed or matched with an existing manual cart type bedside ultrasonic machine, remarkably reduces the physical labor intensity of an operator, and is suitable for frequent out-call or cross-floor clinical application.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to a pull rope guiding type electric drive base for a mobile bedside ultrasound machine. BACKGROUND

[0002] Bedside ultrasound examination refers to a mode of directly pushing an ultrasound machine to the bedside of a patient to perform ultrasound image examination in the patient's ward, monitoring room or other clinical scene. This mode has the advantages of being convenient for hospitalized patients with difficulty in moving, shortening the waiting time for diagnosis, reducing the risk of patients going back and forth between the ward and the examination department, and reducing the risk of cross infection. Especially in scenes such as intensive care, postoperative ward, infectious disease isolation area, bedside ultrasound can enable doctors to obtain image information in the first time, so as to formulate or adjust the treatment plan faster.

[0003] Currently, the bedside ultrasound machines commonly used in clinics are mostly manually pushed trolley type designs, and the whole device includes a main machine, a display screen, a probe and accessories, and is heavy. When frequently going on an outpatient visit or working across floors, this mode will bring a large physical burden to the doctors going on an outpatient visit. SUMMARY

[0004] The present application aims at the deficiencies of the prior art, and provides a pull rope guiding type electric drive base and method for a mobile bedside ultrasound machine, so that the doctors going on an outpatient visit can move the bedside ultrasound machine to the bedside of the patient through the pull rope guiding and electric drive, avoiding the physical labor of manually pushing the bedside ultrasound machine by the doctors going on an outpatient visit.

[0005] The present application is realized through the following technical solutions.

[0006] The pull rope guiding type electric drive base for a mobile bedside ultrasound machine comprises the following components: an operation side guiding rope, a guiding rope magnetic connection buckle, a base side guiding rope, a pull rope type displacement sensor, a main control box, a battery pack, a universal front wheel, a hub motor rear wheel and a base support plate.

[0007] The operation side guiding rope is connected with the base side guiding rope through the guiding rope magnetic connection buckle, and the base side guiding rope is connected with the internal pull ropes of the two pull rope type displacement sensors, so as to form a Y-shaped guiding rope structure when the internal pull ropes are pulled out; the pull rope type displacement sensor is two independent sensors, i.e., a left pull rope type displacement sensor L and a right pull rope type displacement sensor R, which are respectively installed at the left side and the right side of the front end of the base support plate.

[0008] The front end of the bottom support plate bottom surface is provided with two universal front wheels, which are non-powered universal wheels and serve as the main steering mechanism; the rear end of the bottom support plate bottom surface is provided with two hub motor rear wheels, namely, hub motor rear wheel L and hub motor rear wheel R, which provide driving force for the bottom and realize auxiliary steering through differential control; the middle part of the top surface of the bottom support plate is a bearing area for the ultrasonic machine and is provided with arrayed bolt holes to meet the fixing requirements of different models of bedside ultrasonic machines.

[0009] The battery pack is divided into two groups and is installed on the left and right sides of the top surface of the bottom support plate and is connected to the main control box through a pluggable interface.

[0010] The main control box comprises a microcontroller, a motor driver, a DC / DC module and a starting switch and is installed at the front end of the bottom support plate.

[0011] The microcontroller is electrically connected to the left and right pull rope type displacement sensors L and R through corresponding IO ports; the microcontroller is used to collect signals of the left and right pull rope type displacement sensors L and R, execute a control algorithm and generate control instructions for the motor driver.

[0012] One end of the motor driver is electrically connected to the corresponding IO port of the microcontroller, and the other end is electrically connected to the hub motor rear wheels L and R of the hub motor rear wheels; the motor driver receives the control instructions generated by the microcontroller and controls the rotating speeds of the hub motor rear wheels L and R.

[0013] The battery pack is electrically connected to the microcontroller and the motor driver through the DC / DC module, which is used to convert the output voltage of the battery pack into a direct current voltage suitable for the microcontroller and the motor driver; a total power switch is arranged between the battery pack and the DC / DC module.

[0014] The starting switch is electrically connected to the corresponding IO port of the microcontroller.

[0015] The operation side guide rope is made of a cable with a tensile strength not lower than that of the internal pull rope of the pull rope type displacement sensor and is used to provide a guiding function.

[0016] The guide rope magnetic connection buckle is used to magnetically and softly connect the operation side guide rope and the bottom side guide rope and can be automatically separated when being pulled by a large external force, thereby playing a safety protection role; the guide rope magnetic connection buckle is composed of two magnets, and the outer sides of the two magnets are provided with connection buckles connected to the operation side guide rope and the bottom side guide rope.

[0017] The bottom side guide rope is used to provide a guiding function and has the same material and tensile strength requirements as the operation side guide rope.

[0018] The battery pack is replaceable and can be charged by an external charger after being dismounted.

[0019] The control method of the pull rope guiding type electric driving base of the mobile bed side ultrasonic machine comprises the following steps:

[0020] Step 1: read the IO port state of the access start switch, and judge whether the start switch is closed. If the start switch is closed, step 2 is entered; if the start switch is not closed, step 6 is entered.

[0021] Step 2: collect the signals of the pull rope displacement sensors L and R, and enter step 3.

[0022] Step 3: according to the type of the pull rope displacement sensor, the displacement values of the pull rope displacement sensors L and R are calculated, denoted as L 1、 L 2 and step 4 is entered.

[0023] Step 4: according to the displacement values of the pull rope displacement sensors L and R L 1、 L 2, a control algorithm is used to calculate the speed control amount of the rear wheels L and R of the hub motor, respectively denoted as SP 1、 SP 2, and step 5 is entered.

[0024] Step 5: according to the type of the motor controller, the speed control amount SP 1、 SP 2 obtained in step 4 is converted into a matching control instruction and sent to the motor controller, and step 1 is entered.

[0025] Step 6: according to the type of the motor driver, a brake instruction is sent to control the rear wheels L and R of the hub motor to stop rotating.

[0026] Further, the control algorithm in step 4 comprises two control loops, namely a common mode control loop and a differential mode control loop. The target of the common mode control loop is to control L 1+ L 2) / 2 equal to the reference value L Ref , and the output is Δ V c . The target of the differential mode control loop is to control the difference between L 1 and L 2 equal to 0, and the output is ±Δ V d . Both control loops adopt proportional integral derivative (PID) control, and in addition, the common mode control loop also adds amplitude limiting control.

[0027] Specifically, the common mode loop output is ΔV c The calculation of the PID

[0028] (1)

[0029] In the formula, PID c represents the PID control algorithm adopted in the common-mode control loop, , and the upper and lower limits of the amplitude limiting control.

[0030] Specifically, the differential-mode control loop outputs ±Δ V d The calculation of the PID

[0031] (2)

[0032] In the formula, PID d represents the PID control algorithm adopted in the differential-mode control loop.

[0033] The output quantities of the two control loops are superimposed to form the speed control quantity of the hub motor rear wheel, and the speed of the hub motor rear wheel L SP The calculation of the PID

[0034] (3)

[0035] The speed of the hub motor rear wheel R SP The calculation of the PID

[0036] (4)

[0037] The control algorithm of the present application adjusts the speeds of the hub motor rear wheels L and R to control the displacement values of the rope displacement sensors L and R to be close to the reference values L 1 and 2, L 2, L Ref , so as to realize the movement and steering of the electrically driven base along with the guide rope of the operator.

[0038] The present application has the following characteristics: the relative positions between the base and the operator are measured in real time by the left and right rope displacement sensors, and the speeds of the hub motor rear wheels are adjusted based on the common-mode control loop and the differential-mode control loop, so as to realize the functions of straight movement and steering of the bedside ultrasound machine by the operator only by the guide rope. The array bolt hole structure of the base support plate bearing area can adapt to bedside ultrasound machines of different models and sizes, realizing universal installation and reliable fixation. The hardware and software structure is simple and low in cost, and the operation mode is intuitive, easy to reform or adapt to the existing manual trolley type bedside ultrasound machine. The physical labor intensity of the operator is significantly reduced, and it is particularly suitable for clinical application scenarios with frequent outpatient services or cross-floor work. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a perspective view of the present application, wherein: 1-1 is an operating side guide rope, 1-2 is a guide rope magnetic connection buckle, 1-3 is a base side guide rope, 1-4 is a pull rope displacement sensor, 1-5 is a main control box, 1-6 is a battery pack, 1-7 is a universal front wheel, 1-8 is a hub motor rear wheel, and 1-9 is a base support plate.

[0040] Figure 2 is a three-view drawing of the present application.

[0041] Figure 3 is an embodiment diagram of the control circuit of the present application, wherein: D0+, D0- are respectively the positive and negative poles of the voltage output end of the battery pack, connected to the input end of the DC / DC module; SW0 is a power supply master switch; DC1+, DC1- are the voltage positive and negative poles of the first output channel of the DC / DC module, providing working power supply for the microcontroller and the pull rope displacement sensor; DC2+, DC2- are the voltage positive and negative poles of the second output channel of the DC / DC module, providing working power supply for the motor driver; VDD3P3, GND are the positive pole of the power supply of the microcontroller ESP32-S3 and the ground; ADC2_1, ADC2_2 are respectively two-way ADC sampling type IO ports of the microcontroller ESP32-S3; GPIO37, GPIO38, GPIO1 are general IO ports of the microcontroller ESP32-S3, wherein GPIO37, GPIO38 are configured as PWM output IO ports of the built-in motor control pulse width modulator (MCPWM) of the microcontroller ESP32-S3; SG1, SG2 are signal output ends of the pull rope displacement sensor L, R; VDD, GND are the positive pole of the power supply and the ground of the pull rope displacement sensor L, R; DN1, DN2 are control signal input ends of the motor driver, respectively used for controlling the rotating speed of the hub motor rear wheel L, R; SW1 is a start switch, connected to the GPIO1 of the microcontroller ESP32-S3; U1, V1, W1 are phase lines of the hub motor rear wheel L; U2, V2, W2 are phase lines of the hub motor rear wheel R. The number and name of each signal line in the figure are only for illustration, and the specific number can be determined according to the type of the selected components, which does not constitute a restrictive requirement of the present application.

[0042] Figure 4 is a software module program step diagram of the present application.

[0043] Figure 5 is a control algorithm block diagram of steps 3~4 in the software module of the present application.

[0044] Figure 6The figure is an example of the use of the application, wherein: 6-1 is the invented electrically driven base with pull rope guiding for mobile bedside ultrasound machine, and 6-2 is the existing manually pushed trolley type bedside ultrasound machine which is fixed on the base of the application by bolts. DETAILED DESCRIPTION

[0045] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0046] The electrically driven base with pull rope guiding for mobile bedside ultrasound machine comprises the following components: operation side guiding rope 1-1, guiding rope magnetic connection buckle 1-2, base side guiding rope 1-3, pull rope type displacement sensor 1-4, main control machine box 1-5, battery pack 1-6, universal front wheel 1-7, wheel hub motor rear wheel 1-8, and base support plate 1-9.

[0047] The operation side guiding rope 1-1 is connected with the base side guiding rope 1-3 through the guiding rope magnetic connection buckle 1-2, and the base side guiding rope 1-3 is connected with the internal pull ropes of the two pull rope type displacement sensors 1-4 at the same time, so as to form a Y-shaped guiding rope structure when the internal pull ropes are pulled out.

[0048] The base support plate 1-9 is provided with two universal front wheels 1-7 at the front end of the bottom surface, which are non-powered universal wheels and serve as the main steering mechanism; the base support plate 1-9 is provided with two wheel hub motor rear wheels 1-8 at the rear end of the bottom surface, which are wheel hub motor rear wheels L and wheel hub motor rear wheels R, and provide driving force for the base and realize auxiliary steering through differential control; the middle part of the top surface of the base support plate 1-9 is the bearing area of the ultrasound machine and is provided with array type bolt holes to adapt to the fixing requirements of bedside ultrasound machines of different models; the remaining areas serve as the mounting and bearing areas of various components. In this embodiment, the size of the base support plate is 800mm×800mm, and the size of the bearing area of the bedside ultrasound machine is 600mm×600mm.

[0049] The battery pack 1-6 comprises two groups, which are respectively installed at the left and right sides of the top surface of the base support plate 1-9 and connected with the main control machine box through a pluggable interface.

[0050] The main control machine box 1-5 comprises a microcontroller, a motor driver, a DC / DC module, and a starting switch, which are installed at the front end of the base support plate 1-9.

[0051] The microcontroller is electrically connected with the left pull rope displacement sensor L and the right pull rope displacement sensor R of the pull rope displacement sensors 1-4 through corresponding IO ports; the microcontroller is used for collecting signals of the pull rope displacement sensor L and the pull rope displacement sensor R, executing a control algorithm, and generating a control instruction of the motor driver; in the embodiment, the microcontroller is of the ESP32-S3 type. In the embodiment, the pull rope displacement sensors 1-4 are of an analog output type, and the output signals thereof are connected to the ADC sampling type IO ports of the microcontroller. Specifically, the left pull rope displacement sensor L and the right pull rope displacement sensor R are connected to the ADC2_1 and the ADC2_2 of the microcontroller ESP32-S3 respectively, and the internal pull rope of the pull rope displacement sensor is a steel wire rope, and the range is 0 m-2 m.

[0052] The motor driver is electrically connected with the corresponding IO port of the microcontroller at one end and is electrically connected with the hub motor rear wheel L and the hub motor rear wheel R of the hub motor rear wheels 1-8 at the other end, and the motor driver receives the control instruction generated by the microcontroller and controls the rotating speeds of the hub motor rear wheel L and the hub motor rear wheel R of the hub motor rear wheels 1-8; in the embodiment, the hub motor is of a 6-inch and direct-current brushless type, and the maximum power of a single motor is 250 W. The motor driver is of a double-path brushless direct-current motor encoder-free driving type, the control input signal of the motor driver is of a pulse width modulation (PWM) type, is connected to the PWM output type IO port of the microcontroller, and specifically, the control signal input ends DN1 and DN2 of the motor driver are connected to the GPIO37 and the GPIO38 of the microcontroller ESP32-S3 respectively, and the motor control pulse width modulator (MCPWM) in the microcontroller ESP32-S3 provides the motor driver input signal through the GPIO37 and the GPIO38 to control the rotating speeds of the hub motor rear wheel L and the hub motor rear wheel R respectively.

[0053] The battery pack 1-6 is electrically connected to the microcontroller and the motor driver through the DC / DC module, is used for converting the battery pack output voltage into a direct-current voltage suitable for the microcontroller and the motor driver, and a total power switch is arranged between the battery pack and the DC / DC module. In the embodiment, the battery pack is of two 48 V and 5 Ah capacity lithium iron phosphate battery packs, the first path of the DC / DC module is 48 V to 3.3 V, the maximum power is 10 W, the output ends DC1+ and DC1- are connected to the VDD3P3 and the GND of the microcontroller ESP32-S3 respectively, the VDD3P3 and the GND are connected to the power supply ports VDD and GND connected with the pull rope displacement sensor L and the pull rope displacement sensor R, and the second path is 48 V to 24 V, the maximum power is 600 W.

[0054] The starting switch is electrically connected with the IO port corresponding to the microcontroller; in this embodiment, the starting switch is connected to the GPIO1 of the microcontroller ESP32-S3.

[0055] The software module of the technical solution of the application mainly consists of 6 program steps, which run in the microcontroller of the host machine box 1-5, and the 6 program steps are as follows:

[0056] Step 1: read the state of the IO port connected to the starting switch, and judge whether the starting switch is closed. If the starting switch is closed, go to step 2; if the starting switch is not closed, go to step 6.

[0057] Step 2: collect the signals of the pull rope displacement sensors L and R, and go to step 3.

[0058] Step 3: according to the type of the pull rope displacement sensor, calculate the displacement value of the pull rope displacement sensors L and R, denoted as L 1、 L 2 and go to step 4.

[0059] Step 4: according to the displacement values of the pull rope displacement sensors L and R L 1、 L 2, use the control algorithm to calculate the speed control amount of the rear wheels L and R of the hub motor, denoted as SP 1、 SP 2 respectively, and go to step 5.

[0060] Step 5: according to the type of the motor controller, convert the speed control amount obtained in step 4 SP 1、 SP 2 into a matching control instruction and send it to the motor controller, and go to step 1.

[0061] Step 6: according to the type of the motor driver, send a brake instruction to control the rear wheels L and R of the hub motor to stop rotating.

[0062] The control algorithm of the technical solution of the application includes two control loops, namely the common mode control loop and the differential mode control loop. The target of the common mode control loop is to control L 1+ L 2) / 2 equal to the reference value L Ref , and its output is Δ V c . The target of the differential mode control loop is to control the difference between L 1 and L 2 equal to 0, and its output is ±Δ V d . Both control loops use proportional-integral-derivative (PID) control, and in addition, the common mode control loop also adds amplitude limiting control.

[0063] Specifically, the common-mode loop output Δ V c The calculation is shown in equation (1):

[0064] (1)

[0065] In the formula, PID c This indicates the PID control algorithm used in the common-mode loop. , These are the upper and lower limits for amplitude limiting control.

[0066] Specifically, the differential control loop outputs ±Δ V d The calculation is shown in equation (2):

[0067] (2)

[0068] In the formula, PID d This indicates the PID control algorithm used in the differential mode loop.

[0069] The outputs of the two control loops are summed to obtain the speed control value for the rear wheel of the hub motor, which is the speed of the rear wheel L of the hub motor. SP The calculation of 1 is shown in equation (3):

[0070] (3)

[0071] The rotational speed of the rear wheel R of the hub motor SP The calculation of 2 is shown in equation (4):

[0072] (4)

[0073] The control algorithm of this invention adjusts the rotational speeds of the rear wheels L and R of the hub motor to change the displacement values ​​of the cable displacement sensors L and R. L 1. L 2. Control to near the reference value L Ref This allows the electrically driven base to move and steer following the operator's guide rope. In this embodiment, L Ref Set to 1m.

[0074] Figure 6The use example of the pull rope guiding type electric driving base of the mobile bed side ultrasonic machine of the application is given. Specifically, after the four casters of the existing manual trolley type bed side ultrasonic machine are removed, the casters are fixed on the bearing area of the base of the application through bolts; the operator can guide the bed side ultrasonic machine by holding the operation side guiding rope. The electric driving base of the application can automatically follow the operator according to the movement of the guiding rope, and realizes the straight movement and turning of the bed side ultrasonic machine. The whole guiding process does not require the operator to pay additional physical strength, and the operation is simple, which can significantly reduce the physical labor intensity of the doctor during the movement of the bed side ultrasonic machine.

Claims

1. A pull cord guided electrically driven base for a mobile point of care ultrasound machine, characterized in that It comprises the following components: operation side guide rope, guide rope magnetic connection buckle, base side guide rope, pull rope type displacement sensor, main control box, battery pack, universal front wheel, wheel hub motor rear wheel, base support plate; The operation side guide rope is connected with the base side guide rope through the guide rope magnetic connection buckle, and the base side guide rope is connected with the internal pull ropes of the two pull rope type displacement sensors, so that a Y-shaped guide rope structure is formed when the internal pull ropes are pulled out; the pull rope type displacement sensor is two independent sensors, namely a left pull rope type displacement sensor L and a right pull rope type displacement sensor R, which are symmetrically installed at the left and right positions of the front end of the base support plate; Two universal front wheels are installed at the front end of the bottom surface of the base support plate, which are unpowered universal wheels and serve as the main steering mechanism; two wheel hub motor rear wheels, namely a wheel hub motor rear wheel L and a wheel hub motor rear wheel R, are installed at the rear end of the bottom surface of the base support plate, which provide driving force for the base and realize auxiliary steering through differential control; the middle part of the top surface of the base support plate is the bearing area of the ultrasonic machine, which is provided with array type bolt holes to adapt to the fixing requirements of different models of bedside ultrasonic machines; The battery pack comprises two groups, which are installed on the left and right sides of the top surface of the base support plate and connected with the main control box through a pluggable interface; The main control box comprises a microcontroller, a motor driver, a DC / DC module and a starting switch, which are installed at the front end of the base support plate; The microcontroller is electrically connected with the left pull rope type displacement sensor L and the right pull rope type displacement sensor R of the pull rope type displacement sensors 1-4 through corresponding IO ports; the microcontroller is used for collecting the signals of the pull rope type displacement sensor L and the pull rope type displacement sensor R, executing a control algorithm and generating control instructions of the motor driver; One end of the motor driver is electrically connected with the corresponding IO port of the microcontroller, and the other end is electrically connected with the wheel hub motor rear wheel L and the wheel hub motor rear wheel R of the wheel hub motor rear wheels; the motor driver receives the control instructions generated by the microcontroller and controls the rotating speeds of the wheel hub motor rear wheel L and the wheel hub motor rear wheel R; The battery pack is electrically connected to the microcontroller and the motor driver through the DC / DC module, which is used for converting the output voltage of the battery pack into a direct current voltage suitable for the microcontroller and the motor driver; a total power switch is arranged between the battery pack and the DC / DC module; The starting switch is electrically connected with the corresponding IO port of the microcontroller.

2. The method for controlling the electrically driven base of the pull cord guide for the mobile bed-side ultrasound machine according to claim 1, characterized in that The steps are as follows: Step 1: read the IO port state of the access starting switch, and judge whether the starting switch is closed; if the starting switch is closed, step 2 is entered; If the starting switch is not closed, step 6 is entered; Step 2: collect the signals of the pull rope displacement sensors L and R, and enter step 3; Step 3: According to the type of the pull rope displacement sensor, the displacement value of the pull rope displacement sensor L, the pull rope displacement sensor R is calculated, denoted as L 1、 L 2 and enter step 4; Step 4: According to the displacement values of the pull rope displacement sensors L and R L 1、 L 2, the control algorithm is used to calculate the speed control amount of the rear wheel hub motor L and the rear wheel hub motor R, respectively denoted as SP 1、 SP 2, and step 5 is entered; Step 5: According to the type of motor controller, the rotation speed control amount obtained in step 4 is converted to generate a matched control instruction and is issued to the motor controller, and step 1 is entered. SP 1、 SP 2The conversion is generated into a matched control instruction and is issued to the motor controller, and step 1 is entered. Step 6: according to the type of the motor driver, issue brake instructions to control the wheel hub motor rear wheels L and R to stop rotating.

3. The control method of the pull rope guide type electric drive base for moving the bedside ultrasonic machine according to claim 2, wherein the control algorithm of step 4 comprises a common mode control loop and a differential mode control loop: The target of common mode control loop is to control L 1+ L 2) / 2 equal to reference value L Ref , whose output is Δ V c The target of differential mode control loop is to control L 1 minus L 2 equal to 0, whose output is ±Δ V d Both control loops adopt proportional integral derivative (PID) control, in addition, the common mode control loop also adds amplitude limiting control; Common-mode ring output Δ V c The calculation is shown in equation (1): (1) where PID c represents a PID control algorithm employed in the common-mode loop, , are upper and lower limits of the amplitude limiting control; Differential mode control loop output ±Δ V d The calculation is shown in equation (2): (2) PID d represents a PID control algorithm employed in the differential mode loop; The output quantities of the two control loops are superimposed as the speed control quantity of the hub motor rear wheel, the speed of the hub motor rear wheel L SP The calculation of 1 is shown as formula (3): (3) RPM of the hub motor rear wheel R SP The calculation of 2 is shown in equation (4): (4) By adjusting the rotation speed of the hub motor rear wheels L, R, the displacement value of the pull rope displacement sensor L, R is changed L 1、 L 2 control to approach the reference value L Ref , so as to realize the straight running and steering of the electric drive base with the operator guiding the rope.

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