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Title:: Automatic docking system of embedded nursing bed based on laser radar

作者:: 李素姣1; 2; 3; 杨皓文1; 孟巧玲1; 2; 3△; 王海涛1; 喻洪流1; 2; 3; 1.上海理工大学康复工程与技术研究所，上海 200093;2.上海康复器械工程技术研究中心，上海 200093;3.民政部神经功能信息与康复工程重点实验室，上海 200093

Author(s):: LI Sujiao1; 2; 3; YANG Haowen1; MENG Qiaoling1; 2; 3; WANG Haitao1; YU Hongliu1; 2; 3; 1.Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China;2.Shanghai Engineering Research Center of Assistive Devices，Shanghai 200093;3.Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs,shanghai 200093

Keywords:: Embedded nursing bed; Artificial marks ; Laser radar; Automatic docking; PID automatic control

摘要:: 针对目前失能患者自主移动困难及传统护理搬运易造成二次伤害，本研究设计了一种基于激光雷达的嵌入式护理床自动对接系统。实现可分离式护理床的对接，要获取轮椅与床体精准的相对位姿。床椅对接分为局部定位和精准对接两步。前期利用智能轮椅自主导航移动至床体框架前部目标区域，到达目标点，后向激光雷达对预置的床体人工标志进行特征提取与局部定位，为确保对接定位的精度和鲁棒性，在局部定位的基础上利用PID算法自动调节轮椅的位姿状态，实现床椅的精准对接。本研究的局部定位算法具有较高的定位精度与鲁棒性，PID自动控制能够平稳地实现床椅自动对接。该系统一定程度解决了失能患者自主移动问题，避免了对患者搬运造成的二次伤害，且床椅对接准确性较高。

Abstract:: Aiming at the current difficulty of disabled patients to move autonomously and the problem of secondary injuries caused by traditional nursing transportation, we designed an embedded structure nursing bed automatic docking system based on laser radar. To realize the docking of detachable nursing beds, it was required to obtain the accurate relative position and posture of wheelchair and bed body. Bed-chair docking was divided into two steps: local positioning and precise docking. In the early stage, the intelligent wheelchair was used for autonomous navigation to move to the target area at the front of the bed body frame to reach the target point, the backward laser radar performed feature extraction and local positioning on the preset artificial marks of the bed body to ensure the accuracy and robustness of docking positioning, and on the basis of local positioning, PID algorithm was used for automatically adjusting the posture state of the wheelchair to realize accurate docking of the bed and the chair.This algorithm has high positioning accuracy and robustness. PID automatic control can smoothly realize automatic docking of bed and chair.This system solves the problem of the disabled patient’s autonomous movement to a certain extent, avoids the secondary injury caused by the patient’s transportation, and has high accuracy for bed-chair docking.