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附 錄附錄A 英文原文Robotic nanomanipulation multi-function nursing bed research and discussionTranslators XingKaiAbstract: the humanized design is an important concept of modern design, it emphasizes ergonomics design products, ecology, from the Angle of aesthetics, which reflects the perfect technological people-oriented thoughts. The nursing bed was based on the idea of design, it can not only realize carried back, lift the thigh, curved crus and adjust sitting position, and the function of Pro/E design through 3d entity modeling software is simulated and simulation analysis, further guidance and the rationality of design are verified. To meet the increasing family care requirements, the robot multiaxial coordinated control technique is applied in nursing bed control, developed a multi-function nursing bed robotic nanomanipulation. This nursing bed through each bed panel coordination between the movement, the single move or linkage ways various pose, and through the voice or keyboard to control the movement than appearance. Nursing bed control system consists of master control module and auxiliary control module two parts. One master control module adopts single-chip microcomputer control, such already can reduce costs, and can ensure the nursing bed operation flexibility and reliability; Auxiliary control modules including speech recognition and voice playback two parts function. The actual usage proved was developed nursing bed. This paper the practicability and effectiveness of medical paper nets to share with you!Keywords: robotic nanomanipulation nursing bed; Control system; General cut; speech microcontrollerSummary: now, both developed and developing countries are facing more and more serious, the problem of aging population. Old people, the physiological function of degradation due to poor health, generallyconsumed a lot of medical resources, increase the burden of the hospital. In every country in the world in active seek out new health service mode, providing higher quality, more reliable and more accepting and cheap health services. So the construction of modern distance monitoring system, has the very good prospects for development. This paper studies acommunity-oriented robotic nanomanipulation based health intelligent monitoring system of multi-function type, of the patient's physiological parameters for continuous, long time, automatic, real-time detection, and the analysis and processing after realizing automatic alarm, automatic recording category, but also through the network for remote monitoring medical personnel the timely discovery of the patient's progress, at any time to take necessary care and emergency measures. With the rapid development of social economy, the people's standard of living rises ceaselessly, life expectancy rising longevity, the city's population is gradually entered the aging. the aging of the population of social medical service system put forward higher request, and establish a community as the core of the health monitoring and disease precontrol information system has great practical significance" o. elderly because the older, the body gradually reduce active, resistant to disease has decreased, and the disease in chronic diseases primarily. For chronic disease and paralytic character, besides the treatment with drugs and injection, physical way outside the nursing also indispensable. Correct and appropriate care can greatly enhance the patient's body activity, reduce the complications of chronic disease. For many produced by regular medication, concerned, proper monitoring and correct nursing, need not hospitalizations.Especially for those who long for a variety of reasons impossible patients treated in hospital, the elderly and disabled people speaking, equipped with necessary nursing equipment and utensils particularly important "compared to ordinary people. ,chronic patients, people with disabilities and bed time longer and more long, thus developing a kind of comfortable, nursing complete function, cost-effective nursing bed, will has a broad market prospect"? . At present, China is building community on public health service system, if will development of the nursing bed and community, hospital medical system connection, realize medical and nursing, healthcare, medical treatment, disease precontrol etc integration, can reduce the pressure, more reasonable hospital, effectively use existing resources for hospital "4". Meanwhile, through the hospitals, communities two information system establishment and connections, can greatly improve our public health event to deal with emergency response speed and processing power. In view of this, according to our social medical service development present situation and the practical demand, put forward a kind of multiaxial coordination based robot control techniques and speech recognition technology is muti_function nursing bed concept, successfully developed the robotic nanomanipulation multi-function nursing bed, and on this basis developed based on the nursing bed medical monitoring system of the club. This article mainly discusses the structure of robotic nanomanipulation nursing bed and control system are discussed.1 robotic nanomanipulation nursing bed structureIn the structure of robotic nanomanipulation nursing bed design, the main consideration the following son points: (1) the nursing bed should be able to realize all kinds of the nursing posture pose requirements; (2) all activities of bed panel swing Angle should comply with the medical care for both human comfort; and (3) nursing bed body reliability, stability and safety requirements, should accord with medical care (4) bed body size have certain space limits; (5) to consider nursing bed in the room moving simplicity and medical auxiliary devices (such as hanging liquid frame and book table) in nursing bed f: can be installed sex. The developed machine humanizing nursing bed bed surface structure as shown in figure 1 shows, to realize J, seven basic nursing bed of posture pose demands that a flat, carry back, flexor/leg, SLR, left/right turn, sitting up and solution then, seven panel is independent of each other. Through the coordination between each bed panel, using single movement or movement way to realize nursing bed linkage of all kinds of pose of posture pose. Nursing bed with corresponding bed panel action such as table l.3. Each bed panel swing Angle is as follows: the backplane (posture), o. 10 750; Backplane (left/right emancipated), o. ~ + 65. ; The left/right hip board, O. ~ + 75. ; Thigh board, o. A + 35. ; Crus board, a 55 o ~ + 35. ; Solution will cover andO. A + 90. ．2 Robotic nanomanipulation nursing bed of the control systemin order to facilitate nursing bed of intelligent control, timely r solution of the current working state nursing bed nursing bed, upon the law to set necessary processes the number of sensors "?. By analyzing the data, sensor transmission control system can real-time understand, control panel of motion, bed of different agencies to prevent the mutual interference or ask to overshoot driven motor bed body, unnecessary casualties caused damage. Control system overall structure as figure2shows. In bed in the control mode pose posture, besides using popular keyboard buttons input methods outside, in order to facilitate the weak and sick, but also increased the speech input mode + operators through the voice commands to manipulate nursing bed. Due to the common types of control chip difficult to complete the voice commands, because the recognition of the nursing bed the control system is divided into two major modules.The first part primarily control module, it consists of a single-chip microcomputer control system structure, used to implement the nursing bed system, including the main control keyboard/voice control commands to accept the position signal and sensor input, and the output motor control signal etc, the second part as auxiliary control module, mainly for voice recognition and playback, it will come from the operator's voice control command into electrical signals, then through code conversion, transported to the master control module, and accept the electrical signals to independent control module, will these control instruction convert audio signals of operator can understand. 2.1 robotic nanomanipulation nursing bed master control module master control module at runtime receive signals from the keyboard/speech recognition circuit analysis and processing signal, through, will control signal through external interface conveying to speech playback circuit, signal by voice playback circuit will be transformed into voice signal, provide voice feedback signal, make handlers understand nursing bed real-time dynamic; On the other hand, master control module according to various signal command, control different motor running, so as to realize the lot that users period nursing bed functions? . Master control module mainly include the following each subroutine:(1) keyboard input. The keyboard is nursing bed input control commandsby one of the ways the keyboard input, by encoding commands sent to the primary panel by serial. (2) dc motor of the motor control. Nursing bed in accepting the keyboard or speech input signal after, started for the corresponding action to achieve nursing bed. This requires the expected function for installation in the main control panel can the nursing bed eight dc motor both the positive and negative direction of motor control.(3) sensor signal input. Position sensor motor sports location information feedback to control system, control system according to the feedback is returned to the current signal judgment motor sports location and condition, and then calling the corresponding procedure motion control 2.1.1 keyboard control circuit keyboard on the control board for user operation exceptr equipped with the keys outside, still configuration display the nursing bed the working state of indicator. Considering the keyboard and the communication and the main panel control cPu L / 0 mouths limited resources, so by a separate microcontroller keyboard to treat various task. Because the keyboard (2 x 6) and indicator light (8) required many I / 0 mouths resources, and chooses 89c2051 microcontroller only 15 L / 0 mouths, L/o u resources are limited, therefore in the SCM L / 0 mouths resource allocation, the single-chip computer keyboard panel serial communication between the main control board; Meanwhile, considering control cable is a certain length to increase the reliability of communication, communication, adopt the 232 level, so the hardware circuit MAx232 chips for added a convert. 2.1.2 dc motor level control of the nursing function is nursing bed by dc motor to execute, motor drive nursing bed to complete the various movements, in order to achieve various nursing pose, include:(1) the backplane elevate/drop; (2) left/right turn physique increase/decrease; (3) thigh board increase/decrease; (4) crus board increase/decrease; (5) flat open/close; bedpan (6) lie low postures realize/reset; (7) sitting postures realize/reset; (8) SLR postures realize/reset; (9) bended leg postures realize/reset. Above all appearance conversion between and finish all through eight dc motor to realize, so is the main control board must be able to receive commands to eight dc motor after on E reversal, namely can realize motor control negative in nursing bed to electrify control the hardware circuit design, for each motor has30adopted two blades double throws on power control. The relay to 2.2 robotic nanomanipulation nursing bed auxiliary control module 2.2.1 speech recognition voice control technology is one of the existing control mode of advanced control mode, it is natural and convenient control mode, good affinity, the characteristics of applicability. Will voice control technology is introduced into the nursing bed under control, will greatly convenient users, particularly in those loss or partly losing activity, ability of self-dependence of patients, voice control and can help them enhance self-confidence, reduce dependence on others, add life courage and confidence in nursing bed users. The characteristics of the speech input commands, used in the study of the beauty of sENsORY company RSc364 little voice chip as recognition core chip. By training and realize Rsc364 chip speech recognition function, system L/o level is TrL level, which can be conveniently and other system for data transmission. Rsc364 chip inside integrated A speech recognition needs A variety of functions, it can complete speech recognition process of anti aliasing low-pass filter, sampling/keep, A/D conversion and voice recording Rsc364 chip in complete functions such as speech recognition task, will voice control signal output to SCM by chip Po and mouth. According to the PSc364 P1, the output state in the Lord with voice recognition chips control by A 74Lsl48 between expanding in tablet 74Lsl48 fracture, voice command input eight feet of the chip, connect Pl input mouth; Rsc364 Expansion of single chip [J Gs meet in P3.2; SCM fracture P1.3 P1. O ~ mouth and speech recognition chips J J 4 ~ Po Po seven connections. When a voice command input, a mouth wipes the P1 output low level, Gs u lose "I low-level startup microcontroller external interruption of single chip, the interrupt handlers from P1.0 ~ P1.3 mouth when read people data. Laws 2.2.2 voice playback master control circuit, after receiving orders in control motor running, but also to voice playback son module lose J 【 J voice control signal by auxiliary control module. To the current users provide voice feedback. Speech with the main function modules put the son is: nursing bed receive user commands, in nursing bed function action before the speech information broadcast corresponding action, remind users do physical preparation, this kind of humanized design further improved nursing bed by the affinity of IsD4003_0831chip. Speech playback as the principal chip. IsI) 4003 series work pressure is 3 V, tuen mun recording a single chip 8min" for 4 - time?. Chip adopt cMOs technology, containing oscillator, prevent confusion filter,Smoothing filter, audio amplifiers, since the action pixels and high-density multilevel flashing storage arrays, operation orders at through serial communication interface input. 3 robotic nanomanipulation nursing bed nursing bed robotic nanomanipulation control program control mode is a simplified robot control system startup way. After the first test nursing bed, then test each pose, switch state of each key-press test again, if one of the keys pressed nursing bed, then makes the corresponding action and start speech playback program told the operator, through the control speech recognition is like that, if speech recognition module identification, operator a directive, likewise, nursing bed complete corresponding action. 4 closing the robot multiaxial coordinated control technique is applied in nursing bed, may to the robotic nanomanipulation nursing bed. The developed under effective control of the robotic nanomanipulation nursing bed as shown in figure 4 shows, it can achieve more bits of adjustment, and USES the posture voice commands and keyboard input two modes for control, easy and flexible. Moreover, the master control module USES a microcontroller, making the system operation r. flexible reliable, low cost. Currently developed nursing bed has in some hospitals trial, reflect good. Future research will set wipes on how to further improve the flexibility, coordination and system function of human development system, etc.32附錄B中文翻譯 機(jī)器人化多功能護(hù)理床研究與探討摘要： 人性化設(shè)計(jì)是現(xiàn)代設(shè)計(jì)的一個(gè)重要理念,它強(qiáng)調(diào)在設(shè)計(jì)產(chǎn)品時(shí)從人體工 學(xué) 、 生 態(tài) 學(xué) 、 美 學(xué) 等 角 度 達(dá) 到 完 美 ,體 現(xiàn) 了 科 技 以 人 為 本 的 思 想 。 該 護(hù) 理 床 的 設(shè) 計(jì) 正 是 基 于 這 種 理 念 ,它 不 僅 能 夠 實(shí) 現(xiàn) 抬 背 、 抬 大 腿 ,曲 小 腿 和 調(diào) 整 坐 姿 的 功 能 ,并 將 設(shè)計(jì)通過(guò) Pro/E 三維實(shí)體建模軟件進(jìn)行模擬和仿真分析, 進(jìn)一步指導(dǎo)和驗(yàn)證設(shè)計(jì)的 合理性。為滿足目前日益提高的家庭護(hù)理要求，將機(jī)器人的多軸協(xié)調(diào)控制技術(shù)應(yīng) 用于護(hù)理床的控制，研制了一種機(jī)器人化的多功能護(hù)理床．該護(hù)理床通過(guò)各個(gè)床 面板之間的協(xié)調(diào)運(yùn)動(dòng)，采用單動(dòng)或聯(lián)動(dòng)方式來(lái)實(shí)現(xiàn)各種位姿，并通過(guò)語(yǔ)音或鍵盤(pán) 來(lái)控制進(jìn)行多位姿的運(yùn)動(dòng)．護(hù)理床的控制系統(tǒng)由主控制模塊和輔助控制模塊兩部 分構(gòu)成．其中主控制模塊采用單片機(jī)進(jìn)行控制，這樣既可降低成本，又可保證護(hù) 理床操作的靈活性和可靠性；輔助控制模塊包括語(yǔ)音識(shí)別和語(yǔ)音回放兩部分的功 能．實(shí)際使用效果證明了所研制的護(hù)理床的實(shí)用性和有效性．本文由醫(yī)學(xué)論文網(wǎng) 與您分享！關(guān)鍵詞：機(jī)器人化護(hù)理床；控制系統(tǒng)；語(yǔ)音識(shí)剮；單片機(jī)概述：目前，無(wú)論是發(fā)達(dá)國(guó)家還是發(fā)展中國(guó)家，均面臨著越來(lái)越嚴(yán)重的人口 老齡化問(wèn)題。老年人由于各項(xiàng)生理機(jī)能退化，健康狀況普遍不佳，消耗大量醫(yī)療 資源，增加了醫(yī)院的負(fù)擔(dān)。世界各國(guó)均在積極探求一種新的健康服務(wù)模式，提供 更高質(zhì)量、更可靠、更容易被接受且成本低廉的健康服務(wù)。因此現(xiàn)代遠(yuǎn)程監(jiān)護(hù)系 統(tǒng)的構(gòu)建，具有很好的發(fā)展前景。本文研究了一種面向社區(qū)的基于機(jī)器人化多功 能式智能健康監(jiān)護(hù)系統(tǒng)，用來(lái)對(duì)病人的生理參數(shù)進(jìn)行連續(xù)、長(zhǎng)時(shí)間、自動(dòng)、實(shí)時(shí) 檢測(cè)，并經(jīng)分析、處理后實(shí)現(xiàn)多類別自動(dòng)報(bào)警、自動(dòng)記錄，而且可以通過(guò)網(wǎng)絡(luò)遠(yuǎn) 程監(jiān)護(hù)便于醫(yī)護(hù)人員及時(shí)發(fā)現(xiàn)病人的病情變化隨時(shí)采取必要的護(hù)理與急救措施。 隨著社會(huì)經(jīng)濟(jì)的迅速發(fā)展，人民生活水平不斷提高，人口壽命不斷延長(zhǎng)，城市人 口正逐步進(jìn)入老齡化．人口的老齡化對(duì)社會(huì)醫(yī)療服務(wù)體系提出了更高的要求，建立以社區(qū)為核心的健康監(jiān)控和疾病預(yù)控信息化系統(tǒng)具有很大的現(xiàn)實(shí)意義”． 老年人 由于年齡偏大，肌體的活性逐漸降低，對(duì)疾病的抵抗力日益減弱，且疾病多以慢 性病為主．對(duì)于慢性病人和癱瘓病人而言，除了配合藥物和針劑的治療外，物理 方式的護(hù)理也必不可少．正確、適當(dāng)?shù)淖o(hù)理可以大大增強(qiáng)患者肌體的活性，減少 并發(fā)癥的產(chǎn)生． 對(duì)于許多慢性病患者而言， 通過(guò)定期服藥、 適當(dāng)監(jiān)護(hù)和正確護(hù)理， 可以不必長(zhǎng)期住院．特別是對(duì)那些因種種原因不可能長(zhǎng)期住院治療的患者、老年 人和殘 疾人士而 言，配置 必要的護(hù) 理設(shè)備和 用具尤為 重要“．相比 于普通人 ，慢33性病人、癱瘓病人和殘疾人士的臥床時(shí)間更長(zhǎng)、更久，因此開(kāi)發(fā)一種舒適、護(hù)理 功能齊全、性價(jià)比高的護(hù)理床，將具有廣闊的市場(chǎng)前景”?．目前，我國(guó)正著力于 建設(shè)社區(qū)公共衛(wèi)生服務(wù)體系， 如果將所開(kāi)發(fā)的護(hù)理床與社區(qū)、 醫(yī)院醫(yī)療體系連接， 實(shí)現(xiàn)醫(yī)療、護(hù)理、健康監(jiān)護(hù)、醫(yī)療救治、疾病預(yù)控等的一體化，可大大減輕醫(yī)院 的 壓 力 ， 更 為 合 理 、 有 效 地 利 用 現(xiàn) 有 的 醫(yī) 院 資 源 ”4’． 同 時(shí) ， 通 過(guò) 醫(yī) 院 、 社 區(qū) 兩 種 信息化系統(tǒng)的建立和連接，可大大提升應(yīng)對(duì)突發(fā)性公共衛(wèi)生事件的響應(yīng)速度和處 理能力．有鑒于此，筆者針對(duì)社會(huì)醫(yī)療服務(wù)的發(fā)展現(xiàn)狀及現(xiàn)實(shí)需求，提出了一種 基于機(jī)器人多軸協(xié)調(diào)控制技術(shù)和語(yǔ)音識(shí)別技術(shù)的多功能護(hù)理床的概念，成功研制 了一種機(jī)器人化的多功能護(hù)理床，并在此基礎(chǔ)上研制了一套基于該護(hù)理床的社醫(yī) 監(jiān)護(hù)系統(tǒng)．本文主要對(duì)該機(jī)器人化護(hù)理床的結(jié)構(gòu)及控制系統(tǒng)進(jìn)行探討．1 機(jī)器人化護(hù)理床的結(jié)構(gòu) 在 進(jìn) 行 機(jī) 器 人 化 護(hù) 理 床 的 結(jié) 構(gòu) 設(shè) 計(jì) 時(shí) ， 主 要 考 慮了 以 下 兒 點(diǎn) ： (1)護(hù) 理 床 應(yīng) 能夠?qū)崿F(xiàn)護(hù)理所需的各種體位的位 姿要求 ； (2)各個(gè)活動(dòng)床面板的擺動(dòng)角度應(yīng)符 合醫(yī) 療 護(hù) 理 要 求 并 兼 顧 人 體 的 舒 適 性 ； (3)護(hù) 理 床 床 體 的 可 靠 性 、 穩(wěn) 定 性 和 安 全 性 要 符 合醫(yī)療護(hù)理要求； (4)床體的尺寸有一定的 空間范圍限制； (5)要考慮護(hù)理床在房間 內(nèi)移動(dòng)的簡(jiǎn)易性以及醫(yī)護(hù)輔助裝置( 如吊液架和書(shū)飯桌) 在護(hù)理床f 的可安裝性所 研制 的 機(jī) 器 人 化 護(hù) 理 床 的 床 面 結(jié) 構(gòu) 如 圖 1 所 示 ， 它 實(shí) 現(xiàn) J， 對(duì) 護(hù) 理 床 的 7 個(gè) 基 本 體位的位姿的要求，即平躺、抬背、屈／伸腿、抬腿、左／右翻身、坐起以及解 便，7 個(gè) 面 板 是 相 互 獨(dú) 立 的 ． 通 過(guò) 各 個(gè) 床 面 板 之 間 的 協(xié) 調(diào) 運(yùn) 動(dòng) ， 采 用 單 動(dòng) 或 聯(lián) 動(dòng) 方式來(lái)實(shí)現(xiàn)護(hù)理床所需的各種體位的位姿．護(hù)理床的位姿與相應(yīng)的床面板動(dòng)作如 表l 所示．各床面板的擺動(dòng)角度如下：背板(坐姿)，o 。一十 750；背板(左／右翻 身) ，o?！?65 ；左／右 臀部板， O?！?75 。 ； 大腿 板 ， o。一+3 5。 ； 小腿板 ， 一 55 o～+35； 解便蓋板， O。 一+90 ． 2 機(jī)器人化護(hù) 理床的控制系統(tǒng)為 了便于對(duì)護(hù) 理床進(jìn)行智能控制，及時(shí)r 解護(hù)理床的當(dāng)前工作狀態(tài)，律護(hù)理床的脒身上需安置 必要數(shù)目的傳感器”?．通過(guò)分析傳感器傳輸來(lái)的數(shù)據(jù)，控制系統(tǒng)可以實(shí)時(shí)了解、 控制床面板的運(yùn)動(dòng)狀態(tài)，防止不同機(jī)構(gòu)問(wèn)的相互干涉或是驅(qū)動(dòng)電機(jī)超調(diào)對(duì)床體、 人員造成的不必要傷害．在床體位姿的控制方式方面，除了采用通行的鍵盤(pán)按鈕 輸入方式外， 為了方便體弱病殘者， 還增加了語(yǔ)音輸人方式+操作者可以通過(guò)語(yǔ)音 命令來(lái)操縱護(hù)理床．由于普通類型的控制芯片難以完成語(yǔ)音命令的識(shí)別，岡此將 整個(gè)護(hù)理床的控制系統(tǒng)分為兩大模塊．第一部分為主控制模塊，它由一個(gè)單片機(jī) 控制系統(tǒng)構(gòu)成，用于實(shí)現(xiàn)護(hù)理床系統(tǒng)的主體控制，包括接受鍵盤(pán)／語(yǔ)音控制命令 和傳感器位置信號(hào)的輸入， 以及輸出電機(jī)控制信號(hào)等， 第二部分為輔助控制模塊， 主要進(jìn)行語(yǔ)音的識(shí)別和回放，它將來(lái)自操作者的語(yǔ)音控制命令轉(zhuǎn)化為電信號(hào)，然 后經(jīng)過(guò)編碼轉(zhuǎn)換，輸送至主控制模塊，同時(shí)接受來(lái)自主控制模塊的電信號(hào)，將這34些 控 制 指 令 轉(zhuǎn) 換 為 操 作 者 可 以 理 解 的 聲 音 信 號(hào) ． 2． 1 機(jī) 器 人 化 護(hù) 理 床 的 主 控制 模塊主控制模塊在運(yùn)行時(shí)接收來(lái)自鍵盤(pán)／語(yǔ)音識(shí)別電路的電信號(hào)經(jīng)過(guò)分析處理， 將控制信號(hào)通過(guò)外部接口輸送到語(yǔ)音回放電路，由語(yǔ)音回放電路將電信號(hào)轉(zhuǎn)化為 聲音信號(hào)， 提供語(yǔ)音反饋信號(hào)， 使操作者隨時(shí)了解護(hù)理床的實(shí)時(shí)動(dòng)態(tài)； 另一方面， 主控制模塊根據(jù)各種信號(hào)命令，控制不同的電機(jī)運(yùn)轉(zhuǎn)，從而實(shí)現(xiàn)用戶所期掣的護(hù) 理床的功能．主控制模塊主要包括以下各子功能：(1)鍵 盤(pán) 輸 入 ． 鍵 盤(pán) 輸 入 是 護(hù) 理 床 輸 入 控 制 命 令 的 途 徑 之 一 ， 由 鍵 盤(pán) 輸 人 的 命 令 通 過(guò) 編 碼 由 串 口 發(fā) 送 到 主 控 制 板 ． (2)直 流 電 機(jī) 的 動(dòng) 作 控 制 ． 護(hù) 理 床 在 接 受 鍵 盤(pán) 或是語(yǔ)音輸入信號(hào)后，便開(kāi)始進(jìn)行相應(yīng)的動(dòng)作以達(dá)到護(hù)理床的預(yù)期功能．這要求 主控制板能對(duì)安裝在護(hù)理床上的8 個(gè)直流電機(jī)進(jìn)行正反兩方向的動(dòng) 作控制 ． (3)傳 感器信號(hào)輸入．位置傳感器將電機(jī)的運(yùn)動(dòng)位置信息反饋給控制系統(tǒng)，控制系統(tǒng)根 據(jù)反饋回的信號(hào)判斷電機(jī)的當(dāng)前運(yùn)動(dòng)位置和狀態(tài)，然后調(diào)用對(duì)應(yīng)的程序進(jìn)行運(yùn)動(dòng) 控制2 ．1．1 鍵盤(pán)控制電路鍵盤(pán)控制板上除 r 配備供使用者操作的按鍵外，還配 置了顯示護(hù)理床工作狀態(tài)的指示燈．考慮到鍵盤(pán)與主控制板的通信以及主控制板 cPu 的 L／0 口 資 源 有 限 ， 因 此 鍵 盤(pán) 由 一 塊 獨(dú) 立 的 單 片 機(jī) 來(lái) 處 理 各 種 任 務(wù) ． 由 于 鍵 盤(pán)(2×6)和指示燈(8 個(gè) )需 要 占 用 不 少 的 I／ 0 口 資 源 ， 而 所 選 用 的 89c2051 單 片 機(jī) 只有15 個(gè)L ／ 0 口，L／o u 資源非常有限，因此在單片機(jī)的 L／0 口資源分配上， 鍵盤(pán)控制板的單片機(jī)與主控制板之間采用串口通信；同時(shí)，考慮到控制電纜有一 定 的 長(zhǎng) 度 ， 為 增 加 通 信 的 可 靠 性 ， 采 用 了 232 電 平 通 信 ， 因 此 在 硬 件 電 路 上加 了 一 塊 MAx232 芯 片 進(jìn) 行 電 平 轉(zhuǎn) 換 ． 2． 1． 2 直 流 電 機(jī) 的 控 制 護(hù) 理 床 的 護(hù) 理功 能 是 通過(guò)直流電機(jī)來(lái)執(zhí)行的， 電機(jī)驅(qū)動(dòng)護(hù)理床來(lái)完成各項(xiàng)動(dòng)作， 以實(shí)現(xiàn)各種護(hù)理位姿， 包 括 ： (1)背 板 上 抬 ／ 下 降 ； (2)左 ／ 右 翻 身 板 上 升 ／ 下 降 ； (3)大 腿 板 上升 ／ 下 降 ； (4)小腿板上 升 ／下降； (5)便盆蓋板開(kāi) ／合； (6)平躺體位實(shí) 現(xiàn)／復(fù)位； (7)坐姿體位 實(shí) 現(xiàn) ／ 復(fù) 位 ； (8)抬 腿 體 位 實(shí) 現(xiàn) ／ 復(fù) 位 ； (9)屈 腿 體 位 實(shí) 現(xiàn) ／ 復(fù) 位 ． 以上 各 位 姿 之 間 的轉(zhuǎn)換與完成均通過(guò)8 個(gè) 直 流 電 機(jī) 的 正 反 轉(zhuǎn) 來(lái) 實(shí) 現(xiàn) ， 因 此 主 控 制板 必 須 能 夠 在 接 收命令后對(duì)8 個(gè)直流電機(jī)進(jìn)行上 E 反轉(zhuǎn)控制，即能夠?qū)崿F(xiàn)電機(jī)的正反向通電控制 在護(hù)理床的硬件電路設(shè)計(jì)中，對(duì)每一個(gè)電機(jī)都采用了兩個(gè)雙刀雙擲的繼電器進(jìn)行 通 斷 電 控 制 ． 2． 2 機(jī)器人化護(hù)理床的輔助控制模塊2 ． 2． 1 語(yǔ)音識(shí)別語(yǔ)音控制技 術(shù)是現(xiàn)有各種控制方式中的一種高級(jí)控制方式，它具有控制方式自然、方便，親 和力好，適用范圍廣的特點(diǎn)．將語(yǔ)音控制技術(shù)引入到護(hù)理床的控制之中，將極大 地方便使用者，尤其對(duì)于那些喪失或部分喪失活動(dòng)、自理能力的患者而占，語(yǔ)音 控制可以幫助他們?cè)鰪?qiáng)自信心，減輕對(duì)他人的依賴，增添生活的勇氣和信心．針 對(duì) 護(hù) 理 床 使 用 者 的 語(yǔ) 音 輸 入 命 令 的 特 點(diǎn) ， 研 究 中 使 用了 美 閏 sENsORY 公 司 的 RSc364 語(yǔ) 音 芯 片 作 為 識(shí) 別 核 心 芯 片 。 Rsc364 芯片通過(guò)訓(xùn)練而實(shí)現(xiàn)語(yǔ)音識(shí)別功能，35系統(tǒng)的 L／o 電平是 TrL 電平