The Study Of Measurement And Control System For Personal Health Care Robot

With the acceleration of aging population, elderly care problems have becomeincreasingly prominent. As one of the daily care, bathing is almost a luxury for oldpeople. Therefore, the development for the personal health care robot that canaccomplish automatic bathing for the elderly people and the disabled, has importantsocial significance and broad market prospects. The monitor and control system is anessential part of the personal health care robot, and is also the key to accomplish theautomatic bathing function.Based on the personal health care robot, this paper focused on the monitor andcontrol system of it. On the basis of mechanical design and considering the functionsneeded to be realized and technical indicators of the control system, the monitor andcontrol system was designed. Analyzing the scheme which used the microprocessor,PLC or “the PC/IPC plus motion control card” as the core controller, it was determinedthat the overall scheme of the measurement and control system used “the PC/IPC plusmotion control card” as the core control unit. Scrubbing strength and the movementspeed and displacement of the device were measured with strain sensor andphotoelectric encoder speed displacement sensor. To achieve the flexibility and thecomfort requirements of scrubbing in the process of bathing, it was studied about thescrubbing strength control strategy, and designed the hierarchical control system whichwas used the expert control system as the upper decision and the speed anddisplacement servo control system as the lower control. Analyzing the ages, obesityand history of the bathers and other knowledge and combined with parameters of themeasured scrubbing strength and the reaction of bathers in the process of bathing, theexpert control system was optimized the scrubbing strength (including the movementspeed and displacement of the device) in accordance with the rules of expert knowledge. The speed and displacement servo control system used the decision ofexpert control system for the instructions, and the speed and displacement sensors for afeedback, and regulated the actuator for the closed-loop PI. The core device of themeasurement and control system was selected, and the hardware system was designed,also the experimental platform; by analyzing the automatic bathing process andcombined with the hardware system, the motion control procedures of each modulewhen bathing were designed and written in C language, and debugged on the hardwareplatform.Based on the design of hardware and software, the no-load debugging, eachmodule separate debugging and the alignment experiment of the whole machine weredone. It was shown in the experiments that the operation of the designed measurementand control system was stable, accurate and fast. The system was able to achieve thebasic functions of shampooing, scrubbing, auxiliary standing and vital signsmonitoring and the feasibility of the design scheme of the measurement and controlsystem was verified.By real-time monitoring for the scrubbing strength in the process of bathing, theflexibility of the device and the comfort when bathing were developed, which laid thefoundation for further research and development.