摘要
针对老年人瘫痪在床大小便处理问题,提出了一种基于STM32F429的远程遥控六自由度机器人控制系统。该控制系统下位机以STM32F429单片机作为控制器、电动推杆作为驱动装置,采用定时器输出脉冲宽度调制(Pulse Width Modulation,PWM)方波控制收线电机的速度。手持遥控器以STM32F103为控制器,采用NRFL2401无线通信模块与下位机进行通信,遥控器的串口屏界面采用DGUS Tool进行组态,通过对硬件软件的设计以及调试,点击屏幕以及按键向下位机发送指令自动坐便器“ZDZBQ”,实现支背、屈腿、盖板打开、便盆上行、冲洗烘干及便袋自动封闭等六自由度机器人功能。该系统使用简单、成本低,可以广泛应用于医疗领域。
Aiming at the problem of the elderly paralyzed in bed,a remote control 6⁃DOF robot control system based on STM32F429 was proposed.The lower computer of the control system uses STM32F429 MCU as the controller and electric push rod as the driving device,and uses timer to output PWM square wave to control the speed of the winding motor.The handheld remote control u⁃ses STM32F103 as the controller and NRFL2401 wireless communication module to communicate with the lower computer.The serial screen interface of the remote control uses DGUS Tool for configuration.Through the design and debugging of hardware and software,one can click the screen and key to send instructions to the lower computer to automatically sit the toilet"ZDZBQ".The six⁃degree⁃of⁃free⁃dom robot functions of supporting back,flexing legs,opening cover plate,upping bedpan,washing and drying,and automatic closing of toilet bag are realized.The system is simple to use,low cost,able to be widely used in medical field.
作者
吴云龙
程武山
WU Yunlong;CHENG Wushan(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;Anhui Feihe Technology Co.,Ltd,wuhu 241003,China)
出处
《无线电通信技术》
2021年第4期466-473,共8页
Radio Communications Technology
基金
上海市经济和信息化委员会项目。
