Research And Development Of Self-cruising And Bathing-assisted Wheelchair For The Elderly

Bath is very important for the elderly.During the bathing process,the elderly are prone to slip in the bathroom because of the weakened body functions of the elderly and the wet bathing environment.At present,the elderly bathing equipment on the domestic market are mainly bathing beds and bathing chairs.The elderly need the assistance of nurses to complete the bath,and the nurses need to bear greater labor intensity and psychological pressure during the whole process.In addition,most of the bathing equipment ignore the comfort experience of users,and only focus on the realization of functions.Due to the problems above,this article combines the Zhejiang Province’s key research and development project "Smart Medical and Elderly Care Technology and System Research and Development—R&D and Industrialization of Fully Automatic Intelligent Bathing Aid System for the elderly Based on the Internet of Things"(2019C03068).The researches mainly include:(1)In order to alleviate the exhaustion caused by long-term bathing,the parametric design and expression of the curved surface of the bathing-assisted cushion;(2)A fully automatic bathing method was designed based on the elderly are prone to fall when walking in and out of the bathtub.Researching the self-cruising correction control algorithm of the bath-assisted wheelchair.Firstly,the thesis analyzes the main functional requirements of bathing-assisted wheelchairs for the elderly based on the current status and existing problems of bathing for the elderly.On this basis,it studies and designs the structural composition of the bathing-assisted wheelchairs for the elderly,and combines the requirements of the control system for electrical components.Secondly,aiming at the problem of poor comfort when taking a bath for the elderly,the research is carried out based on the NURBS curve to parametrically design and express the cushion surface of the elderly bathing wheelchair.A sample of customized cushions was tested for comfort.The test results showed that the curved surface of the cushion designed based on the characteristic parameters of the human back can greatly alleviated the discomfort caused by sedentary sitting and played an important role in improving the bathing experience of the elderly.Then,in order to realize the self-cruising of the bathing-assisted wheelchair,a magnetic stripe was laid on the preset trajectory,and combined with fuzzy PID control.The self-cruising correction control algorithm of the bathing-assisted wheelchair was studied.Through MATLAB simulation analysis and field test,it is verified that fuzzy PID control has higher precision and faster response than traditional PID control in tracking correction.Finally,in view of the lack of bath parameter monitoring and data management in the elderly bathing equipment,the blood pressure,heart rate and water temperature measurement modules are designed.And the network communication and data management system are studied to realize the network communication between the bathing-assisted wheelchair and the cloud server.