CN104469327A - A telemetry and remote control method and device for a rehabilitation nursing robot bed - Google Patents

Abstract

The present invention relates to a telemetry and remote control method and equipment for a rehabilitation nursing robot bed, wherein the method includes the steps of: A. receiving a state control application for a rehabilitation nursing robot bed, and the control application includes a parallel monitoring application and a dynamic control application; B. judging For the type of control application, if it is a parallel monitoring application, perform step C, and if it is a dynamic control application, perform step D; C. Control the monitoring terminal to perform parallel monitoring on the rehabilitation nursing robot bed; D. According to the preset priority and response mechanism The control and monitoring terminal dynamically controls the rehabilitation nursing robot bed. Compared with the prior art, the invention has the advantages of high working efficiency, fast response speed and the like.

Description

A telemetry and remote control method and device for a rehabilitation nursing robot bed

technical field

The invention relates to a data collection and transmission technology, in particular to a telemetry and remote control method and equipment for a rehabilitation nursing robot bed.

Background technique

With the rapid development of social economy, people's living standards continue to improve, the life expectancy of the population continues to extend, and the urban population is gradually aging. A direct impact of population aging and aging is the increase in the need for nursing care for the elderly. The emergence and development of rehabilitation nursing robot beds provide necessary help for the elderly and long-term bedridden patients. At present, rehabilitation nursing robot beds have been developed, which can turn over, sit up and pop up in real time according to the needs of patients for office or dining The dynamic response such as the retractable small table brings great convenience to the daily life of the patients, and also reduces the work pressure of the nurses, but it cannot relieve the pressure of the family members of the patients who cannot take care of the patients all the time, so it cannot fully satisfy the family members of the patients. Requirements for rehabilitation nursing robot beds to take care of patients.

On the one hand, when the patient's family members are not with the patient, they cannot know the care situation of the doctor or nurse in real time, which makes the information asymmetry between doctors and patients tend to expand, and has a decisive impact on the occurrence, development and final outcome of medical disputes , and these medical disputes will only aggravate the patient's condition, which is not conducive to the patient's treatment and rehabilitation.

On the other hand, when the patient's family members are at work or for other reasons, when the patient on the rehabilitation nursing robot bed is left unattended for a certain period of time, the patient's family members cannot understand the patient's physiological needs and the status of the rehabilitation nursing robot bed. The rehabilitation nursing robot bed does not Reduce the pressure on the patient's family members who cannot take care of the patient at all times.

Contents of the invention

The object of the present invention is to provide a telemetry and remote control method and equipment for a rehabilitation nursing robot bed with high working efficiency and fast response speed in order to overcome the above-mentioned defects in the prior art.

The purpose of the present invention can be achieved through the following technical solutions:

A telemetry and remote control method for a rehabilitation nursing robot bed, the method comprising steps:

A. Receive the state control application to the rehabilitation nursing robot bed, and the control application includes a parallel monitoring application and a dynamic control application;

B. Determine the type of control application, if it is a parallel monitoring application, then perform step C, if it is a dynamic control application, then perform step D;

C. Control the monitoring terminal to monitor the rehabilitation nursing robot bed in parallel;

D. Control the monitoring terminal to dynamically control the rehabilitation nursing robot bed according to the preset priority and response mechanism.

The parallel monitoring is: transmitting the video signal of the patient on the rehabilitation nursing robot bed to each monitoring terminal, and the transmission process specifically includes steps:

C1. Dynamically collect video signals, and encode and compress the video signals, and the video signals include image signals and audio signals;

C2. Send the encoded and compressed video signal to the monitoring terminal through wired or wireless means;

C3. The monitoring terminal decodes the coded and compressed signal;

C4. The monitoring terminal displays and outputs the video signal.

The encoding and compression of the image signal in the step C1 specifically includes the steps:

C11. Coordinate transforming the simulated three-primary RGB signal in the image signal to obtain the YUV signal, specifically:

$\left[\begin{array}{c}\mathrm{<span\; class="notranslate">\; Y</span>}\\ \mathrm{<span\; class="notranslate">\; u</span>}\\ \mathrm{<span\; class="notranslate">\; V</span>}\end{array}\right]<span\; class="notranslate">\; =</span>\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; 0.299</span>}& \mathrm{<span\; class="notranslate">\; 0.587</span>}& \mathrm{<span\; class="notranslate">\; 0.144</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 0.147</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 0.289</span>}& \mathrm{<span\; class="notranslate">\; 0.436</span>}\\ \mathrm{<span\; class="notranslate">\; 0.615</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 0.515</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 0.100</span>}\end{array}\right]\left[\begin{array}{c}\mathrm{<span\; class="notranslate">\; R</span>}\\ \mathrm{<span\; class="notranslate">\; G</span>}\\ \mathrm{<span\; class="notranslate">\; B</span>}\end{array}\right]<span\; class="notranslate">\; ;</span>$

C12. Perform A/D conversion on the three signals of Y, U and V respectively;

C13. The signal obtained in step C12 is compressed by mapping change and quantization, and the mathematical formula of the mapping change process is:

${\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; [</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; m</span>}}\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ]</span>$

Where: x _k is the time domain k-point sequence of the original signal, k=0,1,2...n-1, m is a generalized frequency variable, and n is the number of points in the time domain;

The mathematical formula of the quantization process is:

$\mathrm{<span\; class="notranslate">\; Q</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\frac{<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; 2</span>}}^{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 0.5</span>}}{{\mathrm{<span\; class="notranslate">\; 2</span>}}^{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}}$

Among them: x is the input signal, 2 ^m-1 is the quantization step size;

The encoding and compression process of the audio signal in the step C1 specifically includes: performing A/D conversion on the output signal of the microphone to obtain the encoded and compressed audio signal.

The decoding process of the image signal in the step C3 specifically includes steps:

C31. The decoder in the monitoring terminal decompresses the encoded and compressed signal;

C32. The D/A converter performs D/A conversion on the decompressed signal to obtain a YUV signal;

C33. Performing coordinate transformation on the YUV signal to restore the original RGB three-primary color signal.

The priority and response mechanism are set according to the patient type, signal level and trigger site. The patient type includes the patient's condition, patient age and patient gender in order of priority from high to low, and the signal level includes priority from high to low. Emergency stop, machine side, central control, physiology, nursing and remote control are arranged in sequence, and the trigger parts include the head, nerves, body, legs, bones and body surface in descending order of priority.

The patient's condition includes A, B, and C in descending order of priority, the patient's age priority is arranged in descending order of age, and the patient's sex includes female and male in descending order of priority.

The signal transmission in the process of parallel monitoring and dynamic control adopts a multi-process processor coupling scheduling strategy.

A telemetry and remote control device for a rehabilitation nursing robot bed, which includes a rehabilitation nursing robot bed connected in sequence, a server and a plurality of monitoring terminals, the server is equipped with a signal processing system, and the monitoring terminal is a remote mobile terminal or a short-range fixed terminal, the server is connected to a short-range fixed terminal through a wired method of a coaxial cable structure, and the server is connected to a remote mobile terminal through a wireless method.

The rehabilitation nursing robot bed includes an actuator and a video signal acquisition component, both of which are connected to a server.

Compared with the prior art, the present invention has the following advantages:

1) On the basis of the rehabilitation nursing robot bed, the parallel monitoring and real-time adjustment of the mobile terminal are added, which can improve the practicability and remoteness of the rehabilitation nursing robot bed, not only meet the rehabilitation nursing needs of patients, reduce the pressure on medical staff, but also It meets the requirements of the patient's family members for real-time monitoring of the state of the rehabilitation nursing robot bed, and realizes that the patient's family members can observe the response of the rehabilitation nursing robot bed to the patient's needs without staying in the ward all the time. Care, while greatly reducing the labor intensity of the patient's family members and nursing staff.

2) At the same time, the telemetry and remote control of the rehabilitation nursing robot bed adopt a combination of wired communication and wireless communication, which guarantees the stability, safety, reliability and high speed of the system, and also maintains the flexibility of the system.

3) The data transmission process adopts the codec process that has been specially designed, so that the data transmission has the characteristics of high fidelity and anti-interference.

4) The priority and response mechanism can be set according to the patient type, signal level and trigger position to make the control signal execute in an orderly manner.

5) In the process of parallel monitoring and dynamic control, the signal transmission adopts the multi-process processor coupling scheduling strategy, which improves the response speed and work efficiency of the system.

Description of drawings

Fig. 1 is a preferred embodiment structural representation of equipment of the present invention;

Fig. 2 is the structural representation of rehabilitation nursing robot bed;

Fig. 3 is the flow chart of main steps of the inventive method;

4 is a process diagram of a multi-process processing mechanism according to an embodiment of the present invention;

Among them: 1. Rehabilitation nursing robot bed, 2. Server, 3. Short-range fixed terminal, 4. Remote mobile terminal, 11. Executing mechanism, 12. Video signal acquisition component, 13. Bed body.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

As shown in Figure 1, a kind of equipment of the telemetry remote control method of rehabilitation nursing robot bed, this equipment comprises the rehabilitation nursing robot bed 1, monitoring terminal and the server 2 that signal processing system is housed in sequence, server 2 and a plurality of monitoring terminals, The server is equipped with a signal processing system, and the monitoring terminal is a short-range fixed terminal 3 or a remote mobile terminal 4. The server 2 is connected to the short-range fixed terminal 3 by wire, and the server 2 is connected to the remote mobile terminal 4 by wireless.

As shown in FIG. 2 , the rehabilitation nursing robot bed includes a bed body 13 and an actuator 11 and a video signal acquisition component 12 respectively connected to the bed body 13 . Both the actuator 11 and the video signal acquisition component 12 are connected to the server 2 .

The video signal acquisition component 12 is the video source of the state of the rehabilitation nursing robot bed, the actuator 11 is used to drive the bed body 13 to move, and the signal processing system 2 is a dynamic acquisition module involving video and other signals and reliable transmission of polluted video signals to the mobile terminal module.

A kind of telemetry remote control method of rehabilitation nursing robot bed, as shown in Figure 3, this method comprises steps:

A. The monitoring terminal sends a state control application to the rehabilitation nursing robot bed 1 to the signal processing system. The control application includes a parallel monitoring application and a dynamic control application,

B. The signal processing system judges the control application type, if it is a parallel monitoring application, then execute step C, if it is a dynamic control application, then execute step D;

C. The signal processing system controls the monitoring terminal to monitor the rehabilitation nursing robot bed 1 in parallel;

Parallel monitoring is: the video signal of the patient on the rehabilitation nursing robot bed 1 is transmitted to each monitoring terminal, and the transmission process specifically includes steps:

C1. Dynamically collect video signals, and encode and compress the video signals. The video signals include image signals and audio signals;

The acquisition process of the image signal is: the optical signal is converted into an analog current signal through the image sensor, and the current signal is amplified and converted from analog to digital to realize the acquisition, storage, transmission, processing and reproduction of the image; the acquisition process of the audio signal is: sound wave Through a sound-sensitive capacitive electret microphone built into the sound sensor, the electret film in the microphone vibrates to cause a change in capacitance, thus generating a correspondingly changed tiny voltage, which is then converted into 0 The voltage of -5V is received by the data collector after A/D conversion.

The video signal source provides analog three primary colors R, G, B signals. In order to use the characteristics of human perspective to reduce the amount of data, the color image expressed in RGB space is converted to other color spaces, and the color space used is converted to YUV.

The encoding and compression of the image signal in step C1 specifically includes steps:

C11. Coordinate transforming the simulated three-primary RGB signal in the image signal to obtain the YUV signal, specifically:

$\left[\begin{array}{c}\mathrm{<span\; class="notranslate">\; Y</span>}\\ \mathrm{<span\; class="notranslate">\; u</span>}\\ \mathrm{<span\; class="notranslate">\; V</span>}\end{array}\right]<span\; class="notranslate">\; =</span>\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; 0.299</span>}& \mathrm{<span\; class="notranslate">\; 0.587</span>}& \mathrm{<span\; class="notranslate">\; 0.144</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 0.147</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 0.289</span>}& \mathrm{<span\; class="notranslate">\; 0.436</span>}\\ \mathrm{<span\; class="notranslate">\; 0.615</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 0.515</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 0.100</span>}\end{array}\right]\left[\begin{array}{c}\mathrm{<span\; class="notranslate">\; R</span>}\\ \mathrm{<span\; class="notranslate">\; G</span>}\\ \mathrm{<span\; class="notranslate">\; B</span>}\end{array}\right]<span\; class="notranslate">\; ;</span>$

C12. Perform A/D conversion on the three signals of Y, U and V respectively;

C13. The signal obtained in step C12 is compressed by mapping change and quantization, and the mathematical formula of the mapping change process is:

${\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; [</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; m</span>}}\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ]</span>$

Where: x _k is the time domain k-point sequence of the original signal, k=0,1,2...n-1, m is a generalized frequency variable, and n is the number of points in the time domain;

The mathematical formula of the quantization process is:

$\mathrm{<span\; class="notranslate">\; Q</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\frac{<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; 2</span>}}^{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 0.5</span>}}{{\mathrm{<span\; class="notranslate">\; 2</span>}}^{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}}$

Among them: x is the input signal, 2 ^m-1 is the quantization step size;

The encoding and compression process of the audio signal in step C1 is specifically: performing A/D conversion on the output signal of the microphone to obtain the encoded and compressed audio signal.

C2. Send the encoded and compressed video signal to the monitoring terminal through wired or wireless means;

C3. The monitoring terminal decodes the coded and compressed signal;

C3. The monitoring terminal decodes the encoded and compressed signal, and the decoding process of the image signal specifically includes steps:

C31. The decoder in the monitoring terminal decompresses the encoded and compressed signal;

C32. The D/A converter performs D/A conversion on the decompressed signal to obtain a YUV signal;

C33. Performing coordinate transformation on the YUV signal to restore the original RGB three-primary color signal.

C4. R, G, and B are added to the output device of the upper monitoring terminal, and the output device in the monitoring terminal displays and outputs the video signal.

D. If multiple users apply for parallel monitoring and dynamic adjustment of the rehabilitation nursing robot bed status at the same time, the system controls the monitoring terminal to dynamically control the rehabilitation nursing robot bed in real time according to the preset priority and response mechanism.

The priority and response mechanism are set according to the patient type, signal level and trigger site. Parking, next to the machine, central control, physiology, nursing and remote control, the trigger parts include the head, nerves, body, legs, bones and body surface in descending order of priority.

The patient's condition includes A, B, and C in descending order of priority, the patient's age priority is arranged in descending order of age, and the patient's sex includes female and male in descending order of priority.

A signal processing system can be connected with one or more rehabilitation nursing robot beds. When connecting with multiple rehabilitation nursing robot beds, the priority setting of patient type takes effect.

In the process of parallel monitoring and dynamic control, the signal transmission adopts the multi-process processor coupling scheduling strategy.

Fig. 4 is a process diagram of a multi-process processing mechanism according to an embodiment of the present invention.

As shown in Figure 4, during concurrent signal transmission, different transmission media (mechanism trajectory, sensor category, embedded system, pan/tilt, central control, gateway, etc.) and different protocols (instrument bus, field bus, distribution system, wired , wireless, etc.), in order to improve the response speed and work efficiency of the system, the system starts the multi-process processor coupling scheduling (AS) strategy. The cycle of N loop iterations is divided into p blocks, each block size is [N/p], the i-th block is assigned to the ready queue of a scheduling task of the i-th processor, and then enters the run queue; in the local scheduling stage, each A processor takes out 1/k of the number of remaining loop iterations from its own local task queue, and it is generally recommended that the value of k be equal to p; in the remote scheduling stage, when a processor's own local task queue is empty, it finds The busiest processor, and takes [1/p] of the remaining tasks from the non-running task queue of the processor, and then puts it into the ready queue of one of its own processes, and dispatches it to the run queue. The system starts the multi-processor and multi-process mechanism, selects different transmission media and different protocols for rapid positioning, and dynamically matches algorithms and protocols to realize the rapid response of multi-user remote monitoring and real-time adjustment.

In addition, each functional module or each step of the present invention described above can be implemented by a general-purpose computing device. They can be implemented by executable program codes of computing devices, and thus can be stored in storage devices and executed by computing devices, or can be realized by making multiple functional modules or steps among them into a single integrated circuit module. As such, the present invention is not limited to any specific combination of hardware and software.

Claims (9)

1. a remote measuring and controlling method for rehabilitation nursing robot bed, it is characterized in that, the method comprising the steps of:

A. receive and control application to the state of rehabilitation nursing robot bed, described control application comprises parallel supervision and applies for and Dynamic controlling application;

B. judge to control applying type, monitor application if parallel, then perform step C, if Dynamic controlling application then performs step D;

C. control monitor terminal and parallel supervision is carried out to rehabilitation nursing robot bed;

D. control monitor terminal according to the priority pre-set and response mechanism and Dynamic controlling is carried out to rehabilitation nursing robot bed.

2. the remote measuring and controlling method of a kind of rehabilitation nursing robot according to claim 1 bed, it is characterized in that, described parallel supervision is: give each monitor terminal by the video signal transmission of patient on rehabilitation nursing robot bed, transmitting procedure specifically comprises step:

C1. dynamic acquisition vision signal, and to encoding video signal compression, described vision signal comprises picture signal and audio signal;

C2. the vision signal after compression coding is sent to monitor terminal by wired or wireless mode;

C3. the signal of encoded compression is decoded by monitor terminal;

C4. monitor terminal is by vision signal display translation.

3. the remote measuring and controlling method of a kind of rehabilitation nursing robot according to claim 2 bed, it is characterized in that, in described step C1, the compression coding of picture signal specifically comprises step:

C11. the three primary colors rgb signal of simulating in picture signal is carried out coordinate transform and obtains YUV signal, be specially:

$\left[\begin{array}{c}Y\\ U\\ V\end{array}\right]=\left[\begin{array}{ccc}0.299& 0.587& 0.144\\ -0.147& -0.289& 0.436\\ 0.615& -0.515& -1.100\end{array}\right]\left[\begin{array}{c}R\\ G\\ B\end{array}\right]$

；

C12. respectively A/D conversion is carried out to Y, U, V tri-signals;

C13. by mapping change and quantizing to compress the signal that step C12 obtains, the mathematical expression of described mapping change procedure is:

$f_m=\underset{k=0}{\overset{n-1}{\mathrm{\&Sigma;}}}{x}_k\cos \left[\frac{\mathrm{\&pi;}}{n}m(k+\frac{1}{2})\right]$

Wherein: x _kfor the time domain k point sequence of signal after A/D conversion, k=0,1,2 ... n-1, m are generalized frequency variable, and n is counting of time domain;

The mathematical expression of described quantizing process is:

$Q\left(x\right)=\frac{\left|2^{m-1}x\right|+0.5}{2^{m-1}}$

Wherein: x is input signal, 2 ^m-1for quantization step;

The compression coding process of described step C1 sound intermediate frequency signal is specially: the output signal of microphone is carried out A/D and is converted to the audio signal after compression coding.

4. the remote measuring and controlling method of a kind of rehabilitation nursing robot according to claim 2 bed, it is characterized in that, in described step C3, the decode procedure of picture signal specifically comprises step:

C31. in monitor terminal decoder by the signal of encoded compression through decompressing;

C32.D/A converter carries out D/A conversion to the signal after decompression and obtains YUV signal;

C33. carry out coordinate transform to YUV signal to recover to obtain original RGB tristimulus signals.

5. the remote measuring and controlling method of a kind of rehabilitation nursing robot according to claim 1 bed, it is characterized in that, described priority and response mechanism are according to patient class, signal rank and trigger position setting, described patient class comprises conditions of patients, patient age and the Gender that priority is arranged in order from high to low, signal rank comprise that priority is arranged in order from high to low urgency is stopped, machine is other, middle control, physiology, nursing and remote control, trigger position and comprise head, nerve, health, leg, bone and the body surface that priority is arranged in order from high to low.

6. the remote measuring and controlling method of a kind of rehabilitation nursing robot according to claim 5 bed, it is characterized in that, described conditions of patients comprises first, the second, third that priority is arranged in order from high to low, the age-based descending of described patient age priority, described Gender comprises the female and man that priority is arranged in order from high to low.

7. the remote measuring and controlling method of a kind of rehabilitation nursing robot according to claim 1 bed, is characterized in that, in described parallel supervision and dynamic control process, Signal transmissions adopts Multiprocessing machine coupled scheduler strategy.

8. one kind realizes the remote measuring and controlling equipment of the remote measuring and controlling method of rehabilitation nursing robot as claimed in claim 1 bed, it is characterized in that, this equipment comprises the rehabilitation nursing robot bed, server and the multiple monitor terminal that connect successively, described server is equipped with signal processing system, described monitor terminal is remote mobile terminal or short range fixed terminal, described server is connected with short range fixed terminal by the wired mode of coaxial line structure, and described server is wirelessly connected with remote mobile terminal.

9. the remote measuring and controlling equipment of a kind of rehabilitation nursing robot according to claim 8 bed, it is characterized in that, described rehabilitation nursing robot bed comprises actuator and video signal collective assembly, and described actuator is all connected with server with video signal collective assembly.