CN104469327A - Remote measuring and controlling method and device for rehabilitation nursing robot bed - Google Patents
Remote measuring and controlling method and device for rehabilitation nursing robot bed Download PDFInfo
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Abstract
The invention relates to a remote measuring and controlling method and device for a rehabilitation nursing robot bed. The method comprises the steps that A, state control applications for the rehabilitation nursing robot bed are received, wherein the control applications comprise the parallel monitoring application and the dynamic control application; B, the type of the control application is judged, if the control application is the parallel monitoring application, the step C is executed, and if the control application is the dynamic control application, the step D is executed; C, a monitoring terminal is controlled to carry out parallel monitoring on the rehabilitation nursing robot bed; D, the monitoring terminal is controlled to carry out dynamic control over the rehabilitation nursing robot bed according to a preset priority and a responding mechanism. Compared with the prior art, the remote measuring and controlling method and device have the advantages of being high in working efficiency, high in response speed and the like.
Description
Technical field
The present invention relates to a kind of data acquisition and transmission technology, especially relate to the remote measuring and controlling method and apparatus of a kind of rehabilitation nursing robot bed.
Background technology
Develop rapidly along with socioeconomic, living standards of the people improve constantly, and population life constantly extends, and urban population just progressively enters aging, and the direct impact that aging population, aging bring is exactly the increase of the elderly's nursing demand.The generation of rehabilitation nursing robot bed and the patient developing into the elderly and long-term bed provide necessary help, develop rehabilitation nursing robot bed at present, can make in real time according to the demand of patient and stand up, sit up and eject and can supply the dynamic responses such as the telescopic type teapoy of office or food and drink, bring great convenience to the daily life of patient, also mitigate the operating pressure of nurse simultaneously, but the pressure that family numbers of patients can not look after patient constantly can not be alleviated, thus can not meet family numbers of patients takes care of patient requirement to rehabilitation nursing robot bed completely.
On the one hand, family numbers of patients not patient at one's side time, the treatment situation of doctor or nurse can not be understood in real time, the information asymmetry between doctors and patients is made to have the trend of expansion, very important impact is produced on the generation of medical tangle, development and last final result, and these medical tangles only understand the state of an illness of making patients, be unfavorable for treatment and the rehabilitation of patient.
On the other hand, family numbers of patients is in work position or other reasons when causing the patient on certain period rehabilitation nursing robot bed unattended at one's side, family numbers of patients can not recognize the psychological need of patient and the state of rehabilitation nursing robot bed, and rehabilitation nursing robot bed does not alleviate the pressure that family numbers of patients cannot take care of patient the moment.
Summary of the invention
Object of the present invention is exactly provide the remote measuring and controlling method and apparatus of the rehabilitation nursing robot bed that a kind of operating efficiency is high, corresponding speed is fast to overcome defect that above-mentioned prior art exists.
Object of the present invention can be achieved through the following technical solutions:
A remote measuring and controlling method for rehabilitation nursing robot bed, 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.
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.
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:
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:
Wherein: x
kfor the time domain k point sequence of primary signal, 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:
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.
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.
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.
Described conditions of patients comprises first, the second, the third that priority is arranged in order from high to low, the age-based descending of described patient age priority, and described Gender comprises the female and man that priority is arranged in order from high to low.
In described parallel supervision and dynamic control process, Signal transmissions adopts Multiprocessing machine coupled scheduler strategy.
The remote measuring and controlling equipment of a kind of rehabilitation nursing robot bed, 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.
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.
Compared with prior art, the present invention has the following advantages:
1) on the basis of rehabilitation nursing robot bed, add the parallel supervision of mobile terminal and regulate in real time, practicality and the remoteness of rehabilitation nursing robot bed can be improved, not only meet the rehabilitation nursing demand of patient, alleviate the pressure of medical personnel, the requirement of family numbers of patients to rehabilitation nursing robot bed state real time monitoring can also be met, realize families of patients constantly to keep and also can observe the demand response situation of rehabilitation nursing robot bed to patient in ward, more fully take care of not only to rehabilitation nursing robot bed patients ' recovery and nursing activity, greatly reduce the labour intensity of families of patients and nursing staff simultaneously.
2) simultaneously, the remote measurement of rehabilitation nursing robot bed and remote control adopt wire communication and radio communication and communication mode, bring guarantee to the stability of system, fail safe, reliability, high speed, also maintain the flexibility of system.
3) have employed the encoding-decoding process through targeted design in data transmission procedure, make transfer of data have high-fidelity and jamproof feature.
4) priority and response mechanism arrange according to patient class, signal rank and triggering position and control signal can be made to perform in order.
5) parallelly to monitor and Signal transmissions employing Multiprocessing machine coupled scheduler strategy in dynamic control process, improve response speed and the operating efficiency of system.
Accompanying drawing explanation
Fig. 1 is a preferred embodiment structural representation of present device;
Fig. 2 is the structural representation of rehabilitation nursing robot bed;
Fig. 3 is the key step flow chart of the inventive method;
Fig. 4 is the Multiprocessing mechanism procedure chart according to the embodiment of the present invention;
Wherein: 1, rehabilitation nursing robot bed, 2, server, 3, short range fixed terminal, 4, remote mobile terminal, 11, actuator, 12, video signal collective assembly, 13, bed body.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.The present embodiment is implemented premised on technical solution of the present invention, give detailed execution mode and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the equipment of the remote measuring and controlling method of a kind of rehabilitation nursing robot bed, this equipment comprises the rehabilitation nursing robot bed 1, the monitor terminal that connect successively and the server 2 of signal processing system is housed, server 2 and multiple monitor terminal, server is equipped with signal processing system, monitor terminal is short range fixed terminal 3 or remote mobile terminal 4, and server 2 is by wired mode and short range fixed terminal 3, and server 2 is wirelessly connected 4 with remote mobile terminal.
As shown in Figure 2, rehabilitation nursing robot bed comprises a body 13 and the actuator 11 be connected with bed body 13 respectively and video signal collective assembly 12, and actuator 11 is all connected with server 2 with video signal collective assembly 12.
Video signal collective assembly 12 is video source of rehabilitation nursing robot bed state, actuator 11 is for driving a body 13 action, and signal processing system 2 is for relating to the dynamic acquisition module of the signals such as video and having pollution vision signal to the transmitting module of mobile terminal.
A remote measuring and controlling method for rehabilitation nursing robot bed, as shown in Figure 3, the method comprising the steps of:
A. monitor terminal sends to signal processing system and controls application to the state of rehabilitation nursing robot bed 1, controls application and comprises parallel supervision application and Dynamic controlling application,
B. signal processing system judges to control applying type, monitors application, then perform step C, if Dynamic controlling application then performs step D if parallel;
C. signal processing system control monitor terminal carries out parallel supervision to rehabilitation nursing robot bed 1;
Parallel supervision is: give each monitor terminal by the video signal transmission of patient on rehabilitation nursing robot bed 1, transmitting procedure specifically comprises step:
C1. dynamic acquisition vision signal, and to encoding video signal compression, vision signal comprises picture signal and audio signal;
The gatherer process of picture signal is: by imageing sensor, optical signalling is converted to analog current signal, and current signal, through amplifying and analog-to-digital conversion, realizes the acquisition of image, storage, transmission, process and reproduction; The gatherer process of audio signal is: sound wave is by a condenser type Electret condenser microphone to sound sensitive built-in in sound transducer, electret film in microphone is vibrated, cause the change of electric capacity, so produce the small voltage of corresponding change with it, small voltage is converted to the voltage of 0-5V subsequently, is received by data acquisition unit through A/D conversion.
Video signal source provides three primary colors R, G, B signal of simulation.In order to the viewing angle characteristic of end user is to reduce data volume, the coloured image that rgb space represents is transformed to other color spaces, the color space transformation of employing is YUV.
In 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:
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 mapping change procedure is:
Wherein: x
kfor the time domain k point sequence of primary signal, k=0,1,2 ... n-1, m are generalized frequency variable, and n is counting of time domain;
The mathematical expression of quantizing process is:
Wherein: x is input signal, 2
m-1for quantization step;
The compression coding process of 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.
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;
C3. monitor terminal is by the signal of encoded compression through decoding, and wherein 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.
C4.R, G, B are added on the output equipment of monitor terminal, and in monitor terminal, output equipment is to vision signal display translation.
If D. multiple user apply for monitoring rehabilitation nursing robot bed states in parallel simultaneously and the access of dynamic adjustments time, system carries out Dynamic controlling to rehabilitation nursing robot bed in real time according to the priority pre-set and response mechanism control monitor terminal.
Priority and response mechanism are according to patient class, signal rank and trigger position setting, 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.
Conditions of patients comprises first, the second, the third that priority is arranged in order from high to low, the age-based descending of patient age priority, and Gender comprises priority and is arranged in order female and man from high to low.
A signal processing system can be connected with one or more rehabilitation nursing robot bed, and when being connected with multiple rehabilitation nursing robots beds, the priority of patient class arranges and comes into force.
Walk abreast and monitor and Signal transmissions employing Multiprocessing machine coupled scheduler strategy in dynamic control process.
Fig. 4 is the Multiprocessing mechanism procedure chart according to the embodiment of the present invention.
As shown in Figure 4, during concurrent signal transmission, through different transmission medium (mechanism kinematic track, categories of sensors, embedded system, The Cloud Terrace, middle control, gateway etc.) and different agreement (meter bus, fieldbus, distributing system, wired, wireless etc.), for improving response speed and the operating efficiency of system, system starts Multiprocessing machine coupled scheduler (AS) strategy, according to the distributed nature of process task, adopt multiprocessor multiprocess scheduling: initial phase, the circulation of N number of loop iteration is had to be divided into p block by one, every block size is [N/p], i-th piece of ready queue just distributing to certain scheduler task of i-th processor, then operation queue is entered, in the local scheduling stage, each processor takes out the 1/k being left loop iteration quantity from the local task queue of oneself, and the general value of k of recommending equals p, the remote scheduling stage, when the local task queue of certain processor oneself is empty, it just finds the busiest processor, and takes away [1/p] of remaining task from the inoperative task queue of this processor, then be put into the ready queue of certain process of oneself, and be dispatched to operation queue.System starts multiprocessor multi-process structure, chooses the Dynamic Matching of different transmission medium and different agreement quick position, algorithm and agreement, realizes the quick response that multiuser to remotely monitors and regulates in real time.
In addition, above-mentioned of the present invention each functional module or each step can realize with general calculation element.They can realize with the executable program code of calculation element, thus, they can be stored and be performed by calculation element in the storage device, or the multiple functional module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to any specific hardware and software combination.
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:
；
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:
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:
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.
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| CN104469327B (en) | 2018-03-13 |
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