CN104469327B - A kind of remote measuring and controlling method and apparatus of rehabilitation nursing robot bed - Google Patents
A kind of remote measuring and controlling method and apparatus of rehabilitation nursing robot bed Download PDFInfo
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- CN104469327B CN104469327B CN201410835259.8A CN201410835259A CN104469327B CN 104469327 B CN104469327 B CN 104469327B CN 201410835259 A CN201410835259 A CN 201410835259A CN 104469327 B CN104469327 B CN 104469327B
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- 230000032683 aging Effects 0.000 description 3
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Abstract
The present invention relates to a kind of remote measuring and controlling method and apparatus of rehabilitation nursing robot bed, wherein method includes step：A. receive and control the state of rehabilitation nursing robot bed application, the control application includes parallel monitoring application and dynamic control application；B. judge control applying type, if parallel monitoring application, then perform step C, step D is then performed if dynamic control application；C. control monitor terminal is monitored parallel to rehabilitation nursing robot bed；D. dynamic control is carried out to rehabilitation nursing robot bed according to priority and response mechanism the control monitor terminal pre-set.Compared with prior art, the present invention has the advantages that operating efficiency height, fast response time.
Description
Technical field
The present invention relates to a kind of data acquisition and transmission technology, more particularly, to a kind of remote measurement of rehabilitation nursing robot bed
Remote control thereof and equipment.
Background technology
With developing rapidly for social economy, living standards of the people improve constantly, and population life constantly extends, urban population
Just step into aging, bring one of aging population, aging directly affect be exactly the elderly's nursing demand increase.
The generation of rehabilitation nursing robot bed and develop into the elderly and the patient of long-term bed provides necessary help, opened at present
Rehabilitation nursing robot bed is sent, turn can be made in real time according to the demand of patient, sitting up and ejecting is available for office or food and drink
Dynamic response, the daily life to patient such as telescopic type teapoy bring great convenience, while also mitigate the work of nurse
Make pressure, but can not mitigate family numbers of patients can not constantly look after the pressure of patient, thus family numbers of patients can not be fully met
The requirement of patient is taken care of to rehabilitation nursing robot bed.
On the one hand, family numbers of patients not patient at one's side when, it is impossible to understand the treatment situation of doctor or nurse in real time so that doctor
Information asymmetry between trouble has the trend of expansion, and the generation, development and last final result to medical tangle produce act foot
The influence of weight, and these medical tangles only understand the state of an illness of making patients, are unfavorable for the treatment and rehabilitation of patient.
On the other hand, family numbers of patients is in work position or other reasonses and caused on certain period rehabilitation nursing robot bed
When patient is unattended at one's side, family numbers of patients does not know that the psychological need of patient and the state of rehabilitation nursing robot bed,
Rehabilitation nursing robot bed does not have the pressure that mitigation family numbers of patients can not take care of patient constantly.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of operating efficiency is high, phase
Answer the remote measuring and controlling method and apparatus of fireballing rehabilitation nursing robot bed.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of remote measuring and controlling method of rehabilitation nursing robot bed, the method comprising the steps of：
A. receive and control the state of rehabilitation nursing robot bed application, the control application include parallel monitoring application and
Dynamic control application；
B. judge control applying type, if parallel monitoring application, then perform step C, then held if dynamic control application
Row step D；
C. control monitor terminal is monitored parallel to rehabilitation nursing robot bed；
D. action is entered to rehabilitation nursing robot bed according to priority and response mechanism the control monitor terminal pre-set
State controls.
The parallel monitoring is：Give the video signal transmission of patient on rehabilitation nursing robot bed to each monitor terminal, pass
Defeated process specifically includes step：
C1. dynamic acquisition vision signal, and coding compression is carried out to vision signal, the vision signal includes picture signal
And audio signal；
C2. the vision signal encoded after compressing is sent to monitor terminal by wired or wireless way；
C3. monitor terminal is decoded the signal of encoded compression；
C4. monitor terminal is by vision signal display output.
The coding compression of picture signal specifically includes step in the step C1：
C11. the three primary colours rgb signal simulated in picture signal progress coordinate transform is obtained into YUV signal, is specially：
C12. A/D conversion is carried out respectively to tri- signals of Y, U, V；
C13. change and quantify to be compressed the obtained signals of step C12 by mapping, the mapping change procedure
Mathematical expression is：
Wherein：xkFor the time domain k point sequences of primary signal, k=0,1,2 ... n-1, m are generalized frequency variable, when n is
The points in domain；
The mathematical expression of the quantizing process is：
Wherein：X is input signal, 2m-1For quantization step；
The coding compression process of the step C1 sound intermediate frequency signals is specially：The output signal of microphone is subjected to A/D conversions
Obtain the audio signal after coding compression.
The decoding process of picture signal specifically includes step in the step C3：
C31. in monitor terminal decoder by the signal of encoded compression through being decompressed；
C32.D/A converters carry out D/A to the signal after decompression and convert to obtain YUV signal；
C33. coordinate transform is carried out to YUV signal to recover to obtain original RGB tristimulus signals.
The priority and response mechanism are set according to patient class, signal rank and triggering position, the patient class
Conditions of patients, patient age and the Gender being arranged in order from high to low including priority, signal rank include priority by
The high to Low jerk being arranged in order, machine be other, middle control, physiology, nursing and remote control, and triggering position includes priority from high to low successively
Head, nerve, body, leg, bone and the body surface of arrangement.
The conditions of patients include priority be arranged in order from high to low first, second, third, the patient age priority is pressed
Age descending arranges, and the Gender includes the female and man that priority is arranged in order from high to low.
Signal transmission uses Multiprocessing machine coupled scheduler strategy in the parallel monitoring and dynamic control process.
A kind of remote measuring and controlling equipment of rehabilitation nursing robot bed, the equipment include the rehabilitation nursing robot being sequentially connected
Bed, server and multiple monitor terminals, signal processing system be housed on the server, the monitor terminal is remote mobile end
End or short range fixed terminal, the server are connected by the wired mode of coaxial line structure with short range fixed terminal, the clothes
Business device is wirelessly connected with remote mobile terminal.
Rehabilitation nursing robot bed includes executing agency and video signal collective component, the executing agency and video
Signal acquisition component is connected with server.
Compared with prior art, the present invention has advantages below：
1) the parallel monitoring and regulation in real time of mobile terminal are added on the basis of rehabilitation nursing robot bed, can be improved
The practicality and remoteness of rehabilitation nursing robot bed, not only meet the rehabilitation nursing demand of patient, mitigate the pressure of medical personnel
Power, moreover it is possible to meet the requirement that family numbers of patients monitors in real time to rehabilitation nursing robot bed state, realize families of patients without the moment
Demand response situation of the rehabilitation nursing robot bed to patient can also be observed in ward by keeping, and not only give rehabilitation nursing robot bed disease
People's rehabilitation and nursing activity are more fully taken care of, while greatly reduce families of patients and the labor intensity of nursing staff.
2) simultaneously, the remote measurement of rehabilitation nursing robot bed and remote control using wire communication and radio communication and communication party
Formula, guarantee is brought to the stability of system, security, reliability, high speed, also maintains the flexibility of system.
3) encoding-decoding process by targeted design is employed in data transmission procedure, makes data transfer that there is high-fidelity
With jamproof feature.
4) priority and response mechanism set according to patient class, signal rank and triggering position and can have control signal
Sequence performs.
5) parallel monitoring and signal transmission in dynamic control process use Multiprocessing machine coupled scheduler strategy, improve
The response speed and operating efficiency of system.
Brief description of the drawings
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 Multiprocessing mechanism procedure chart according to embodiments of the present invention；
Wherein：1st, rehabilitation nursing robot bed, 2, server, 3, short range fixed terminal, 4, remote mobile terminal, 11, hold
Row mechanism, 12, video signal collective component, 13, bed body.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
As shown in figure 1, a kind of equipment of the remote measuring and controlling method of rehabilitation nursing robot bed, the equipment includes being sequentially connected
Rehabilitation nursing robot bed 1, monitor terminal and the server 2 equipped with signal processing system, server 2 and it is multiple monitoring eventually
Hold, signal processing system is housed on server, monitor terminal is short range fixed terminal 3 or remote mobile terminal 4, and server 2 is logical
Wired mode and short range fixed terminal 3 are crossed, server 2 is wirelessly connected 4 with remote mobile terminal.
As shown in Fig. 2 rehabilitation nursing robot bed includes bed body 13 and the executing agency 11 being connected respectively with bed body 13
With video signal collective component 12, executing agency 11 and video signal collective component 12 are connected with server 2.
Video signal collective component 12 is the video source of rehabilitation nursing robot bed state, and executing agency 11 is used to drive bed
Body 13 acts, and signal processing system 2 is to be related to the dynamic acquisition module of the signals such as video and have pollution vision signal whole to movement
The transmitting module at end.
The remote measuring and controlling method of a kind of 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 Shen
It please include parallel monitoring application and dynamic control application,
B. signal processing system judges control applying type, if parallel monitoring application, then step C is performed, if dynamic
Control application then performs step D；
C. signal processing system control monitor terminal is monitored parallel to rehabilitation nursing robot bed 1；
Monitor parallel and be：Give the video signal transmission of patient on rehabilitation nursing robot bed 1 to each monitor terminal, be transmitted across
Journey specifically includes step：
C1. dynamic acquisition vision signal, and coding compression is carried out to vision signal, vision signal includes picture signal and sound
Frequency signal；
The gatherer process of picture signal is：Analog current signal, electric current are converted optical signals into by imaging sensor
Signal realizes acquisition, storage, transmission, processing and the reproduction of image by amplification and analog-to-digital conversion；The gatherer process of audio signal
For：Sound wave makes the electret in microphone by a condenser type Electret condenser microphone to sound sensitive built-in in sound transducer
Body thin film is vibrated, and causes the change of electric capacity, then produces the small voltage for corresponding to change therewith, and small voltage is subsequently converted into
0-5V voltage, change by A/D and received by data acquisition unit.
Video signal source provides three primary colours R, G, the B signal of simulation.In order to which the viewing angle characteristic of user is to reduce number
According to amount, the coloured image that rgb space represents is transformed to other color spaces, the color space transformation used is YUV.
The coding compression of picture signal specifically includes step in step C1：
C11. the three primary colours rgb signal simulated in picture signal progress coordinate transform is obtained into YUV signal, is specially：
C12. A/D conversion is carried out respectively to tri- signals of Y, U, V；
C13. change and quantify to be compressed the obtained signals of step C12 by mapping, map the mathematics of change procedure
Formula is：
Wherein：xkFor the time domain k point sequences of primary signal, k=0,1,2 ... n-1, m are generalized frequency variable, when n is
The points in domain；
The mathematical expression of quantizing process is：
Wherein：X is input signal, 2m-1For quantization step；
The coding compression process of step C1 sound intermediate frequency signals is specially：The output signal of microphone is carried out into A/D to be converted to
Audio signal after coding compression.
C2. the vision signal encoded after compressing is sent to monitor terminal by wired or wireless way；
C3. monitor terminal is decoded the signal of encoded compression；
C3. monitor terminal by the signal of encoded compression through being decoded, specifically wrap by the decoding process of wherein picture signal
Include step：
C31. in monitor terminal decoder by the signal of encoded compression through being decompressed；
C32.D/A converters carry out D/A to the signal after decompression and convert to obtain YUV signal；
C33. coordinate transform is carried out 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 output equipment is shown defeated to vision signal in monitor terminal
Go out.
D. if multiple users are applied to the bed states in parallel monitoring of rehabilitation nursing robot and the access of dynamic regulation simultaneously,
System controls monitor terminal to enter action to rehabilitation nursing robot bed in real time according to the priority and response mechanism pre-set
State controls.
Priority and response mechanism are set according to patient class, signal rank and triggering position, and patient class includes preferential
The level conditions of patients, patient age and the Gender that are arranged in order from high to low, signal rank include priority from high to low according to
The jerk of secondary arrangement, machine be other, middle control, physiology, nursing and remote control, and triggering position includes the head that priority is arranged in order from high to low
Portion, nerve, body, leg, bone and body surface.
Conditions of patients include priority be arranged in order from high to low first, second, third, the age-based descending of patient age priority
Arrangement, Gender are arranged in order female and man from high to low including priority.
One signal processing system can be connected with one or more rehabilitation nursing robot bed, be protected when with multiple rehabilitations
When managing robot bed connection, the priority of patient class, which is set, to come into force.
Signal transmission uses Multiprocessing machine coupled scheduler strategy in parallel monitoring and dynamic control process.
Fig. 4 is Multiprocessing mechanism procedure chart according to embodiments of the present invention.
It is (mechanism kinematic track, categories of sensors, embedding by different transmission mediums as shown in figure 4, during concurrent signal transmission
Embedded system, head, middle control, gateway etc.) and different agreement (meter bus, fieldbus, distributing system, wired, wireless etc.),
To improve the response speed and operating efficiency of system, system starts Multiprocessing machine coupled scheduler (AS) strategy, according to process
The distributed nature of task, using multiprocessor multiprocess scheduling：Initial phase, by a circulation for having N number of loop iteration
It is divided into p blocks, is per block size [N/p], the ready queue of i-th piece of some scheduler task for just distributing to i-th of processor, then
Into operation queue；Local scheduling stage, each processor take out remaining loop iteration number from the local task queue of oneself
The 1/k of amount, the general value for recommending k are equal to p；The remote scheduling stage, when the local task queue of some processor oneself is space-time,
It just finds most busy processor, and takes [1/p] of remaining task, Ran Houfang away from the inoperative task queue of the processor
To the ready queue of some process of oneself, and it is dispatched to operation queue.System starts multiprocessor multi-process structure, chooses not
With the Dynamic Matching of transmission medium and different agreement fast positioning, algorithm and agreement, realize multiuser to remotely monitoring and adjust in real time
The quick response of section.
In addition, above-mentioned each functional module of the invention or each step can be realized with general computing device.They
It can be realized with the program code that computing device can perform, be filled it is thus possible to be stored in storage device by calculating
Put to perform, or the multiple functional modules or step in them are fabricated to single integrated circuit module to realize.So, originally
Invention is not restricted to any specific hardware and software and combined.
Claims (5)
1. the remote measuring and controlling method of a kind of rehabilitation nursing robot bed, it is characterised in that the method comprising the steps of：
A. receive and control the state of rehabilitation nursing robot bed application, the control application includes parallel monitoring application and dynamic
Control application,
B. judge control applying type, if parallel monitoring application, then perform step C, step is then performed if dynamic control application
Rapid D,
C. control monitor terminal is monitored parallel to rehabilitation nursing robot bed,
D. Mobile state control is entered to rehabilitation nursing robot bed according to priority and response mechanism the control monitor terminal pre-set
System；
The parallel monitoring is：Give the video signal transmission of patient on rehabilitation nursing robot bed to each monitor terminal, be transmitted across
Journey specifically includes step：
C1. dynamic acquisition vision signal, and coding compression is carried out to vision signal, the vision signal includes picture signal and sound
Frequency signal,
C2. the vision signal encoded after compressing is sent to monitor terminal by wired or wireless way,
C3. monitor terminal is decoded the signal of encoded compression,
C4. monitor terminal is by vision signal display output；
The coding compression of picture signal specifically includes step in the step C1：
C11. the three primary colours rgb signal simulated in picture signal progress coordinate transform is obtained into YUV signal, is specially：
C12. A/D conversion is carried out respectively to tri- signals of Y, U, V,
C13. change and quantify to be compressed the obtained signals of step C12 by mapping, the mathematics of the mapping change procedure
Formula is：
Wherein：xkThe time domain k point sequences of signal after being converted for A/D, k=0,1,2 ... n-1, m are generalized frequency variable, when n is
The points in domain,
The mathematical expression of the quantizing process is：
Wherein：X is input signal, 2m-1For quantization step,
The coding compression process of the step C1 sound intermediate frequency signals is specially：The output signal of microphone is carried out into A/D to be converted to
Audio signal after coding compression；
The decoding process of picture signal specifically includes step in the step C3：
C31. in monitor terminal decoder by the signal of encoded compression through being decompressed,
C32.D/A converters carry out D/A to the signal after decompression and convert to obtain YUV signal,
C33. coordinate transform is carried out to YUV signal to recover to obtain original RGB tristimulus signals；
The priority and response mechanism are set according to patient class, signal rank and triggering position, and the patient class includes
Conditions of patients, patient age and the Gender that priority is arranged in order from high to low, signal rank include priority by height to
The low jerk being arranged in order, machine be other, middle control, physiology, nursing and remote control, and triggering position is arranged in order from high to low including priority
Head, nerve, body, leg, bone and body surface.
A kind of 2. remote measuring and controlling method of rehabilitation nursing robot bed according to claim 1, it is characterised in that the trouble
Person's state of an illness includes the first, second that priority is arranged in order from high to low, third, the age-based descending arrangement of the patient age priority,
The Gender includes the female and man that priority is arranged in order from high to low.
A kind of 3. remote measuring and controlling method of rehabilitation nursing robot bed according to claim 1, it is characterised in that it is described simultaneously
Signal transmission uses Multiprocessing machine coupled scheduler strategy in row monitoring and dynamic control process.
4. a kind of remote measuring and controlling equipment for the remote measuring and controlling method for realizing rehabilitation nursing robot as claimed in claim 1 bed,
Characterized in that, the equipment includes rehabilitation nursing robot bed, server and the multiple monitor terminals being sequentially connected, the service
Signal processing system is housed, the monitor terminal is remote mobile terminal or short range fixed terminal, and the server passes through on device
The wired mode of coaxial line structure is connected with short range fixed terminal, and the server wirelessly connects with remote mobile terminal
Connect.
A kind of 5. remote measuring and controlling equipment of rehabilitation nursing robot bed according to claim 4, it is characterised in that the health
Multiple nursing robot's bed includes executing agency and video signal collective component, and the executing agency and video signal collective component are equal
It is connected with server.
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| CN105094011A (en) * | 2015-06-30 | 2015-11-25 | 青岛海尔智能家电科技有限公司 | House chore management robot and task processing method |
| CN111798995A (en) * | 2020-06-28 | 2020-10-20 | 四川大学 | OpenPose algorithm-based postoperative rehabilitation method and data acquisition device support thereof |
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