CN106580588A - Bed and chair integrated nursing bed and bed and chair butt-jointing method - Google Patents
Bed and chair integrated nursing bed and bed and chair butt-jointing method Download PDFInfo
- Publication number
- CN106580588A CN106580588A CN201510680321.5A CN201510680321A CN106580588A CN 106580588 A CN106580588 A CN 106580588A CN 201510680321 A CN201510680321 A CN 201510680321A CN 106580588 A CN106580588 A CN 106580588A
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- Prior art keywords
- wheelchair
- bed
- bed body
- chair
- motion
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/015—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame divided into different adjustable sections, e.g. for Gatch position
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/018—Control or drive mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/16—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto converting a lying surface into a chair
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- Health & Medical Sciences (AREA)
- Nursing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention relates to the field of medical instruments, and discloses a bed and chair integrated nursing bed and a bed and chair butt-jointing method. The nursing bed includes a bed body and a wheelchair; the bed body is used for receiving the wheelchair according to a recessed zone which is opened and formed in the center of the bed body; and the wheel chair includes a laser sensor, a proximity sensor, a crash sensor, a motion fine adjustment command unit, a position detection unit, a navigation motion control unit, a wheelchair motion drive unit, a wheelchair deformation drive unit and an automatic guiding control unit. According to the invention, the bed body and the wheelchair can be separated, when a patient sits on the wheelchair, and the wheelchair can automatically butt-joint the bed body; and the bed and chair integrated nursing bed can bring convenience to nurses and patients, and facilitate promotion and application in the field of medical instruments.
Description
【Technical field】
The present invention relates to medical apparatus and instruments field, more particularly to a kind of bed chair integrated nursing care bed and bed
Chair docking calculation.
【Background technology】
For bed patient or old man generally need to move to other occasions from the bed.Entered by bed in sufferer
During entering to wheelchair, need nursing staff that sufferer is moved on wheelchair from bed, this process is given
Patient and nursing staff bring inconvenience.
【The content of the invention】
The technical problem to be solved in the present invention is to overcome sufferer to move to wheelchair this process to patient from bed
The inconvenience brought with nursing staff.
To solve above-mentioned technical problem, the present invention provides technical scheme below.
On the one hand, the present invention provides a kind of bed chair integrated nursing care bed, it is characterised in that the nursing
Bed includes bed body and wheelchair, wherein：
The bed body is provided with the concave regions of open design to be used to receive the wheelchair；
The wheelchair includes laser sensor, proximity transducer, crash sensor, motion fine setting instruction
Unit, position detection unit, Navigational Movements control unit, wheel chair sport driver element, wheelchair deformation
Driver element and control unit is guided automatically, wherein：
The laser sensor is installed on the wheelchair, for detecting bed body profile and setting up bed body wheel
Wide grating map；
The proximity transducer is installed on the wheelchair, for generating the first motion fine setting instruction；
The crash sensor is installed on the wheelchair surrounding and is installed using segmented, for generating the
Two motion fine setting instructions；
The motion fine setting command unit is micro- according to the described first motion fine setting instruction and the described second motion
Instruction is adjusted to prevent the wheelchair from knocking the bed body edge；
The position detection unit according to laser sensor scanning information and bed body profile grid map matching,
Realize that wheelchair is positioned；
The positional information that the Navigational Movements control unit is positioned according to the position detection unit, by institute
State wheelchair and navigate to impact point；
The wheel chair sport driver element is used to drive the wheel chair sport；
The wheelchair deformation driver element is used to control the part that the wheelchair becomes bed；
The automatic guiding control unit is used to control docking for the bed body and the wheelchair.
In certain embodiments, the laser sensor is installed on the side of the wheelchair.It is described to be close to
Sensor is installed on two corners of the wheelchair.The wheelchair employs comprehensive chassis, can be with
Advance, retreat.Can also be traversing, you can to the left, to right translation.When docked, by people's remote control wheel
Chair allows installation that side of laser to implantation to before bed, now the people on wheelchair be not towards bed, but
Parallel with bed, after success is docked, wheelchair deformation unit control wheelchair backrest fell, and pedal is lifted,
Wheelchair is changed into a part for bed, and people just lies on a bed.
In certain embodiments, the position detection unit is according to laser sensor scanning information and bed body
Profile grid map matching, realize wheelchair positioning (position when not only initial, in docking, per 100ms,
A wheelchair pose is calculated, in real time positioning).
In certain embodiments, wheelchair deformation driver element be used for when wheelchair dock with bed complete when,
Control wheelchair backrest, pedal and handrail, make wheelchair become a part for bed.
In certain embodiments, limit switches are installed in the open outside of the concave regions of the bed body,
The limit switch is used to detect whether the wheelchair docks successfully with the bed body.
In certain embodiments, the bed body is standing part, and the wheelchair is movable part.
In certain embodiments, the wheelchair adopts comprehensive chassis structure.
In certain embodiments, rocking bar is installed, the rocking bar control is described on the wheelchair side panel
Wheelchair is moved, and on the wheelchair side panel automatic butt button is also equipped with.
On the other hand, the present invention provides a kind of bed chair docking calculation, it is characterised in that methods described bag
Include following steps：
Laser sensor on front side of wheelchair scans the profile of bed body concave regions, sets up bed body profile
Grating map；
The control operation of the wheelchair receive user is moved to the bed body spill area to control the wheelchair
Domain front simultaneously starts automatic butt button；
According to laser sensor scanning information and bed body profile grid map matching, realize that wheelchair is positioned；
The wheelchair is navigated to by impact point with the relative position of the bed body according to the wheelchair；
Control bed chair docking, limit switch finally detects whether a chair docks successfully.
In certain embodiments, the relative position according to the wheelchair and the bed body is by the wheel
Chair navigated to and include during impact point：The wheel is adjusted by proximity transducer and crash sensor
The motion of chair.
In certain embodiments, the dependence proximity transducer and crash sensor are adjusting the wheelchair
Motion include：When left side proximity transducer generates induced signal, it is finely adjusted to the right, works as right side
When proximity transducer generates induced signal, it is finely adjusted to the left, causes wheelchair when cannot adjust in time
When bumping against bed body, then according to crash sensor adjusting.
In certain embodiments, the proximity transducer is installed on two corners on the wheelchair, institute
State crash sensor to be installed on the wheelchair surrounding and install using segmented.
In certain embodiments, the automatic butt button is installed on the wheelchair side panel, described
Limit switch is arranged on the open outside of bed body concave regions.
The beneficial effects of the present invention is bed body and wheelchair is separated by designing a kind of care bed, when
When patient is sitting on the wheelchair, the wheelchair can bed body described in automatic butt without nursing staff
Help is provided, the present invention brings conveniently for nursing staff and patient, the bed chair integrated nursing care bed
Be conducive to the popularization and application in medical instruments field.
【Description of the drawings】
Fig. 1 shows the structure chart of a kind of chair integrated nursing care bed of the embodiment of the present invention；
Fig. 2 shows a kind of bed chair docking calculation flow chart of the embodiment of the present invention；
Fig. 3 shows a kind of process status figure of embodiment of the present invention bed chair docking calculation；
Fig. 4 shows another kind of process status figure of embodiment of the present invention bed chair docking calculation；
Fig. 5 shows another kind of process status figure of embodiment of the present invention bed chair docking calculation.
【Specific embodiment】
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with accompanying drawing
And embodiment, the present invention will be described in further detail.It should be appreciated that described herein concrete
Embodiment only to explain the present invention, is not intended to limit the present invention.
As long as additionally, technical characteristic involved in invention described below each embodiment
Not constituting conflict each other just can be mutually combined.
Embodiment 1
As shown in figure 1, embodiments providing a kind of bed chair integrated nursing care bed, its feature exists
In, the care bed includes bed body 100 and wheelchair 200, wherein：
The bed body 100, for receiving the wheel according to the concave regions of open design in the middle of the bed body
Chair.
Above-mentioned bed body 100 is a fixed part, the spill of the middle open design of the bed body 100
The size in region is just matched with the size of the wheelchair 200, when the wheelchair 200 is docked successfully in institute
When stating bed body 100, a complete bed body is just formed.Additionally, the concave regions of the bed body 100
Limit switches are installed in open outside, and the limit switch is used to detect the wheelchair 200 with the bed
Successfully whether body 100 is docked, specifically, when the wheelchair 200 moves closer to the bed body 100
During concave regions, wheelchair 200 strikes the limit switch in the concave regions described in a certain moment,
The contact action of limit switch, the motion of the wheelchair 200 stops being docked successfully with the bed body 100,
Effect of the action principle of the limit switch similar to button switch.
The wheelchair 200, including laser sensor 201, proximity transducer 202, crash sensor 203,
Motion fine setting command unit 204, position detection unit 205, Navigational Movements control unit 206, wheelchair
Kinematic driving unit 207, wheelchair deforms driver element 208 and automatically guiding control unit 209, wherein：
The laser sensor 201, is installed on the used on wheelchair in detection bed body profile and sets up bed body
Profile grating map；The proximity transducer 202, is installed on two corners of the wheelchair, when described
When wheelchair 200 is entered in docking concave regions, the first motion fine setting instruction is generated；The collision sensing
Device 203, is installed on the wheelchair surrounding and is installed using segmented, is docked when the wheelchair 200 is entered
When in concave regions, the second motion fine setting instruction is generated；The motion fine setting command unit 204, according to
The first motion fine setting instruction and the described second motion fine setting instruction prevent the wheelchair from knocking the bed
Body edge；The position detection unit 205, according to laser sensor scanning information and bed body profile grid
Map match, realizes that wheelchair is positioned；The Navigational Movements control unit 206, detects according to the position
The positional information of cell location, by the wheelchair impact point is navigated to；The wheel chair sport driver element
207, for driving the wheel chair sport；The wheelchair deforms driver element 208, described for controlling
Wheelchair deforms；The automatic guiding control unit 209 is right with the wheelchair for controlling the bed body
Connect.
Above-mentioned wheelchair 200 adopts comprehensive chassis structure.It is provided with the side panel of the wheelchair 200 and shakes
Bar, the rocking bar control wheelchair movement, on the wheelchair side panel automatic butt button is also equipped with,
Preparing to start automatic butt button first when wheelchair 200 is docked with the bed body 100, so as to start
Command unit 204, position detection unit is finely tuned in unit in the wheelchair 200, above-mentioned motion
205th, Navigational Movements control unit 206, wheel chair sport driver element 207, wheelchair deformation driver element
208 and automatically guiding control unit 209 can concentrate on chip piece according to the mode of Software Coding, it is described
Chip connects laser sensor 201, proximity transducer 202, crash sensor 203 by circuit, from
And unit is acted on respectively, generally complete to dock with bed body 100 controlling wheelchair 200.
A kind of bed chair integrated nursing care bed is embodiments provided, the care bed can separate bed body
And wheelchair, when patient is sitting on the wheelchair, the wheelchair can bed body described in automatic butt.This
Bright to bring conveniently for nursing staff and patient, the bed chair integrated nursing care bed is conducive in Medical treatment device
Popularization and application in tool field.
Embodiment 2
As shown in Fig. 2 embodiments providing a kind of bed chair docking calculation, methods described includes
Following steps：
S201, the laser sensor positioned at wheelchair scans the profile of bed body concave regions, sets up bed body wheel
Wide grating map.
S202, the control operation of the wheelchair receive user is controlling the wheelchair to the bed body spill
Region front simultaneously starts automatic butt button.
S203, according to laser sensor scanning information and bed body profile grid map matching, realizes wheelchair
Positioning.
S204, impact point is navigated to according to the wheelchair with the relative position of the bed body by the wheelchair.
S205, control bed chair docking, limit switch finally detects whether a chair docks successfully.
Above-mentioned bed body profile grating map scans the grid ground that bed body profile is created using laser sensor
Figure, each grid represents length 5cm, and grid is occupied (expression has object herein) and freely (table
Show herein without object) two kinds of values.In map file, it is occupied use -1 and represents, 0 represents free zone
Domain.Bed body profile be in map file several -1.The automatic butt button is installed on the wheel
On chair side panel, when preparation wheelchair is docked with the bed body automatic butt button is started first, so as to
Start the unit on the wheelchair, specifically：
As shown in figure 3, laser sensor scanning bed body profile A to H parts.During docking, by user
Manually control wheelchair is moved to certain position P (laser sensor is towards bed body) before bed body, by automatic butt
Button starts docking；Position detection unit is entered according to laser sensor scanning with bed body profile map match
The real-time positioning of road wheel chair, (per 100 milliseconds with regard to calculating a position in docking operation).Such as Fig. 4
Shown, the wheelchair enters a certain Q points of docking concave regions and prepares docking, and the Q points are preparation
Point, Q points are located in front of bed body concave regions, and by Navigational Movements control unit control wheelchair Q is moved to
Point, its control accuracy can within 5cm, meanwhile, the approach axis of wheelchair can not be exactly perpendicularly to
Straight line DE, may be to the left or to right avertence.Therefore, wheelchair is being controlled by Q by navigation control unit
Put into impact point S (when S is that a chair docks successful completely, the position of wheelchair) completely docking operation,
The motion of wheelchair is adjusted by proximity transducer and crash sensor, the proximity transducer is installed on
Two corners of the wheelchair, when left side proximity transducer generates induced signal, are finely adjusted to the right,
When right side proximity transducer generates induced signal, it is finely adjusted to the left.Lead when adjusting in time
Wheelchair is caused when bumping against bed body, then according to crash sensor adjusting, crash sensor employs segmentation peace
Dress mode, when left side crash sensor generates induced signal, is finely adjusted to the right, when right side collision
When sensor generates induced signal, it is finely adjusted to the left.Bed chair docking completes to be by installed in bed body
The limit switch in the open outside of concave regions is checking, as shown in figure 5, spacing opening when only unilateral
When there is signal pass, motion fine setting is carried out, make two limit switches all to upper, so as to complete last bed
Chair is docked.
A kind of bed chair docking calculation is embodiments provided, bed body and wheel can be separated in methods described
Chair, when patient is sitting on the wheelchair, the wheelchair can bed body described in automatic butt, the present invention is
Nursing staff and patient bring conveniently.
The foregoing is only presently preferred embodiments of the present invention, not to limit the present invention, it is all
Any modification, equivalent and improvement for being made within the spirit and principles in the present invention etc., all should include
Within protection scope of the present invention.
Claims (10)
1. an a kind of chair integrated nursing care bed, it is characterised in that the care bed includes bed body and wheelchair,
Wherein：
The bed body is provided with the concave regions of open design, and the concave regions are used to receive the wheel
Chair；
The wheelchair includes laser sensor, proximity transducer, crash sensor, motion fine setting instruction
Unit, position detection unit, Navigational Movements control unit, wheel chair sport driver element, wheelchair deformation
Driver element and control unit is guided automatically, wherein：
The laser sensor is installed on the wheelchair, for detecting bed body profile and setting up bed body wheel
Wide grating map；
The proximity transducer is installed on the wheelchair, for generating the first motion fine setting instruction；
The crash sensor is installed on the wheelchair surrounding and is installed using segmented, for generating the
Two motion fine setting instructions；
The motion fine setting command unit is micro- according to the described first motion fine setting instruction and the described second motion
Instruction is adjusted to prevent the wheelchair from knocking the bed body edge；
The position detection unit according to laser sensor scanning information and bed body profile grid map matching,
Realize that wheelchair is positioned；
The positional information that the Navigational Movements control unit is positioned according to the position detection unit, by institute
State wheelchair and navigate to impact point；
The wheel chair sport driver element is used to drive the wheel chair sport；
The wheelchair deformation driver element is used to control the wheelchair deformation；
The automatic guiding control unit is used to control docking for the bed body and the wheelchair.
2. as claimed in claim 1 chair integrated nursing care bed, it is characterised in that the bed body
Limit switches are installed in the open outside of concave regions, the limit switch be used to detecting the wheelchair with
Whether the bed body docks successfully.
3. as claimed in claim 1 chair integrated nursing care bed, it is characterised in that the bed body is
Standing part, the wheelchair is movable part.
4. as claimed in claim 1 chair integrated nursing care bed, it is characterised in that the wheelchair is adopted
Use comprehensive chassis structure.
5. as claimed in claim 1 chair integrated nursing care bed, it is characterised in that the wheelchair side
Rocking bar is installed, the rocking bar controls the wheelchair movement, also pacifies on the wheelchair side panel on panel
Equipped with automatic butt button.
6. an a kind of chair docking calculation, it is characterised in that the method comprising the steps of：
Laser sensor on wheelchair scans the profile of bed body concave regions, sets up bed body profile grid
Lattice map；
The control operation of the wheelchair receive user is moved to the bed body spill area to control the wheelchair
Domain front simultaneously starts automatic butt button；
According to laser sensor scanning information and bed body profile grid map matching, realize that wheelchair is positioned；
The wheelchair is navigated to by impact point with the relative position of the bed body according to the wheelchair；
Control bed chair docking, limit switch finally detects whether a chair docks successfully.
7. as claimed in claim 6 chair docking calculation, it is characterised in that described according to the wheel
The wheelchair navigated to and include during impact point by chair with the relative position of the bed body：
The motion of the wheelchair is adjusted by proximity transducer and crash sensor.
8. as claimed in claim 7 chair docking calculation, it is characterised in that described by being close to biography
Sensor and crash sensor include come the motion for adjusting the wheelchair：
When left side proximity transducer generates induced signal, it is finely adjusted to the right, when right side is close to sensing
When device generates induced signal, it is finely adjusted to the left, causes wheelchair to bump against bed body when cannot adjust in time
When, then according to crash sensor adjusting.
9. as claimed in claim 7 chair docking calculation, it is characterised in that the proximity transducer
Two corners of the wheelchair are installed on, the crash sensor is installed on the wheelchair surrounding and employing
Segmented is installed.
10. as claimed in claim 6 chair docking calculation, it is characterised in that the automatic butt
Button is installed on the wheelchair side panel, and it is open outer that the limit switch is arranged on bed body concave regions
Side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510680321.5A CN106580588A (en) | 2015-10-19 | 2015-10-19 | Bed and chair integrated nursing bed and bed and chair butt-jointing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510680321.5A CN106580588A (en) | 2015-10-19 | 2015-10-19 | Bed and chair integrated nursing bed and bed and chair butt-jointing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106580588A true CN106580588A (en) | 2017-04-26 |
Family
ID=58555190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510680321.5A Pending CN106580588A (en) | 2015-10-19 | 2015-10-19 | Bed and chair integrated nursing bed and bed and chair butt-jointing method |
Country Status (1)
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| CN (1) | CN106580588A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107260414A (en) * | 2017-06-30 | 2017-10-20 | 合肥赛为智能有限公司 | A kind of homing guidance patient transfers bed |
| CN109498306A (en) * | 2018-12-27 | 2019-03-22 | 昆山市工研院智能制造技术有限公司 | Bed chair Split type nursing bed and automatic butt method with docking mechanism |
| CN110101511A (en) * | 2019-06-17 | 2019-08-09 | 青岛安捷医疗科技有限公司 | The intelligent supplementary controlled system of personnel's transfer car(buggy) |
| CN112545790A (en) * | 2020-11-20 | 2021-03-26 | 江苏科技大学 | Combined bed-chair integrated equipment and control method thereof |
| WO2021072758A1 (en) * | 2019-10-18 | 2021-04-22 | 广东博智林智能技术有限公司 | Control method and control apparatus for wheelchair and nursing bed, and wheelchair |
| CN112790923A (en) * | 2020-12-30 | 2021-05-14 | 安徽三联机器人科技有限公司 | Intelligent bed and chair integrated machine control system and control method |
| CN113534852A (en) * | 2021-06-30 | 2021-10-22 | 上海联影医疗科技股份有限公司 | Medical transport bed positioning and docking system and method |
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| CN112790923A (en) * | 2020-12-30 | 2021-05-14 | 安徽三联机器人科技有限公司 | Intelligent bed and chair integrated machine control system and control method |
| CN113534852A (en) * | 2021-06-30 | 2021-10-22 | 上海联影医疗科技股份有限公司 | Medical transport bed positioning and docking system and method |
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Application publication date: 20170426 |