CN109991618A - A kind of embedded wheelchair-type nursing bed and its automatic butt method - Google Patents
A kind of embedded wheelchair-type nursing bed and its automatic butt method Download PDFInfo
- Publication number
- CN109991618A CN109991618A CN201910393213.8A CN201910393213A CN109991618A CN 109991618 A CN109991618 A CN 109991618A CN 201910393213 A CN201910393213 A CN 201910393213A CN 109991618 A CN109991618 A CN 109991618A
- Authority
- CN
- China
- Prior art keywords
- wheelchair
- module
- bed
- laser radar
- embedded
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000000474 nursing effect Effects 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 239000002184 metal Substances 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 238000003032 molecular docking Methods 0.000 description 13
- 238000001914 filtration Methods 0.000 description 3
- 230000032683 aging Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 208000019901 Anxiety disease Diseases 0.000 description 1
- 230000036506 anxiety Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- 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
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/006—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs convertible to stretchers or beds
-
- 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
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- 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
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
- A61G5/1067—Arrangements for adjusting the seat adjusting the backrest relative to the seat portion
-
- 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
- A61G7/05—Parts, details or accessories of beds
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- 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
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
-
- 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
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/40—General characteristics of devices characterised by sensor means for distance
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Electromagnetism (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Nursing (AREA)
- Optics & Photonics (AREA)
- Acoustics & Sound (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention discloses a kind of embedded wheelchair-type nursing beds, are related to medical instruments field, which is characterized in that including wheelchair module and bed body module；The bed body module includes bed body main body and wheelchair matching track；The wheelchair module of lying posture is connect with the bed body main body by the wheelchair matching track.The invention also discloses a kind of automatic butt methods of embedded wheelchair-type nursing bed, and by the geometrical characteristic of laser radar sensor and laser radar orientation direction plate, the pose for completing the relatively described bed body module of the wheelchair module is resolved, and realize precise positioning；Positioning adjustment is further completed by distance detection sensor, realizes automatic butt.Rationally, accurate positioning, automatic butt avoids in patient's moving process and falls risk for structure of the invention design, can be improved patient's autonomous actions ability, and operate without medical staff, saves medical care resource.
Description
Technical field
The present invention relates to medical instruments field more particularly to a kind of embedded wheelchair-type nursing bed and its automatic butt sides
Method.
Background technique
Under Population Aging, the disability of Chinese old man is got worse.Office of the National Committee on Aging statistical data is shown, is cut
To the end of the year 2017, the elderly population quantity in China 60 years old or more is 2.41 hundred million, wherein disability geriatric population's quantity is 40,000,000,
Need long-term bed.Sickbed patients not only need medical rehabilitation means also to need living nursing, and which results in China's medical resources
Phenomena such as anxiety, nursing staff lacks.In addition, sickbed patients nursing at home also brings heavy burden to patient household.
Nursing bed facilitates the care and nursing to disabled as basic medical instrument.Wheelchair-type nursing bed is by wheelchair
It is formed with bed body two parts, realizes a chair docking separation.The mobile demand of patient is not only met, but also is greatly reduced
The case where secondary damage of the patient in transfer process, it is most important that alleviate the nursing pressure of medical staff.Wheel chair type intelligence
The bed chair gap of energy nursing bed determines comfort of the patient in nursing bed use process.Fast accurate realizes the docking point of bed chair
From being urgent problem.
At present for nursing bed automatic butt mostly use be side docking mode.It docks so that wheelchair is located at bed side
Body side, easily causes patient to fall.As proposed in patent [CN104020446A] a kind of bed chair based on ultrasound positioning with
Air navigation aid, but this method stability and realizability are poor；The bed chair conversion regime that [CN104523388B] is proposed, utilizes wheel
Range finder module on chair detects bed body upper groove, and then is adjusted, and multiple accurate adjustment is carried out after Primary Location, grasps
Make complicated, the poor robustness of system；It is proposed that the detection bed body feature based on laser radar is positioned in [CN105816282A]
Docking, but still docked using side, and its movement more mechanism is complicated.
Therefore, those skilled in the art is dedicated to developing a kind of embedded wheelchair-type nursing bed and its automatic butt side
Method, easy to operate, positioning accuracy is high, docking speed is fast, can automatic butt, avoid patient from being not easy to fall, and be not necessarily to medical care people
Member's operation, saves medical care resource.
Summary of the invention
In view of the above drawbacks of the prior art, the technical problem to be solved by the present invention is to bed chair docking operation is simple,
Patient is not easy to fall, and operates without medical staff, saves medical care resource.
To achieve the above object, the present invention provides a kind of embedded wheelchair-type nursing beds, including wheelchair module and bed body
Module；The bed body module includes head of a bed main body and wheelchair matching track；The wheelchair module of lying posture, passes through the wheel
Chair matching track is connect with the bed body main body.
Further, the wheelchair module is provided with the controller of power wheel and the control power wheel, is installed on described
The laser radar sensor of wheelchair module front and the gyroscope angular transducer for being installed on the wheelchair module bottom；The control
Device processed controls the rotation of the power wheel based on the data of the laser radar sensor and gyroscope angular transducer.
Further, the bed body body top is provided with head of a bed baffle.
Further, the two sides of tail mounting distance detection sensor of the wheelchair matching track.
Further, laser radar orientation direction plate is installed at the middle part of the wheelchair matching track；The laser radar is fixed
Position guidance plate shape is the long equal V-type in two sides.
Further, the v-angle is 90 °.
Further, the laser radar orientation direction plate matter is metal.
The invention also discloses a kind of embedded wheelchair-type nursing bed automatic butt methods, and the method includes following steps
It is rapid:
Step 1, wheelchair module acquire environment range data using laser radar sensor under the state of sitting up straight, and obtain institute
State the relative pose of wheelchair module Yu bed body module；Based on the relative pose, make the wheel to traveling before the wheelchair module
Chair module is overlapped with the bed body module centers line；
Step 2, according to the gyroscope angle sensor data of the wheelchair module bottom, the rotation of wheelchair module original place
180 °, and travel backward；
Step 3, according to the distance detection sensor data that wheelchair matching track tail portion is arranged in, the wheelchair module is into one
Successive step position and posture, to realize automatic butt；
Step 4, the wheelchair module are adjusted to lying posture.
Further, the step 1 further include:
Step 1.1 is filtered the collected data of the laser radar sensor；
Step 1.2, according to the geometrical characteristic of treated data and the laser radar orientation direction plate, determine and described swash
The center corner location of optical radar orientation direction plate；
Step 1.3, according to the position of the center angle point, resolve the opposite position of the bed body module Yu the wheelchair module
Appearance.
Further, the step 1.2 uses iteration law of application, obtains straight line and angle point data in the data, and
The positioning of angle steel joint is realized according to the geometrical characteristic of the laser radar orientation direction plate；The iteration law of application step are as follows:
Step S101: initialization set S1 is made of N number of point, and S1 is put into list L；
Step S102: next set Si straight line being fitted in the list L；
Step S103: point P of the detection away from branch line maximum distance Dp；
Step S104: if less than one threshold value of the Dp, continue；Otherwise, the Si where the point P is split into Si1
And Si2, and the Si in the list L is replaced with Si1 and Si2, continue；
Step S105: set all in the list L are all detected, conllinear section is merged；
Step S106: according to the geometrical characteristic of laser positioning directing plate, the position where the angle point of center is determined.
In better embodiment of the invention, the filtering processing obtains region segmentation using median filtering.
The present invention realizes the wheelchair module of embedded wheelchair-type nursing bed and the automatic butt of bed body module, structure design
Rationally, accurate positioning, patient avoid without being substantially moved in wheelchair module on nursing bed and fall risk, improve patient
Autonomous actions ability；And operated without medical staff, save medical care resource.
It is described further below with reference to technical effect of the attached drawing to design of the invention, specific structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
Detailed description of the invention
Fig. 1 is the overall structure figure of a preferred embodiment of the invention；
Fig. 2 is the structure chart of the wheelchair module of a preferred embodiment of the invention；
Fig. 3 is the bottom view of the bed body module of a preferred embodiment of the invention；
Fig. 4 is the structure chart of the laser radar orientation direction plate of a preferred embodiment of the invention；
Fig. 5 is the algorithm flow chart of the automatic butt method of a preferred embodiment of the invention.
Specific embodiment
Multiple preferred embodiments of the invention are introduced below with reference to Figure of description, keep its technology contents more clear and just
In understanding.The present invention can be emerged from by many various forms of embodiments, and protection scope of the present invention not only limits
The embodiment that Yu Wenzhong is mentioned.
In the accompanying drawings, the identical component of structure is indicated with same numbers label, everywhere the similar component of structure or function with
Like numeral label indicates.The size and thickness of each component shown in the drawings are to be arbitrarily shown, and there is no limit by the present invention
The size and thickness of each component.Apparent in order to make to illustrate, some places suitably exaggerate the thickness of component in attached drawing.
It is the embedded wheelchair-type nursing bed with docking mechanism of a preferred embodiment of the present invention, Fig. 2 as shown in Figure 1
It is the structure chart of wheelchair module and bed body module respectively with Fig. 3；Fig. 4 is the structure chart of laser radar orientation direction plate.
The embedded wheelchair-type nursing bed of the present embodiment, comprising can relative separation and docking wheelchair module 1 and bed body
Module 2；Wheelchair module 1 can be realized lying posture, sit up straight posture and three kinds of Posture exchanges of midstance；Wheelchair module 1 is flat
After docking when lying posture state with bed body module 2, complete nursing bed is formed.
As shown in Fig. 2, in order to make patient that can independently manipulate the movement of wheelchair module 1, wheelchair module 1 has several power wheels
1-1 and controller 1-2；Wheelchair module 1 keep off leg front end be equipped with laser radar sensor 1-3 for acquiring environmental data and
Ultrasonic sensor 1-4 for short distance avoidance.1 bottom of wheelchair module is equipped with the top for judging power wheel 1-1 state
Spiral shell instrument angular transducer 1-5；Controller 1-2 is based on laser radar sensor 1-3, ultrasonic sensor 1-4 and gyroscope angle
The data of sensor 1-5 control the rotation of 180 ° of original place and the forward-reverse of wheelchair module 1.
As shown in figure 3,2 bottom view of bed body module includes for bed body main body and is that wheelchair module 1 provides the wheel of docking orbit
Chair matching track 2-1；Bed body main body includes head of a bed baffle 2-4；Distance detection sensor 2-2 is located at wheelchair matching track 2-1's
Two sides of tail, the pose for bed chair Dock With Precision Position adjust；Laser radar orientation direction plate 2-3 is located at wheelchair matching track 2-1
Middle part.
As shown in figure 4, for providing the laser radar orientation direction plate of laser radar detection and localization for realization automatic butt
2-3 is two pieces of mutually metal plate 2-31 compositions in 90 °, and wherein the metal plate 2-31 length of two sides is fixed and equal；Laser radar
Orientation direction plate 2-3 can effectively reflect laser.
To realize automatic butt, the present embodiment also discloses a kind of automatic butt method.
It is the specific algorithm flow chart of automatic butt method as shown in Figure 5:
Step S301: the traveling of wheelchair module 1 under posture is sat up straight to 2 front of bed body module, is extremely referred to the traveling of wheelchair module 1
Fixed Dock With Precision Position region；Laser radar sensor 1-3 is based on the laser radar orientation direction plate in the middle part of wheelchair matching track 2-1
2-3 carries out data acquisition to bed body module 2；
Step S302: controller 1-2 is filtered laser radar data collected；Controller 1-2 is using excellent
The merging splitting algorithm of change, which is realized, detects the characteristic angle point in treated laser radar data, and is swashed according to known
Optical radar orientation direction plate 2-3 geometrical characteristic determines the position of center angle point in laser radar data, finally according to center angle point
Position in laser radar data carries out pose resolving, and the relative position calculated between wheelchair module 1 and bed body module 2 is closed
System；
Step S303: the relative positional relationship of bed chair according to acquired in precise positioning, controller 1-2 control power wheel 1-
It is moved before 1 progress to docking；
Step S304: after the completion of forward direction docking movement, wheelchair module 1 is carried out according to gyroscope angular transducer 1-5 data
The operation of original place half turn, and then drive into backward and the wheelchair matching track 2-1 in docking region is provided；
Step S305: it according to the data of distance detection sensor 2-2, detects wheelchair module 1 and drives into the initial of bed body module 2
Whether state meets Dock With Precision Position requirement, is otherwise adjusted, and then completes automatic butt；
Step S306: wheelchair module 1 is adjusted to lying posture.
In the present embodiment, the preferred HOKUYO UST-30LX of laser radar sensor 1-3；Algorithm is filtered and uses intermediate value
Filtering algorithm eliminates the noise in data；Distance detection sensor 2-2 uses ultrasonic distance-measuring sensor.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of embedded wheelchair-type nursing bed, which is characterized in that including wheelchair module and bed body module；The bed body module packet
Include head of a bed main body and wheelchair matching track；The wheelchair module of lying posture, passes through the wheelchair matching track and the bed
Phosphor bodies connection.
2. embedded wheelchair-type nursing bed as described in claim 1, which is characterized in that the wheelchair module is provided with power wheel
And the controller of the control power wheel, it is installed on the laser radar sensor of wheelchair module front and is installed on the wheel
The gyroscope angular transducer of chair module bottom；The controller is based on the laser radar sensor and gyroscope angle sensor
The data of device control the rotation of the power wheel.
3. embedded wheelchair-type nursing bed as described in claim 1, which is characterized in that the bed body body top is provided with bed
First speed plate.
4. embedded wheelchair-type nursing bed as described in claim 1, which is characterized in that the tail portion two of the wheelchair matching track
Side mounting distance detection sensor.
5. embedded wheelchair-type nursing bed as described in claim 1, which is characterized in that pacify at the middle part of the wheelchair matching track
Fill laser radar orientation direction plate；The laser radar orientation direction plate shape is the long equal V-type in two sides.
6. embedded wheelchair-type nursing bed as claimed in claim 5, which is characterized in that the v-angle is 90 °.
7. embedded wheelchair-type nursing bed as claimed in claim 5, which is characterized in that the laser radar orientation direction plate
Matter is metal.
8. a kind of embedded wheelchair-type nursing bed automatic butt method, which is characterized in that the described method comprises the following steps:
Step 1, wheelchair module acquire environment range data using laser radar sensor under the state of sitting up straight, and obtain the wheel
The relative pose of chair module and bed body module；Based on the relative pose, make the wheelchair mould to traveling before the wheelchair module
Block is overlapped with the bed body module centers line；
Step 2, according to the gyroscope angle sensor data of the wheelchair module bottom, the rotation of wheelchair module original place
180 °, and travel backward；
Step 3, according to the distance detection sensor data that wheelchair matching track tail portion is arranged in, the wheelchair module adjusts pose
State, with the bed body module automatic butt；
Step 4, the wheelchair module are adjusted to lying posture.
9. embedded wheelchair-type nursing bed automatic butt method as claimed in claim 8, which is characterized in that the step 1 is also
Include:
Step 1.1 is filtered the collected data of the laser radar sensor；
Step 1.2, according to the geometrical characteristic of treated data and the laser radar orientation direction plate, determine and described swash
The center corner location of optical radar orientation direction plate；
Step 1.3, according to the position of the center angle point, resolve the relative pose of the bed body module Yu the wheelchair module.
10. embedded wheelchair-type nursing bed automatic butt method as claimed in claim 9, which is characterized in that the step 1.2
Using iteration law of application, the straight line and angle point data in the data are obtained, and according to the laser radar orientation direction plate
The positioning of geometrical characteristic realization angle steel joint；The iteration law of application step are as follows:
Step S101: initialization set S1 is made of N number of point, and S1 is put into list L；
Step S102: next set Si straight line being fitted in the list L；
Step S103: point P of the detection away from branch line maximum distance Dp；
Step S104: if less than one threshold value of the Dp, continue；Otherwise, by the Si where the point P be split into Si1 and
Si2, and the Si in the list L is replaced with Si1 and Si2, continue；
Step S105: set all in the list L are all detected, conllinear section is merged；
Step S106: according to the geometrical characteristic of laser positioning directing plate, the position where the angle point of center is determined.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910393213.8A CN109991618A (en) | 2019-05-13 | 2019-05-13 | A kind of embedded wheelchair-type nursing bed and its automatic butt method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910393213.8A CN109991618A (en) | 2019-05-13 | 2019-05-13 | A kind of embedded wheelchair-type nursing bed and its automatic butt method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109991618A true CN109991618A (en) | 2019-07-09 |
Family
ID=67136427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910393213.8A Pending CN109991618A (en) | 2019-05-13 | 2019-05-13 | A kind of embedded wheelchair-type nursing bed and its automatic butt method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109991618A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112674967A (en) * | 2020-12-23 | 2021-04-20 | 上海理工大学 | Split type nursing bed of central authorities |
| WO2021072756A1 (en) * | 2019-10-18 | 2021-04-22 | 广东博智林智能技术有限公司 | Wheelchair bed combination method and separation method |
| 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 |
| CN112716711A (en) * | 2020-12-23 | 2021-04-30 | 上海理工大学 | Bed frame for separable nursing bed |
| CN113171249A (en) * | 2021-04-21 | 2021-07-27 | 上海慕容数智科技有限公司 | Wheelchair docking device of nursing bed |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101950170A (en) * | 2010-09-10 | 2011-01-19 | 中国科学院自动化研究所 | Interaction control device and method oriented to intelligent indoor assisting system |
| US20120297544A1 (en) * | 2011-05-26 | 2012-11-29 | Next Health, Llc | Patient transfer system |
| CN108709560A (en) * | 2018-08-15 | 2018-10-26 | 苏州中研讯科智能科技有限公司 | Carrying robot high accuracy positioning air navigation aid based on straightway feature |
| CN108897328A (en) * | 2018-08-27 | 2018-11-27 | 桂林电子科技大学 | Wheel chair robot and its indoor autonomous navigation method |
| CN108932736A (en) * | 2018-05-30 | 2018-12-04 | 南昌大学 | Two-dimensional laser radar Processing Method of Point-clouds and dynamic robot pose calibration method |
| 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 |
-
2019
- 2019-05-13 CN CN201910393213.8A patent/CN109991618A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101950170A (en) * | 2010-09-10 | 2011-01-19 | 中国科学院自动化研究所 | Interaction control device and method oriented to intelligent indoor assisting system |
| US20120297544A1 (en) * | 2011-05-26 | 2012-11-29 | Next Health, Llc | Patient transfer system |
| CN108932736A (en) * | 2018-05-30 | 2018-12-04 | 南昌大学 | Two-dimensional laser radar Processing Method of Point-clouds and dynamic robot pose calibration method |
| CN108709560A (en) * | 2018-08-15 | 2018-10-26 | 苏州中研讯科智能科技有限公司 | Carrying robot high accuracy positioning air navigation aid based on straightway feature |
| CN108897328A (en) * | 2018-08-27 | 2018-11-27 | 桂林电子科技大学 | Wheel chair robot and its indoor autonomous navigation method |
| 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 |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021072756A1 (en) * | 2019-10-18 | 2021-04-22 | 广东博智林智能技术有限公司 | Wheelchair bed combination method and separation method |
| 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 |
| CN112674967A (en) * | 2020-12-23 | 2021-04-20 | 上海理工大学 | Split type nursing bed of central authorities |
| CN112716711A (en) * | 2020-12-23 | 2021-04-30 | 上海理工大学 | Bed frame for separable nursing bed |
| CN113171249A (en) * | 2021-04-21 | 2021-07-27 | 上海慕容数智科技有限公司 | Wheelchair docking device of nursing bed |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109991618A (en) | A kind of embedded wheelchair-type nursing bed and its automatic butt method | |
| CN110488745B (en) | Automatic ultrasonic scanning robot for human body, controller and control method | |
| Simpson | Smart wheelchairs: A literature review. | |
| JP5048868B2 (en) | Traveling car and bed | |
| US8677524B2 (en) | Bed and combining method | |
| CN104382710A (en) | Automatic bed and wheelchair butt joint method for intelligent wheelchair and bed system | |
| CN101999972A (en) | Stereoscopic vision based auxiliary walking device for blindmen and auxiliary method thereof | |
| WO2021006677A3 (en) | Mobile robot using artificial intelligence and controlling method thereof | |
| CN102073148A (en) | High-accuracy visual coaxial optical alignment assembly system for miniature structural member | |
| Palacín et al. | Extending the application of an assistant personal robot as a walk-helper tool | |
| CN109426248A (en) | The method of self-movement robot and its traveling method, display distribution of obstacles | |
| CN110298854A (en) | The snakelike arm co-located method of flight based on online adaptive and monocular vision | |
| CN104434428A (en) | Novel intelligent wheelchair | |
| KR20150027987A (en) | Control device and method of electrical wheel-chair for autonomous moving | |
| CN105997246B (en) | Method for registering and system for three-dimensional orthopedic surgical navigational | |
| CN200951161Y (en) | Intelligent interactive device based on head-acting for wheel chair | |
| WO2021072758A1 (en) | Control method and control apparatus for wheelchair and nursing bed, and wheelchair | |
| CN112869968B (en) | Autonomous operation method and device based on electric wheelchair | |
| Ren et al. | A docking control method in narrow space for intelligent wheelchair | |
| CN209187093U (en) | Side above formula seat robot and Intelligent seat robot | |
| Chee et al. | Eye Tracking Electronic Wheelchair for physically challenged person | |
| Linner et al. | A Multi Robotic Assistant System (MRAS): A development approach with application to the ageing society | |
| CN211409783U (en) | Function auxiliary device | |
| Liao et al. | Development of kinect-based upper-limb assistance device for the motions of activities of daily living | |
| Ko et al. | An intelligent wheelchair to enable mobility of severely disabled and elder people |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190709 |
|
| RJ01 | Rejection of invention patent application after publication |