CN110575334A - Intelligent back-patting type electric sickbed system based on brain-computer interface control - Google Patents
Intelligent back-patting type electric sickbed system based on brain-computer interface control Download PDFInfo
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- 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
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- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
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- A61H2205/00—Devices for specific parts of the body
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- A61H2205/081—Back
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Abstract
an intelligent back-patting type electric sickbed system based on brain-computer interface control comprises a control system and a back-patting type electric sickbed; the control system comprises a BCI control part, a hand controller and a controller, wherein the BCI control part and the hand controller are respectively connected with the controller and used for controlling the back-patting type electric sickbed; the BCI control part comprises a visual stimulation interface, a signal acquisition device and an electroencephalogram signal analysis module; the invention has the beneficial effects that: the sickbed is combined with the flap back, and the flap back frame structure ensures that the bottom surface of the body of a patient lying in bed for a long time can be well ventilated, thereby reducing the possibility of bedsore of the patient; the back of the user can be patted to enable the lung to shake to help expectoration, blood circulation is increased, body resistance of the patient is improved, fatigue of the patient caused by long-term lying in bed is reduced, and labor intensity of nursing staff is greatly reduced.
Description
Technical Field
the invention relates to the technical field of dry electric beds, in particular to an intelligent back-patting type electric sickbed system based on computer interface control.
background
the patient who needs to lie in bed for a long time is in a pressed state for a long time due to local tissues, particularly the bone protrusion part, and the blood circulation is poor, so that the necrosis and the ulceration of the tissues such as skin, muscle and the like, namely bedsore, are easily caused, the discomfort of the body of the patient is increased, the great pain is brought to the patient, and even the life is threatened. This requires that the nursing staff must turn over the patient's body frequently and pat the back to avoid and reduce the occurrence of bedsore, which greatly increases the labor intensity of the nursing staff. On the other hand, different angles are raised at the bed head to bring different influences to the patient, and the improper bed surface angle can increase the discomfort of the patient lying in bed and aggravate the illness state of the patient. Therefore, it is necessary to have the patient in a lying position with a comfortable angle.
The body position of the sickbed used in the places such as the current hospital is mostly adjusted by hand shaking and the like, the sickbed can be adjusted by the help of nursing staff or family members when the nursing staff or the family members accompany, but when the nursing staff or the family members are not present, the sickbed is limited to patients who are inconvenient to lie in bed; the sickbed with the hand controller obviously cannot allow the patient to control and adjust the bed body to a comfortable position or a position required by the patient for the bedridden patient who cannot use the hand controller.
in recent years, brain-computer interface technology has become a new research hotspot on a global scale. The German neurophysiologist Berger firstly discovers the existence of electroencephalogram signals in 1924, lays a foundation for the development of brain-computer interface technology, and then researchers at home and abroad are dedicated to researching and developing how to control external equipment by the electroencephalogram signals. Has wide application in the fields of industrial control, rehabilitation medicine, brain cognitive science and the like. The BCI technology is a communication control system that transfers information between the brain and external devices, and does not rely on the normal output pathway composed of peripheral nerves and muscles of the brain. BCI technology is used for collecting electroencephalogram signals of a patient, processing and analyzing the electroencephalogram signals, recognizing intentions for causing the electroencephalogram changes, and converting thinking activities of people into corresponding command signals to drive external equipment. Its primary basic positioning is to help the disabled improve quality of life, bringing hopes to those with normal thinking but severe neuromuscular impairment, and to re-give them the ability to move or communicate with the environment.
EEG-based control strategies have been successfully used for the control of wheelchairs, quadrotors, and rehabilitation and assistance devices. In 2000, a control system of SSVEP-BCI is designed by professor Middenorf in the United states, and control of physical equipment and a computer is realized by utilizing SSVEP signals; professor Muller-Putz in Austria implements a SSVEP-BCI based machine prosthesis control system; the Bakardjian professor designs a virtual game by utilizing an SSVEP-BCI system, and realizes the function of playing the game by utilizing electroencephalogram signals. The SSVEP and P300 mixed BCI system designed by the Li Yuanqing team of southern China worker has better robustness and is suitable for controlling equipment such as wheelchairs and the like. These show that the SSVEP signals induced by the brain-computer interface technology can determine the control intention of the user, and thus can implement corresponding control.
disclosure of Invention
in order to solve the defects in the prior art, the invention aims to provide an intelligent back-patting type electric sickbed system based on brain-computer interface control, which realizes the combination of hand controller control and brain-computer interface control.
The technical scheme adopted by the invention for solving the technical problems is as follows:
The utility model provides a back of body type electric sick bed system is clapped to intelligence based on brain machine interface control which characterized in that:
comprises a control system and a patting back type electric sickbed;
The control system comprises a BCI control part, a hand controller and a controller, wherein the BCI control part and the hand controller are respectively connected with the controller and used for controlling the back-patting type electric sickbed;
the BCI control section includes:
A visual stimulus interface that provides stroboscopic stimulus of a particular frequency that enables a user to evoke a SSVEP signal of the particular frequency; and
The signal acquisition device acquires electroencephalogram signals, transmits the electroencephalogram signals to an electroencephalogram wireless brain amplification terminal through Wifi, amplifies the electroencephalogram signals and transmits the amplified electroencephalogram signals to a subsequent electroencephalogram signal analysis module for signal analysis;
and the electroencephalogram signal analysis module is used for detecting Alpha waves and classifying the frequency of the SSVEP signals, and finally sending control signals corresponding to the frequency classification to the controller.
The priority of the hand controller command is higher than the control command sent by the BCI control part, namely, the command controlled by the hand controller is preferentially executed when the hand controller control and the BCI control part occur simultaneously.
the hand controller through wired or wireless mode with the controller is connected, the control button of hand controller includes:
The first function key is used for controlling the integral descending function of the legs and the back;
The second function key is used for controlling the integral rising function of the legs and the back;
A third function key, which has the function of automatic lifting movement of the whole leg and back;
A fourth function key, namely, the automatic lifting movement of the whole leg and back and the functions of automatically turning over left and right and patting back;
a fifth function key for left turn-over function;
a sixth function key, a right turn-over function;
A seventh function key for lifting the main bed body;
An eighth function key for the main bed lowering function;
a ninth function key for returning to the lying position function;
And a tenth function key for controlling the starting and stopping functions of the back beating motor.
the patting back type electric sickbed comprises a bed surface part, a bedstead assembly and an accessory part;
The bedstead assembly comprises a bedstead body and a lifting support, the lifting support is positioned on the upper part of the bedstead body, the bottom of the lifting support is movably connected with the bedstead body through a first connecting rod mechanism, the first connecting rod mechanism is further connected with the bedstead body through a first push rod motor, and the lifting action of the lifting support is controlled through the extension and contraction of the first push rod motor;
The bed surface part comprises a back plate, a seat plate and leg plates, the seat plate is fixedly connected with the lifting support, the inner side end parts of the back plate and the leg plates are respectively rotatably connected with the seat plate, the bottoms of the outer side end parts of the back plate and the leg plates are respectively connected with the lifting support through a third connecting rod mechanism, the lifting support is also connected with the lifting support through a second push rod motor, and the lifting action of the back plate and the leg plates is controlled through the extension and contraction of the second push rod motor;
The accessory part is including clapping the back of the body frame, clap the back of the body frame and be equipped with two sets ofly and install respectively lift support both sides upper portion, clap the back of the body frame outside with lift support rotates to be connected, clap back of the body frame outside bottom through third link mechanism with lift leg joint, and third link mechanism with still connect through third push rod motor between the lift support, through the flexible control of third push rod motor the lift action of clapping the back of the body frame.
The back-beating frame is internally provided with a back-beating device fixedly connected with the back-beating frame, the back-beating device comprises a back-beating motor, an eccentric mechanism and a back-beating rod which are assembled into a whole, the eccentric mechanism is arranged at the output end of the back-beating motor, the outer side of the eccentric mechanism is matched with the position of a rotating wheel at the bottom end of the back-beating rod, and the back-beating rod is driven to carry out back-beating action by being contacted with the rotating wheel.
The invention has the beneficial effects that:
The sickbed is combined with the flap back, and the flap back frame structure ensures that the bottom surface of the body of a patient lying in bed for a long time can be well ventilated, thereby reducing the possibility of bedsore of the patient; the back of the user can be patted to enable the lung to shake to help expectoration, blood circulation is increased, body resistance of the patient is improved, fatigue of the patient caused by long-term lying in bed is reduced, and labor intensity of nursing staff is greatly reduced.
Compared with the existing hospital bed, the hospital bed has the advantages that a control mode based on an asynchronous brain-computer interface is added, a control mode combining hand controller control and BC industrial control is provided, an effective way for adjusting the body position of the hospital bed and controlling the back-beating function of the patient lying in bed with inconvenient hand movement or weak hand is provided, the hospital bed is conveniently controlled when nursing staff or family members are not at the side, and the hospital bed can better serve the patient.
Drawings
the invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic diagram of a control system of the present invention.
FIG. 2 is a flow chart of the control system of the present invention.
Fig. 3 is a schematic diagram of a visual stimulus interface (frequency marker).
Fig. 4 is a schematic diagram of the electrode distribution of the signal acquisition device.
Fig. 5 is a schematic structural view of a patting back type electric sickbed.
FIG. 6 is a schematic structural view of the back racket frame and the back racket.
FIG. 7 is a schematic structural diagram of the eccentric mechanism, the back-beating frame and the back-beating rod.
fig. 8 is a schematic structural view of the bed frame body and the lifting bracket.
fig. 9 is a schematic structural diagram of the first link mechanism and the first push rod motor.
fig. 10 is a structural view of the deck section and the frame body.
Fig. 11 is a schematic structural diagram of a driving system of a clap-back type electric sickbed.
Fig. 12 is a schematic structural view of the hand controller.
In the figure:
1 visual stimulation interface, 2 signal acquisition device, 3 electroencephalogram signal analysis module, 4 clap back type electric sickbed and 5 hand controller;
11 back plate, 12 seat plate, 13 leg plate, 14 third push rod motor, 15 controller, 16 second push rod motor, 17 clap back motor, 18 bed frame body, 19 clap back frame, 20 lifting support, 21 eccentric mechanism, 22 first push rod motor, 23 clap back rod, 24 first connecting rod mechanism, 25 rotating wheel, 26 third connecting rod mechanism and 27 second connecting rod mechanism;
31 first function key, 32 second function key, 33 third function key, 34 fourth function key, 35 fifth function key, 36 sixth function key, 37 seventh function key, 38 eighth function key, 39 ninth function key, 40 tenth function key.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
According to the illustrations of fig. 1 to 9: the embodiment provides an intelligent back-patting type electric sickbed system based on brain-computer interface control, which comprises a control system and a back-patting type electric sickbed 4;
the patting back type electric sickbed 4 comprises a bed surface part, a bedstead assembly and an accessory part;
The bed frame assembly comprises a bed frame body 18 and a lifting support 20, the lifting support 20 is positioned on the upper part of the bed frame body 18, the bottom of the lifting support 20 is movably connected with the bed frame body 18 through a first connecting rod mechanism 24, the first connecting rod mechanism 24 is also connected with the bed frame body 18 through a first push rod motor 22, and the lifting action of the lifting support 20 is controlled through the extension and contraction of the first push rod motor 22, and the lifting action is used for realizing the lifting and descending functions of a bed body;
The bed surface part comprises a back plate 11, a seat plate 12 and a leg plate 13, the seat plate 12 is fixedly connected with the lifting support 20, the leg plate 13 comprises two panel parts corresponding to the thigh part and the shank part, and the two panel parts are rotatably connected with each other; the inner side ends of the back plate 11 and the leg plates 13 are respectively rotatably connected with the seat plate 12, the bottoms of the outer side ends of the back plate 11 and the leg plates 13 are respectively connected with a lifting support 20 through a third link mechanism 26, the lifting support 20 is also connected with the lifting support 20 through a second push rod motor 16, and the synchronous lifting action of the back plate 11 and the leg plates 13 is controlled through the extension and contraction of the second push rod motor 16, wherein the lifting action is used for realizing the functions of lifting legs, carrying back and lying of the bed body;
the accessory part is including clapping back of the body frame 19, clap back of the body frame 19 and be equipped with two sets ofly and install respectively lifting support 20 both sides upper portion, clap back of the body frame 19 the outside with lifting support 20 rotates to be connected, clap back of the body frame 19 outside bottom through third link mechanism 26 with lifting support 20 connects, and third link mechanism 26 with still connect through third push rod motor 14 between the lifting support 20, through the flexible control of third push rod motor 14 clap the lift action of back of the body frame 19, this lift action is used for realizing the function of standing up.
the back beating frame 19 is internally provided with a back beating device fixedly connected with the back beating frame, the back beating device comprises a back beating motor 17, an eccentric mechanism 21 and a back beating rod 23 which are assembled into a whole, the eccentric mechanism 21 is installed at the output end of the back beating motor 17, the outer side of the eccentric mechanism 21 is matched with the position of a rotating wheel 25 at the bottom end of the back beating rod 23 and drives the back beating rod 23 to carry out back beating action by contacting with the rotating wheel 25, and particularly, the eccentric mechanism 21 rotates once to enable the eccentric mechanism 21 to contact with the rotating wheel 25 of the back beating rod 23 once every rotation circle, so that the back beating rod 23 can realize back beating once under the lever action.
The patting back type electric sickbed 4 can complete the following actions:
the bed body rises and falls;
turning back and patting back;
the bed surface back plate 11 and the leg plate 13 are bent.
the first push rod motor 22, the second push rod motor 16, the third push rod motor 14 and the back beating motor 17 are all connected with a controller 15 and used for controlling the controller 15 to complete the control of all actions.
the control system comprises a BCI control part, a hand controller 5 and a controller 15, wherein the BCI control part and the hand controller 5 respectively realize two control modes of brain control and hand control, the priority of the command of the hand controller 5 is higher than the control command sent by the BCI control part, namely when the control of the hand controller 5 and the BCI control part occur simultaneously, the command controlled by the hand controller 5 is preferentially executed.
the hand controller 5 is connected with the controller 15 in a wired mode to realize the control of switching signals, and the control keys of the hand controller 5 comprise:
A first function key 31 for controlling the leg and back lowering function;
a second function key 32 for controlling the function of raising the whole of the leg and back;
a third function key 33 for the automatic lifting movement of the whole leg and back;
a fourth function key 34, which is used for the integral automatic lifting movement of the legs and the back and the functions of left and right automatic turning over and back-patting;
A fifth function key 35, a left turn-over function;
A sixth function key 36, right turn-over function;
a seventh function key 37, main bed lifting function;
an eighth function key 38 for main bed lowering function;
A ninth function key 39 for returning to the lying position function;
a tenth function key 40 for controlling the start and stop functions of the back-beating motor 17;
The switching signal of the hand controller 5 is interconnected with the input end of a logic gate circuit of the controller 15, and the output end of the controller 15 is connected with a relay for controlling the electric push rod; wherein, the tenth function key 40 is connected with the fourth function key 34, the fifth function key 35 and the sixth function key 36, only when the tenth function key 40 is controlled to be pressed, the lamp of the tenth function key 40 is in a normally-on state at the moment, when the fourth function key 34, the fifth function key 35 and the sixth function key 36 are pressed, the bed body executes the turning-over action, the back-beating motor 17 is started, otherwise, the back-beating motor 17 cannot be started in any state.
when the electric sickbed is controlled by the hand controller 5, the functions of rising, falling, back turning, back patting, bending of the sickbed surface to form a clinically required body position and the like of the back patting type electric sickbed 4 can be realized by pressing the relevant buttons of the hand controller 5.
the BCI control section includes:
the visual stimulation interface 1, the visual stimulation interface 1 provides a stroboscopic stimulation with a specific frequency, so that a user can induce an SSVEP signal with a specific frequency, specifically:
the visual stimulation interface 1 was implemented using the Matlab's Psychtoolbox (PTB) tool box, using a liquid crystal display with a refresh rate of 60 frames/second and a resolution of 1920 × 1080 pixels.
The stimulating target is composed of 7 stroboscopic blocks and is divided into three areas, so that the ascending and descending of the bed body, the starting (slow and fast selection of the back-patting speed) and stopping of the back-patting function and the control of the inclination angles of the back of the bed surface and the legs are respectively realized.
Each stimulus is a 300 × 200 pixel color block, the frequencies of the stimulus targets are respectively set to 8Hz, 10Hz, 11Hz, 12Hz, 13Hz, 14Hz, and 15Hz, the background color of the screen is black, and the stroboscopic stimulus block is white.
Signal acquisition device 2, signal acquisition device 2 gathers brain electrical signal, transmits to the wireless brain of brain amplification terminal of brain electricity through Wifi, enlargies brain electrical signal and transmits follow-up brain electrical signal analysis module 3 and carries out signal analysis, specifically is:
The brain electricity collection equipment adopts 32-channel wireless brain electricity collection system (including brain electricity cap, wireless brain electricity amplifier and wireless router) of Borui kang science and technology Limited. The sampling frequency of electroencephalogram acquisition is set to be 250Hz, the system only needs to record signals from 10 electrodes, namely T5, P3, Pz, P4, T6, PO3, PO4, O1, Oz and O2, the lead positions conform to the international 10-20 standard, and the electrode impedance is kept below 5k ohms in the experiment.
The electroencephalogram signal analysis module 3 is used for detecting Alpha waves and classifying the frequency of the SSVEP signals, including preprocessing, feature extraction and feature classification, and finally sending control signals corresponding to the frequency classification to the controller 15;
When being controlled by BCI control part, the patient opens BCI control through the mode of closing the eye, and the stroboscopic target of watching vision stimulation interface 1 corresponding function realizes the selection to corresponding function, specifically is:
Detection of Alpha waves (implementation of asynchronous mode):
Under the eye opening state and the eye closing state, the amplitude (8-12 Hz) of brain wave at the O1 electrode is obviously different. Under the eye-closing state, the amplitude of the Alpha wave is obviously greater than that of the eye-opening state, the characteristic can be used for detecting the occurrence of the wave, an asynchronous mode is realized by real-time detection of the Alpha wave, and the Alpha wave is used as a mark for opening an SSVEP signal analysis stage;
calculation of the threshold: collecting 20 test electroencephalogram signals of a user, wherein the 20 test electroencephalogram signals comprise 10 closed-eye state tests and 10 open-eye state tests, and each test lasts for 3 seconds; after the data of each group of experiments are subjected to mean value removal, Fast Fourier Transform (FFT) is carried out to convert the data to a frequency domain, a signal amplitude value of 8-12Hz of each experiment is taken as a characteristic value, and a threshold value is calculated according to a formula (1):
wherein M isthresholda threshold value that represents a state discrimination is provided,represents the average value of the frequency domain feature values in the open-eye state,represents the average of the frequency domain feature values in the closed-eye state.
The Alpha wave detection is to take the data of the 3-second O1 channel, remove the mean value, take the characteristic value M after FFT processing, and then detect according to the formula (2):
wherein state represents the state.
If the state is equal to 1, the system detects Alpha waves, and gives out a sound of beeping to remind a user to start to watch the visual stimulation interface 1 and start the identification of SSVEP; if the state equals-1, meaning no Alpha waves, the system remains in the idle state and continues with Alpha wave detection. Thereby realizing an asynchronous BCI system.
SSVEP signal frequency identification:
Processing the EEG signals of the 10 channels;
Firstly, the SSVEP signal is subjected to band-pass filtering from 2Hz to 40Hz, and high-frequency and power-frequency interference is eliminated. The filtering algorithm uses a 5-order Butterworth filter. And then, applying a target identification algorithm based on task-related component analysis (TRCA) to classify the SSVEP signal frequency. .
TRCA is a method for efficiently extracting task-related components by maximizing reproducibility during a task. Assume that there are two source signals: task related signals s (t) belong to R; ② the task-independent signal n (t) belongs to R.
the linear generation model of the observed multi-channel electroencephalogram signal x (t) is set as follows:
xj(t)＝a1，js(t)+a2，jn(t)，j＝1，2，...，Nc (3)
j is the index of the channel, a1，jAnd a2，jIs a mixing coefficient, N, of the source signal to EEG signal mappingcis the number of channels, the problem is to find the task-related component s (t) from the observed signal x (t).
ideally, whenand isand, y (t) s (t).
the EEG signal for the h training trial is x(h)(t), the estimated task-related component of the h-th training trial is y(h)(t)，h＝1，2，...，Nt。y(h)(t) time is t ∈ [ t ]h，th+T]And T is the duration of each task experiment. H th1And h2the covariance between the sub-training trials was:
The spatial filter w can be obtained by maximizing the covariance between training experiments. N is a radical oftto train the number of experiments.
wherein the content of the first and second substances,Is defined as:
to obtain a limited solution, the solution is to beThe variance between is limited to 1, i.e.
the final objective function is:
Optimal solutionis a matrix Q-1of SA feature vector. The overall spatial filter W is defined as:
wherein:Spatial filter representing the k-th stimulus, Nfindicating the number of stimuli. The feature coefficients used to identify the target character are:
wherein: ρ () represents Pearson correlation coefficient, X represents test experimental data,represents the mean of the training data.
by using a filter bank analysis method, the information embedded in the SSVEP harmonic components can be better utilized. The original SSVEP signal X is first decomposed into different sub-band components (X)(n)N 1, 2.. m), and then the squares of the feature coefficients of all the subband components are summed weighted according to equation (11):
Wherein N ismA (m) is the total number of subbands-1.25+0.25, object class LτIs defined as:
Wherein N isfThe number of visual stimuli.
the patting back type electric sickbed 4 is a controlled external device, and the action controlled by the brain-computer interface is as follows:
the bed body rises and falls;
Starting and stopping the back beating and the back beating speed, wherein the back beating speed comprises slow speed and fast speed;
the back plate 11 and the leg plates 13 of the bed surface part are lifted and laid, wherein the back plate 11 and the leg plates 13 are in a linkage control mode, and the back plate 11 can be controlled to be folded at different angles during BCI control;
that is, if the SSVEP signal is analyzed to obtain the "back and leg raising" command, the back plate 11 is raised by one step, and the leg plate 13 is raised in a linked manner. The patient can select the corresponding function by watching the corresponding stroboscopic region on the visual stimulation interface 1, and the computer end sends out a corresponding control instruction to make the sickbed act.
The work flow of BCI control is as follows: the electroencephalogram cap collects electroencephalogram signals of a user in real time until Alpha waves of the user are detected (the user can generate the Alpha waves after closing eyes for 1 second), the system can give out a beep sound to prompt the user to watch a visual stimulation interface 1, and meanwhile, the system is started to enter an acquisition and processing stage of SSVEP signals; the SSVEP signal analysis result is converted into a corresponding control instruction and sent to the controller 15 of the patting back type electric sickbed 4, and the corresponding motor motion is controlled through the set priority, so that the control mode of combining the hand controller 5 and the brain-computer interface is realized.
the above description is only a preferred embodiment of the present invention, and the technical solutions to achieve the objects of the present invention by basically the same means are all within the protection scope of the present invention.
Claims (5)
1. The utility model provides a back of body type electric sick bed system is clapped to intelligence based on brain machine interface control which characterized in that:
Comprises a control system and a patting back type electric sickbed;
the control system comprises a BCI control part, a hand controller and a controller, wherein the BCI control part and the hand controller are respectively connected with the controller and used for controlling the back-patting type electric sickbed;
The BCI control section includes:
A visual stimulus interface that provides stroboscopic stimulus of a particular frequency that enables a user to evoke a SSVEP signal of the particular frequency; and
the signal acquisition device acquires electroencephalogram signals, transmits the electroencephalogram signals to an electroencephalogram wireless brain amplification terminal through Wifi, amplifies the electroencephalogram signals and transmits the amplified electroencephalogram signals to a subsequent electroencephalogram signal analysis module for signal analysis;
and the electroencephalogram signal analysis module is used for detecting Alpha waves and classifying the frequency of the SSVEP signals, and finally sending control signals corresponding to the frequency classification to the controller.
2. the brain-computer interface control based intelligent back-beating type electric sickbed system according to claim 1, characterized in that: the priority of the hand controller command is higher than the control command sent by the BCI control part, namely, the command controlled by the hand controller is preferentially executed when the hand controller control and the BCI control part occur simultaneously.
3. the brain-computer interface control based intelligent back-beating type electric sickbed system according to claim 1, characterized in that: the hand controller through wired or wireless mode with the controller is connected, the control button of hand controller includes:
The first function key is used for controlling the integral descending function of the legs and the back;
the second function key is used for controlling the integral rising function of the legs and the back;
a third function key, which has the function of automatic lifting movement of the whole leg and back;
a fourth function key, namely, the automatic lifting movement of the whole leg and back and the functions of automatically turning over left and right and patting back;
a fifth function key for left turn-over function;
A sixth function key, a right turn-over function;
a seventh function key for lifting the main bed body;
An eighth function key for the main bed lowering function;
A ninth function key for returning to the lying position function;
And a tenth function key for controlling the starting and stopping functions of the back beating motor.
4. The brain-computer interface control based intelligent back-beating type electric sickbed system according to claim 1, characterized in that: the patting back type electric sickbed comprises a bed surface part, a bedstead assembly and an accessory part;
The bedstead assembly comprises a bedstead body and a lifting support, the lifting support is positioned on the upper part of the bedstead body, the bottom of the lifting support is movably connected with the bedstead body through a first connecting rod mechanism, the first connecting rod mechanism is further connected with the bedstead body through a first push rod motor, and the lifting action of the lifting support is controlled through the extension and contraction of the first push rod motor;
The bed surface part comprises a back plate, a seat plate and leg plates, the seat plate is fixedly connected with the lifting support, the inner side end parts of the back plate and the leg plates are respectively rotatably connected with the seat plate, the bottoms of the outer side end parts of the back plate and the leg plates are respectively connected with the lifting support through a third connecting rod mechanism, the lifting support is also connected with the lifting support through a second push rod motor, and the lifting action of the back plate and the leg plates is controlled through the extension and contraction of the second push rod motor;
the accessory part is including clapping the back of the body frame, clap the back of the body frame and be equipped with two sets ofly and install respectively lift support both sides upper portion, clap the back of the body frame outside with lift support rotates to be connected, clap back of the body frame outside bottom through third link mechanism with lift leg joint, and third link mechanism with still connect through third push rod motor between the lift support, through the flexible control of third push rod motor the lift action of clapping the back of the body frame.
5. The brain-computer interface control based intelligent back-beating type electric sickbed system according to claim 4, characterized in that: the back-beating frame is internally provided with a back-beating device fixedly connected with the back-beating frame, the back-beating device comprises a back-beating motor, an eccentric mechanism and a back-beating rod which are assembled into a whole, the eccentric mechanism is arranged at the output end of the back-beating motor, the outer side of the eccentric mechanism is matched with the position of a rotating wheel at the bottom end of the back-beating rod, and the back-beating rod is driven to carry out back-beating action by being contacted with the rotating wheel.
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Application publication date: 20191217 |