CN111107819A

CN111107819A - Wheelchair, nursing bed control method and control device and wheelchair

Info

Publication number: CN111107819A
Application number: CN201980002352.1A
Authority: CN
Inventors: 黄应潭; 李舟健; 阳化; 龚思宇; 马正宇; 邓剑辉; 冯亚磊; 封锦华; 李鹏; 叶柱英; 张银; 张硕; 邓小邑; 关春雨; 黎昊灵; 其他发明人请求不公开姓名
Original assignee: Guangdong Bozhilin Intelligent Technology Co ltd
Current assignee: Guangdong Bozhilin Intelligent Technology Co ltd
Priority date: 2019-10-18
Filing date: 2019-10-18
Publication date: 2020-05-05
Also published as: WO2021072758A1

Abstract

The application provides a control method and control equipment for a wheelchair and a nursing bed and the wheelchair, wherein the method comprises the steps of receiving a docking instruction, wherein the docking instruction is used for performing docking control on the wheelchair and the nursing bed; detecting a first state of the wheelchair according to the docking instruction; acquiring sign information of the nursing bed based on the first state; determining a visual guidable area according to the flag information; and when the mark information of the nursing bed is collected and the wheelchair is determined to be in the visual guidable area, controlling the wheelchair to move towards the direction close to the nursing bed. The navigation accuracy of the wheelchair and the nursing bed in the combination process can be effectively improved, the automatic navigation effect is improved, and the combination of the follow-up wheelchair and the nursing bed is effectively assisted.

Description

Wheelchair, nursing bed control method and control device and wheelchair

Technical Field

The application relates to the technical field of nursing equipment, in particular to a wheelchair, a control method and control equipment of a nursing bed and the wheelchair.

Background

With the increasing aging population and the increasing incapacitating and incapacitating population, the nursing and rehabilitation requirements are larger and larger, and the application of nursing equipment is wider and wider.

In the related art, a wheelchair in a nursing facility is required to move to a nursing bed along a set path during docking with the nursing bed.

In this way, the navigation effect of the wheelchair and the nursing bed in the combination process is poor, and the combination efficiency of the wheelchair and the nursing bed can be affected.

Disclosure of Invention

The present application is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, the purpose of the application is to provide a control method and control equipment for a wheelchair and a nursing bed and the wheelchair, which can effectively improve the navigation accuracy of the wheelchair and the nursing bed in the combination process, improve the automatic navigation effect and effectively assist the combination of the follow-up wheelchair and the nursing bed.

In order to achieve the above object, a wheelchair and a nursing bed control method according to an embodiment of the first aspect of the present application includes: receiving a docking instruction, wherein the docking instruction is used for performing docking control on the wheelchair and a nursing bed; detecting a first state of the wheelchair according to the docking instruction; acquiring sign information of the nursing bed based on the first state; determining a visual guidable area according to the flag information; and when the mark information of the nursing bed is collected and the wheelchair is determined to be in the visual guidable area, controlling the wheelchair to move towards the direction close to the nursing bed.

According to the control method of the wheelchair and the nursing bed, the docking instruction is received, the docking instruction is used for performing docking control on the wheelchair and the nursing bed, the first state of the wheelchair is detected according to the docking instruction, the mark information of the nursing bed is collected based on the first state, the visual guidable area is determined according to the mark information, when the mark information of the nursing bed is collected, the wheelchair is determined to be located in the visual guidable area, the wheelchair is controlled to move towards the direction close to the nursing bed, the navigation accuracy of the wheelchair and the nursing bed in the combination process can be effectively improved, the automatic navigation effect is improved, and the combination of the follow-up wheelchair and the nursing bed is effectively assisted.

In order to achieve the above object, an embodiment of the second aspect of the present application provides a control apparatus, including: the device comprises a shell, a processor, a memory, a circuit board and a power circuit, wherein the circuit board is arranged in a space enclosed by the shell, and the processor and the memory are arranged on the circuit board; the power supply circuit is used for supplying power to each circuit or device of the control equipment; the memory is used for storing executable program codes; the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for performing: receiving a docking instruction, wherein the docking instruction is used for performing docking control on the wheelchair and a nursing bed; detecting a first state of the wheelchair according to the docking instruction; acquiring sign information of the nursing bed based on the first state; determining a visual guidable area according to the flag information; and when the mark information of the nursing bed is collected and the wheelchair is determined to be in the visual guidable area, controlling the wheelchair to move towards the direction close to the nursing bed.

The control device that this application second aspect embodiment provided, through receiving the butt joint instruction, the butt joint instruction is used for carrying out butt joint control to wheelchair and nursing bed, according to the butt joint instruction, survey the first state of wheelchair, and based on the first state, gather the mark information of nursing bed, and confirm the vision can guide the region according to the mark information, when gathering the mark information of nursing bed, confirm that the wheelchair is in the vision can guide the region, then control the wheelchair and move to being close to nursing bed direction, can effectively promote the navigation precision of wheelchair and nursing bed in the combination process, promote automatic navigation effect, and assist the combination of follow-up wheelchair and nursing bed effectively.

To achieve the above object, a wheelchair according to a third aspect of the present invention includes: the wheelchair comprises a chassis, a seat, a wheelchair backrest and a lower leg plate, wherein the seat is connected to the chassis in a lifting manner, and the wheelchair backrest and the lower leg plate are respectively provided with a first end and a second end; and, the control device that this application second aspect embodiment proposed.

The wheelchair that this application third aspect embodiment provided, through receiving the butt joint instruction, the butt joint instruction is used for carrying out butt joint control to wheelchair and nursing bed, according to the butt joint instruction, survey the first state of wheelchair, and based on first state, gather the mark information of nursing bed, and confirm the vision can guide the region according to the mark information, when gathering the mark information of nursing bed, confirm that the wheelchair is in the vision can guide the region, then control the wheelchair and move to being close to nursing bed direction, can effectively promote the navigation precision of wheelchair and nursing bed in the combination process, promote automatic navigation effect, and assist the combination of follow-up wheelchair and nursing bed effectively.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flow chart of a control method of a wheelchair and a nursing bed according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a default IR signature in an embodiment of the present application;

FIG. 3 is a schematic diagram of a visual guidable region in an embodiment of the present application;

FIG. 4 is a schematic flow chart of a method for controlling a wheelchair and a nursing bed according to an embodiment of the present application;

FIG. 5 is a schematic flow chart of a method for controlling a wheelchair and a nursing bed according to an embodiment of the present application;

FIG. 6a is a schematic structural view of a wheelchair bed according to an embodiment of the present application;

FIG. 6b is a schematic representation of the wheelchair of the present embodiment;

FIG. 7 is a schematic flow chart diagram illustrating a method for controlling a wheelchair and a nursing bed according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a control device according to another embodiment of the present application.

Reference numerals:

the wheelchair bed 001, the wheelchair 100, the seat 10, the fitting opening 10a, the armrest 20, the armrest lifting device 30, the seatbelt assembly 45, the wheelchair backrest 40, the lower leg plate 50, the foot pedal 60, the upper leg plate 70, the running device 90, the nursing bed 200, the bed body 210, the accommodation chamber 210a, the access opening 210b, the guide rail 310, and the guide wheel 320.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application. On the contrary, the embodiments of the application include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.

In order to solve the technical problems that in the related art, the navigation effect of a wheelchair and a nursing bed in the combination process is not good, and the combination efficiency of the wheelchair and the nursing bed may be affected, an embodiment of the application provides a control method of the wheelchair and the nursing bed, the docking instruction is used for performing docking control on the wheelchair and the nursing bed, according to the docking instruction, a first state of the wheelchair is detected, based on the first state, mark information of the nursing bed is collected, a visual guidable area is determined according to the mark information, and when the wheelchair is determined to be located in the visual guidable area, the wheelchair is controlled to move towards the direction close to the nursing bed, so that the navigation accuracy of the wheelchair and the nursing bed in the combination process can be effectively improved, the automatic navigation effect is improved, and the combination of the follow-up wheelchair and the nursing bed is effectively assisted.

Fig. 1 is a schematic flow chart of a control method of a wheelchair and a nursing bed according to an embodiment of the present application.

The present embodiment is exemplified in the case where the control method of the wheelchair and the nursing bed is configured as the control apparatus of the wheelchair and the nursing bed, which may be provided in, for example, a control device that may be provided in, for example, the wheelchair, without limitation thereto.

Referring to fig. 1, the method includes:

s101: and receiving a docking instruction, wherein the docking instruction is used for carrying out docking control on the wheelchair and the nursing bed.

The control device of the wheelchair and the nursing bed in the embodiment of the application can be configured with a hand controller and a master controller, wherein the hand controller can be, for example, a remote controller, can be placed on an armrest of the wheelchair so as to be convenient for a user on the wheelchair or a caregiver user to control, and the hand controller can be in communication connection with the master controller in a wired or wireless manner.

A graphical human-machine interface may be provided on the hand controller for interacting with a user on the wheelchair or a caregiver user via the graphical human-machine interface, without limitation.

As an example, a user on a wheelchair or a caregiver user may operate a corresponding control button on the hand controller, and generate a corresponding docking instruction via the control button, and then the hand controller sends the docking instruction to the master controller, and the master controller performs corresponding docking control, which is not limited thereto.

As another example, corresponding application program clients may be configured in advance for the control devices of the wheelchair and the nursing bed, so that the user on the wheelchair or the caregiver user generates a docking instruction by operating corresponding functions in the application program clients, the application program clients send the docking instruction to the master controller, the master controller receives the docking instruction, and performs corresponding docking control according to the docking instruction, which is not limited.

S102: detecting a first state of the wheelchair based on the docking instruction.

Wherein, upon receiving the docking instruction, the detected state of the wheelchair may be referred to as a first state.

The first state is used to describe the current position of the wheelchair, or the first state may also be used to describe the current orientation of the wheelchair, or the first state may also be used to describe information such as the current relative angle between the wheelchair and the nursing bed, which is not limited in this respect.

In the specific implementation process, the control devices of the wheelchair and the nursing bed may be configured with corresponding Positioning modules supporting a Global Positioning System (GPS), and then, when the main controller receives the docking instruction, the main controller controls the Positioning modules to detect the current position of the wheelchair and to serve as the first state, which is not limited to this.

As an example, the first state may be, for example, the current position of the wheelchair, and the first state may also be, for example, the relative direction between the infrared ray detector of the wheelchair and a preset infrared marker, wherein the preset infrared marker is preset at the rear of the nursing bed, so that during subsequent execution, the first state may be used to determine a visual guidable area, so as to assist the combination between the wheelchair and the nursing bed by using the visual guidable area, and the process of controlling the combination of the wheelchair and the nursing bed may be specifically referred to the subsequent embodiments.

S103: based on the first state, sign information of the nursing bed is collected.

Here, the label information corresponding to the nursing bed may be referred to as label information.

The mark information may specifically be an infrared picture of a preset infrared mark on the nursing bed, or, when the number of the preset infrared marks on the nursing bed is multiple, the mark information may specifically be an infrared picture of a preset infrared mark on the nursing bed and a mark of a preset infrared mark of the captured infrared picture, or, when the number of the preset infrared marks on the nursing bed is multiple, the mark information may also specifically be an installation position relationship between multiple preset infrared marks, which is not limited to this.

The preset infrared marks on the nursing bed can be as shown in fig. 2, see fig. 2, and fig. 2 is a schematic diagram of the preset infrared marks in the embodiment of the present application, the preset infrared marks can include one or more preset infrared marks, fig. 2 illustrates that the number of the preset infrared marks is three, the preset infrared marks can be arranged at the tail of the nursing bed, the preset infrared marks are combinations of LED lamps, when the number of the preset infrared marks is three, the preset infrared marks are respectively arranged at two sides of the tail of the nursing bed, and the preset infrared mark is arranged below the bed head, which is not limited to this.

In the process of collecting the mark information of the nursing bed, an infrared ray type detector can be adopted to sense the infrared signal of the preset infrared mark on the nursing bed, the infrared signal is analyzed and processed to obtain the mark information of the nursing bed, the realization is simple and convenient, more hardware cost is not required to be consumed, and the sensing of the signal is more accurate.

In the embodiment of the application, in order to guarantee the combination continuity between the wheelchair and the nursing bed, the corresponding backup infrared mark is configured for the preset infrared mark in advance, before the infrared signal of the preset infrared mark on the nursing bed is sensed by the infrared ray type detector, whether the preset infrared mark of the current work breaks down or not can be determined, when the preset infrared mark of the current work breaks down, the preset infrared mark of the current work is switched into the backup infrared mark, the infrared signal of the preset infrared mark on the sensing nursing bed is in the process, the redundancy control of the preset infrared mark is realized, and the sensing accuracy and the sensing effect are effectively guaranteed.

S104: the visually guidable area is determined based on the flag information.

Referring to fig. 3, fig. 3 is a schematic view of a visual guidable area in an embodiment of the present application, where fig. 3 includes: the nursing bed 31, the visual guidable area 32, and the visual guidable area 33, the visual guidable area 32 in fig. 3 may specifically include a fan-like area and a partial area occupied by an accommodating cavity of the nursing bed, the fan-like area may be a boundary forming a certain angle with the end of the nursing bed, the radius is 0 m to a set distance range, and an area excluding the visual guidable area 33 is planed, the visual guidable area 32 may further include a partial area of the accommodating cavity of the nursing bed, and partial areas on both sides of the end of the nursing bed may be divided into the visual guidable area 33, wherein the visual guidable area 32 and the visual guidable area 33 may be obtained by pre-dividing, and may be specifically defined according to actual use requirements of the nursing equipment, or may be pre-defined according to a size value of the wheelchair.

In the embodiment of the present application, the mark information may specifically be an installation position relationship between a plurality of preset infrared marks, and when the visual guidable region is determined according to the mark information, the corresponding visual guidable region may specifically be determined according to the installation position relationship between the plurality of preset infrared marks.

In the embodiment of the application, when the wheelchair is located in the visual guidable area, the wheelchair can be controlled to move towards the nursing bed, for example, a visual sensor can be configured for the wheelchair in advance, and corresponding visual coordinate information is collected by the visual sensor, so that the wheelchair is controlled to move towards the nursing bed.

It can be understood that if the mark information of the nursing bed cannot be collected, the first state of the wheelchair can be adjusted by rotating the wheelchair to collect the mark information, so that in order to avoid collision between the wheelchair and the nursing bed in the process of rotating the wheelchair, a region which is likely to generate collision can be divided at the tail of the nursing bed, and the region which is likely to generate collision can be used as the visual guide blind area 33, so that the visual guide blind area 33 can be defined in advance by referring to the size value of the wheelchair, and corresponding control is performed only when the wheelchair is not in the visual guide blind area 33, so that scraping and collision between the wheelchair and the nursing bed can be effectively avoided, and the safety of docking control is improved.

The wheelchair is controlled to move towards the direction close to the nursing bed through being located in the visual guidable area, so that the docking control is more in line with the actual application scene requirements, the wheelchair and the nursing bed can be effectively prevented from being scraped and touched, and the safety of the docking control is improved.

S105: when the mark information of the nursing bed is collected and the wheelchair is determined to be in the visual guidable area, the wheelchair is controlled to move towards the direction close to the nursing bed.

In the specific execution process, when the mark information of the nursing bed is collected, whether the wheelchair is currently in a visual guidable area or not can be judged according to the first state of the wheelchair, if the wheelchair is determined to be in the visual guidable area, the wheelchair is controlled to move towards the direction close to the nursing bed by directly combining data sensed by a visual sensor, and if the wheelchair is determined not to be in the visual guidable area, the wheelchair can be firstly controlled to move towards the visual guidable area and the first state is updated in real time, whether the wheelchair has moved into the visual guidable area or not is analyzed by combining a new first state, and when the wheelchair is determined to have moved into the visual guidable area, the wheelchair is controlled to move towards the direction close to the nursing bed by combining the data sensed by the visual sensor.

In the specific implementation process, if the wheelchair is not located in the visual guidable area, a corresponding prompt message can be generated, and the user or the caregiver user on the wheelchair is prompted through the prompt message, or the control process is directly stopped, so that the user or the caregiver user on the wheelchair can timely know the docking condition and timely take corresponding measures.

In the embodiment, the docking instruction is received and used for docking control over the wheelchair and the nursing bed, the first state of the wheelchair is detected according to the docking instruction, the mark information of the nursing bed is collected based on the first state, the visual guidable area is determined according to the mark information, when the mark information of the nursing bed is collected, the wheelchair is determined to be located in the visual guidable area, the wheelchair is controlled to move towards the direction close to the nursing bed, the navigation accuracy of the wheelchair and the nursing bed in the combination process can be effectively improved, the automatic navigation effect is improved, and the combination of the follow-up wheelchair and the nursing bed is effectively assisted.

Fig. 4 is a flowchart illustrating a control method of a wheelchair and a nursing bed according to an embodiment of the present application.

Referring to fig. 4, the method includes:

s401: and receiving a docking instruction, wherein the docking instruction is used for carrying out docking control on the wheelchair and the nursing bed.

S402: detecting a first state of the wheelchair based on the docking instruction.

S403: based on the first state, sign information of the nursing bed is collected.

S404: the visually guidable area is determined based on the flag information.

The descriptions of S401 to S404 can refer to the above embodiments, and are not described herein again.

S405: when the mark information of the nursing bed is collected and the wheelchair is determined to be in the visual guidable area, the visual sensor is adopted to collect the visual coordinate information of the wheelchair.

And when the wheelchair is determined to be located in the visual guidable area, acquiring visual coordinate information of the wheelchair by adopting a visual sensor.

In the process of moving the wheelchair to the nursing bed through the visual guidable area, the visual sensor may be used to acquire visual coordinate information of the wheelchair, which may be, for example, a position of a reference point on the wheelchair relative to a reference coordinate system, without limitation.

S406: and performing preset operation on the mark information, and analyzing according to a result after the preset operation to obtain the reference position of the nursing bed.

As an example, assuming that the mark information is an infrared picture of a preset infrared mark on the nursing bed, the preset operation may be: the method comprises the steps of performing threshold segmentation on an infrared picture, extracting a contour, performing non-maximum suppression, extracting a mass center of the contour as a position of a corresponding preset infrared mark (the position can be a relative position of the preset infrared mark relative to the reference coordinate system), and determining a position of a reference point on a nursing bed relative to the reference coordinate system (the position of the reference point on the nursing bed relative to the reference coordinate system can be called as a reference position of the nursing bed) according to a position of the preset infrared mark pre-installed on the nursing bed, so that the position of the wheelchair based on the reference coordinate system and a relative angle between the wheelchair and the nursing bed are calculated.

The datum point on the nursing bed can be positioned on the central axis of the nursing bed, or can be arranged on other side lines of the nursing bed, so that the subsequent alignment control of the wheelchair and the nursing bed is facilitated.

S407: and controlling the wheelchair to move towards the direction close to the nursing bed by combining a preset strategy according to the visual coordinate information and the reference position.

Optionally, the wheelchair is controlled to move towards the central axis of the nursing bed according to the visual coordinate information and the reference position, the visual coordinate information of the wheelchair is updated in real time in the moving process until the central axis of the wheelchair coincides with the central axis of the nursing bed, and the wheelchair is controlled to move towards the direction close to the nursing bed according to the updated visual coordinate information and the reference position.

After the reference position of the nursing bed is determined, the reference position is the position of one reference point on the nursing bed relative to the reference coordinate system, and the reference point on the nursing bed can be located on the central axis of the nursing bed, so that the wheelchair can be controlled to move towards the central axis of the nursing bed according to the first state and the reference position until the central axis of the wheelchair is coincident with the central axis of the nursing bed.

In the specific implementation process, the visual coordinate information of the wheelchair can be determined in real time in the process of controlling the wheelchair to move to the central axis of the nursing bed, the visual coordinate information can be specifically used for describing the coordinate position of the moved wheelchair based on the reference coordinate system and the relative angle between the wheelchair and the nursing bed, and then the real-time determined visual coordinate information can be used for continuously assisting the docking control between the wheelchair and the nursing bed.

As an example, it may be determined whether the central axis of the wheelchair deviates from the central axis of the nursing bed during the movement of the wheelchair to the nursing bed based on the visual coordinate information determined in real time, and if the deviation occurs, the position of the wheelchair may be appropriately adjusted, and if the deviation does not occur, the wheelchair may be controlled to move to the nursing bed in combination with the reference position until the wheelchair and the nursing bed are automatically docked.

In the embodiment, the docking instruction is received and used for docking control over the wheelchair and the nursing bed, the first state of the wheelchair is detected according to the docking instruction, the mark information of the nursing bed is collected based on the first state, the visual guidable area is determined according to the mark information, when the mark information of the nursing bed is collected, the wheelchair is determined to be located in the visual guidable area, the wheelchair is controlled to move towards the direction close to the nursing bed, the navigation accuracy of the wheelchair and the nursing bed in the combination process can be effectively improved, the automatic navigation effect is improved, and the combination of the follow-up wheelchair and the nursing bed is effectively assisted. Through the visual coordinate letter that adopts the visual sensor to gather the wheelchair, predetermine the operation to the sign information, and obtain the reference position of nursing bed according to the result analysis after predetermineeing the operation, according to visual coordinate information and reference position, combine to predetermine the tactics control wheelchair and remove to being close to nursing bed direction, can realize combining the visual coordinate information that the visual sensor gathered at the in-process of butt joint control, adjust the position and the gesture of wheelchair dynamically, make the butt joint more accurate, from the intelligent degree of butt joint control of whole promotion wheelchair and nursing bed, realize accurate butt joint control, promote the butt joint effect, promote user's use experience degree.

Fig. 5 is a flowchart illustrating a control method of a wheelchair and a nursing bed according to an embodiment of the present application.

Referring to fig. 5, the method includes:

s501: and receiving a docking instruction, wherein the docking instruction is used for carrying out docking control on the wheelchair and the nursing bed.

S502: detecting a first state of the wheelchair based on the docking instruction.

S503: and judging whether the mark information of the nursing bed can be acquired or not based on the first state.

The descriptions of S501 to S503 can refer to the above embodiments, and are not repeated herein.

S504: if the sign information can not be acquired, dynamically adjusting the first state of the wheelchair, and judging whether the sign information can be acquired after each adjustment until the sign information is acquired.

In the specific implementation process, if the first state indicates the current position of the wheelchair, the mark information of the nursing bed may be collected based on the current position, or the position of the wheelchair may be adaptively adjusted to collect the mark information of the nursing bed based on the current position as an adjustment reference.

In order to realize the efficient collection of the mark information of the nursing bed in combination with the state of the wheelchair so as to assist in efficiently completing the automatic combination control of the wheelchair and the nursing suit, whether the mark information of the nursing bed can be collected is judged based on the first state in the embodiment of the application; if the sign information can not be acquired, dynamically adjusting the first state of the wheelchair, and judging whether the sign information can be acquired after each adjustment until the sign information is acquired.

For example, when the first state includes the current position, the current position of the wheelchair may be dynamically adjusted when the marker information cannot be acquired, and it may be determined whether the marker information can be acquired after each adjustment until the marker information can be acquired.

For another example, when the first state includes a relative direction between the infrared ray detector and the preset infrared mark, the relative direction of the wheelchair is dynamically adjusted, for example, the main controller controls the motor driving module in the wheelchair, so that the motor driving module drives the wheelchair to rotate, thereby dynamically adjusting the relative direction of the wheelchair.

For another example, when the first state includes both the current position and the relative direction between the infrared detector and the preset infrared marker, the current position and the relative direction of the wheelchair can be dynamically adjusted.

Through the steps, the state of the wheelchair can be flexibly adjusted, so that the mark information of the nursing bed can be timely acquired, the mark information of the nursing bed can be efficiently acquired by combining the state of the wheelchair, and the automatic combination control of the wheelchair and the nursing device can be assisted and efficiently completed.

This application embodiment promotes the navigation precision in all-round for richen the function that controlgear can provide for the wheelchair removes the process safer, still disposes ultrasonic sensor to the wheelchair, and ultrasonic sensor is used for launching ultrasonic signal, and surveys the reflection echo signal of the ultrasonic signal that launches.

In the specific execution process, an ultrasonic sensor can be arranged aiming at the wheelchair in advance, the ultrasonic sensor is used for transmitting an ultrasonic signal and detecting a reflected echo signal of the transmitted ultrasonic signal, and if the mark information cannot be acquired, the reflected echo signal of the transmitted ultrasonic signal is detected through the ultrasonic sensor; determining the risk information of collision between the wheelchair and the nursing bed according to the reflected echo signals and the dynamic model of the wheelchair; and dynamically adjusting the first state of the wheelchair according to the risk information.

The method includes the steps of analyzing the reflected echo signals to obtain signal parameters of the reflected echo signals, analyzing some form parameters of the wheelchair described by a kinetic model of the wheelchair, and inputting the signal parameters and the form parameters into a preset risk analysis model, wherein the preset risk analysis model can learn corresponding relations between the signal parameters and some form parameters of the wheelchair and corresponding risk information in advance, so that the detected signal parameters and form parameters can be used as input of the preset risk analysis model, the output of the preset risk analysis model is used as risk information, and the method is not limited to this.

For example, the neural network model may be trained in advance by using the sample signal parameters and the sample morphological parameters, and the calibrated sample risk information, and the trained neural network model may be used as the preset risk analysis model.

Of course, the neural network model is only one possible implementation manner for implementing the training of the preset risk analysis model, and in the actual implementation process, the preset risk analysis model may be trained in any other possible manner, for example, the preset risk analysis model may also be implemented by using a conventional programming technique (e.g., a simulation method and an engineering method), or may also be implemented by using a genetic algorithm and an artificial neural network.

When the mark information can not be collected, detecting a reflected echo signal of the transmitted ultrasonic signal by the ultrasonic sensor; determining the risk information of collision between the wheelchair and the nursing bed according to the reflected echo signals and the dynamic model of the wheelchair; according to the risk information, the first state of the wheelchair is dynamically adjusted, and the risk information can be analyzed to determine the possibility of collision between the wheelchair and the nursing bed, so that the navigation control in the combination process is guided, the navigation control in the combination process is safer, and the scene requirements of practical application are better met.

As an example, when the first state of the wheelchair is dynamically adjusted according to the risk information, the risk information may be compared with a set risk threshold; if the risk information is larger than the set risk threshold, controlling the wheelchair to move towards the direction far away from the nursing bed, detecting new risk information in real time, and dynamically adjusting the first state of the wheelchair until the new risk information detected in real time is smaller than or equal to the set risk threshold; and if the risk information is less than or equal to the set risk threshold, the first state of the wheelchair is directly and dynamically adjusted.

The set risk threshold may be manually set by a user on the wheelchair or a caregiver user, or may be preset by a factory program of the control device, which is not limited to this.

When the risk information is greater than the set risk threshold, it indicates that the possibility of collision between the wheelchair and the nursing bed is high, at this time, the wheelchair can be controlled to move in the direction away from the nursing bed, and then, new risk information is detected in real time until the new risk information detected in real time is less than or equal to the set risk threshold, which indicates that the possibility of collision between the wheelchair and the nursing bed is within the safety probability threshold, at this time, the first state of the wheelchair can be directly dynamically adjusted, for example, the wheelchair is dynamically adjusted and controlled, such as rotating, and the like, without limitation.

In the embodiment of the application, if the ultrasonic sensor is configured on the wheelchair, the ultrasonic sensor can be used for detecting the reflected echo signal of the transmitted ultrasonic signal in the process of controlling the wheelchair to move; judging whether an obstacle exists or not according to the reflected echo signal; and generating a corresponding obstacle avoidance control instruction according to the judgment result, and accordingly, correspondingly controlling the wheelchair based on the obstacle avoidance control instruction, so that the docking control is more in line with the actual application scene requirement, the wheelchair and the obstacle can be effectively prevented from being scraped and bumped, the security of the docking control is improved, the docking control is more intelligent, and the docking control effect is improved.

In the embodiment, the docking instruction is received and used for docking control over the wheelchair and the nursing bed, the first state of the wheelchair is detected according to the docking instruction, the mark information of the nursing bed is collected based on the first state, the visual guidable area is determined according to the mark information, when the mark information of the nursing bed is collected, the wheelchair is determined to be located in the visual guidable area, the wheelchair is controlled to move towards the direction close to the nursing bed, the navigation accuracy of the wheelchair and the nursing bed in the combination process can be effectively improved, the automatic navigation effect is improved, and the combination of the follow-up wheelchair and the nursing bed is effectively assisted. Whether the mark information of the nursing bed can be collected or not is judged based on the first state, if the mark information cannot be collected, the first state of the wheelchair is dynamically adjusted, whether the mark information can be collected or not is judged after adjustment at each time until the mark information is collected, the state of the wheelchair can be flexibly adjusted, so that the mark information of the nursing bed can be timely collected, the mark information of the nursing bed can be efficiently collected by combining the state of the wheelchair, and automatic combination control of the wheelchair and a nursing garment can be efficiently completed in an auxiliary mode. The state of the wheelchair can be adaptively adjusted in the navigation process to assist in acquiring navigation related information, so that the application scene of the wheelchair and the nursing bed can be effectively widened, the navigation accuracy of the wheelchair and the nursing bed in the docking process is improved, the navigation effect is improved, and the docking efficiency of the wheelchair and the nursing bed is effectively improved.

In the specific implementation process of the embodiment of the application, when the mark information of the nursing bed is collected and the wheelchair is determined to be in the visual guidable area, the wheelchair can be controlled to be combined with the nursing bed after the step of controlling the wheelchair to move towards the direction close to the nursing bed.

As an example, referring to fig. 6, fig. 6a is a schematic structural diagram of a wheelchair bed in the embodiment of the present application, fig. 6b is a schematic structural diagram of a wheelchair in the embodiment of the present application, and the wheelchair bed 001 includes a nursing bed 200 and a wheelchair 100 which can be combined and separated; the nursing bed 200 includes a bed body 210, the bed body 210 has a receiving cavity 210a, and the horizontal side of the receiving cavity 210a has an access port 210 b. The wheelchair 100 includes: the wheelchair comprises a chassis, a seat 10, a wheelchair back 40, a lower leg plate 50, guide wheels 320, armrests 20, an armrest lifting device 30, a pedal plate 60, an upper leg plate 70, a safety belt assembly 45, a running device 90, and a seat 10, wherein the seat 10 is connected to the chassis in a lifting manner, the wheelchair back 40 and the lower leg plate 50 are respectively provided with a first end and a second end, and the first ends of the wheelchair back 40 and the lower leg plate 50 are rotatably connected to two opposite sides of the seat 10. The nursing bed 200 is provided with a guide rail 310, a fitting opening 10a, and the wheelchair 100 has a chair shape, a bed shape, and an entry/exit shape. In the in-and-out state, the seat 10, the wheelchair backrest 40 and the lower leg plate 50 are all higher than the bed body 210, that is, when entering, the seat 10, the wheelchair backrest 40 and the lower leg plate 50 are all higher than the bed body 210 and do not contact with the nursing bed 200, which is beneficial for the patient to enter the bed safely; when going out, the chair seat 10, the wheelchair backrest 40 and the lower leg plate 50 are all higher than the bed body 210 and do not contact with the nursing bed 200, which is beneficial for the patient to get out of the bed safely.

The process of combining the wheelchair 100 with the nursing bed 200 includes: a bed entering preparation stage, a moving bed entering stage and a combination stage. In the bed entering preparation stage, the seat 10 is raised, the second end of the wheelchair back 40 is rotated downward, and the second end of the lower leg plate 50 is rotated upward, so that the wheelchair 100 is adjusted from the chair shape to the in-and-out shape. In the moving-in stage, the wheelchair 100 in the in-and-out configuration moves from the access opening 210b into the accommodation chamber 210 a. In the coupling stage, the seat 10 is lowered, and the seat 10, the wheelchair back 40 and the lower leg plate 50 are engaged with the nursing bed 200, so that the wheelchair 100 is adjusted from the entry and exit configuration to the bed configuration. The nursing bed is provided with a guide rail, and the embodiment shown in the following figure 7 is also provided in the embodiment of the application aiming at the structure of the wheelchair.

Fig. 7 is a flowchart illustrating a control method of a wheelchair and a nursing bed according to an embodiment of the present application.

Referring to fig. 7, the method includes:

s701: and receiving a docking instruction, wherein the docking instruction is used for carrying out docking control on the wheelchair and the nursing bed.

S702: detecting a first state of the wheelchair based on the docking instruction.

S703: based on the first state, sign information of the nursing bed is collected.

S704: the visually guidable area is determined based on the flag information.

S705: when the mark information of the nursing bed is collected and the wheelchair is determined to be in the visual guidable area, the wheelchair is controlled to move towards the direction close to the nursing bed.

The descriptions of S701-S705 can refer to the above embodiments, and are not repeated herein.

S706: the chassis of the seat of the wheelchair is controlled to rise, the backrest of the wheelchair is controlled to fall, and the lower leg plate of the seat is controlled to rise so as to enable the seat to be in an in-and-out state.

S707: the wheelchair controlling the in-out form moves into the accommodating cavity of the nursing bed.

S708: the chassis of the seat is controlled to be lowered, and the backrest and the lower leg plate of the wheelchair are controlled to be jointed with the nursing bed, so that the wheelchair is adjusted to be in a bed shape from an in-out shape.

Optionally, before the wheelchair is controlled to be combined with the nursing bed, the wheelchair is controlled to move towards the nursing bed until the wheelchair moves to the entrance; the process of automatically combining the wheelchair and the nursing bed comprises the following steps: a bed entering preparation stage, a moving bed entering stage and a combination stage; control wheelchair and nursing bed combine includes: in the bed entering preparation stage, the seat is lifted, the second end of the backrest of the wheelchair rotates downwards, and the second end of the lower leg plate rotates upwards, so that the wheelchair is adjusted from a chair shape to an in-out shape; in the moving in-bed stage, the wheelchair in and out of the shape is moved into the accommodating cavity of the nursing bed from the inlet and the outlet; in the combining stage, the seat is lowered, and the seat, the wheelchair backrest and the lower leg plate are combined with the nursing bed, so that the wheelchair is adjusted to be in a bed shape from the in-out shape.

It should be noted that, in the bed entering preparation stage, after the wheelchair backrest 40 and the second end of the lower leg plate 50 are rotated, the upper end portion of the wheelchair 100 is changed into a V-like shape, so that the patient can present a more comfortable bed entering posture, and after the seat 10 is raised, the height of the patient is increased, so that the patient can be prevented from contacting or colliding with the nursing bed 200 during bed entering, thereby improving the safety of the patient entering the bed. During the moving-into-bed stage, the access opening 210b provides access to the wheelchair 100 so that the wheelchair 100 can reach into the receiving cavity 210 a. In the combination stage, descend through seat support 10, the patient can reach the height such as height with bed body 210, wheelchair back 40 and lower leg plate 50 continue to rotate the back and combine with nursing bed 200, wheelchair 100 is flat state for the exhibition by the V font change, with the slow decline of patient's back and shank flush with bed body 210, whole process work is more steady, the patient's travelling comfort of going into the bed has been increased, patient's removal number of times is few, can effectively avoid the secondary damage, be favorable to the patient to resume healthy.

According to the wheelchair bed combination method provided by the embodiment of the application, the wheelchair 100 has three pose states of a chair shape, a bed shape and an in-out shape, so that in the combination process of the wheelchair 100 and the nursing bed 200, a patient can enter the bed more stably, the comfort and the safety of entering the bed are greatly improved, and secondary damage can be effectively avoided.

In some embodiments, as shown in fig. 6, the wheelchair 100 includes two armrests 20 and an armrest lifting device 30, the two armrests 20 are located at two opposite sides of the seat 10, and the armrest lifting device 30 connects the seat 10 and the armrests 20 at two sides to control the armrests 20 at two sides to turn. In the preparation stage of entering the bed and the moving stage of entering the bed, the handrail 20 is kept still, so that the patient can be prevented from falling when entering the bed, and the safety of the patient in the whole entering stage is ensured. In the coupling stage, the two armrests 20 are rotated towards the horizontal state to be coupled with the nursing bed 200, and the armrests 20 are coupled with the nursing bed 200 in a flattening manner, so that the armrests 20 can be opened more safely, and the bearing capacity of the nursing bed 200 can be greatly improved.

In the embodiment, the docking instruction is received and used for docking control over the wheelchair and the nursing bed, the first state of the wheelchair is detected according to the docking instruction, the mark information of the nursing bed is collected based on the first state, the visual guidable area is determined according to the mark information, when the mark information of the nursing bed is collected, the wheelchair is determined to be located in the visual guidable area, the wheelchair is controlled to move towards the direction close to the nursing bed, the navigation accuracy of the wheelchair and the nursing bed in the combination process can be effectively improved, the automatic navigation effect is improved, and the combination of the follow-up wheelchair and the nursing bed is effectively assisted. The chassis through the control seat support risees, the back of control wheelchair descends, the lower leg board lifting of control seat support makes the seat support be in the business turn over form, the wheelchair immigration of control business turn over form nurses the chamber that holds of bed, and the chassis of control seat support reduces, the back and the lower leg board of control wheelchair are joined with nursing bed, so that the wheelchair is the bed shape form by the adjustment of business turn over form, thereby make wheelchair and nursing bed can combine to make things convenient for the patient to go into the bed, can separate each other again and make things convenient for the patient to go out the bed, the process that the patient goes out the bed is more steady, the travelling comfort and the security that go out the bed also.

In the embodiment of the application, after the wheelchair is controlled to be combined with the nursing bed, a separating instruction can be received, and the separating instruction is used for separating and controlling the wheelchair and the nursing bed; detecting a second state of the wheelchair according to the separation instruction; judging whether the second state meets a set condition; and if the second state meets the set condition, controlling the wheelchair to be automatically separated from the nursing bed.

Wherein the detected state of the wheelchair upon receipt of the detach command may be referred to as a second state.

The second state is used to describe the current position of the wheelchair, or the first state may also be used to describe information such as the current relative angle between the wheelchair and the nursing bed, which is not limited in this respect.

Whether the second state meets the set condition or not can be judged in a combined mode, and if the second state meets the set condition, the wheelchair and the nursing bed are controlled to be automatically separated.

The setting conditions may be set by a factory program of the wheelchair, or may be set by a user according to actual use requirements, which is not limited to this.

The setting condition is, for example, that the wheelchair is currently in the entry/exit configuration, and is not limited thereto.

The process of controlling the automatic separation of the wheelchair and the nursing bed can be the reverse process of the automatic combination process, and the process can be seen as follows:

the process of separating the wheelchair 100 from the nursing bed 200 includes: a bed-out preparation phase, a bed-moving-out phase and a deformation phase. In the preparation stage of getting out of the bed, the seat 10 is raised, and the seat 10, the wheelchair back 40, and the lower leg plate 50 are separated from the nursing bed 200, so that the wheelchair 100 is adjusted from the bed configuration to the getting in and out configuration. In the out-of-bed stage, the wheelchair 100 in the in-and-out configuration moves out of the receiving cavity 210a from the access opening 210 b. In the deformation phase, the seat 10 is lowered, the second end of the wheelchair back 40 is rotated upward, and the second end of the lower leg plate 50 is rotated downward, so that the wheelchair 100 is adjusted from the entry-and-exit configuration to the chair configuration.

It should be noted that, in the preparation stage of getting out of bed, the wheelchair backrest 40 and the second end of the lower leg plate 50 are rotated to change the upper end portion of the wheelchair 100 into the V-like shape, so that the patient can present a more comfortable posture for getting out of bed, and after the seat 10 is raised, the height of the patient is increased, so that the patient can be prevented from contacting or colliding with the nursing bed 200 during getting into the bed, thereby improving the safety of getting out of the bed. During the out-of-bed stage, the access opening 210b provides access to the wheelchair 100 so that the wheelchair 100 can leave the receiving cavity 210 a. In the deformation stage, the chair seat 10 descends, the wheelchair 100 returns to the normal height, the wheelchair backrest 40 rotates upwards to straighten the back of the patient, the lower leg plate 50 rotates downwards to put down the legs of the patient, the wheelchair 100 is changed from the V shape into the chair shape, the whole process works more stably, and the comfort of the patient getting out of the bed is improved.

Referring to fig. 8, the control device 80 includes a housing 81, a processor 82, a memory 83, a circuit board 84, and a power supply circuit 85, wherein the circuit board 84 is disposed inside a space surrounded by the housing 81, and the processor 82 and the memory 83 are provided on the circuit board 84; a power supply circuit 85 for supplying power to each circuit or device of the control apparatus; the memory 83 is used for storing executable program codes; the processor 82 runs a program corresponding to the executable program code by reading the executable program code stored in the memory 83, for performing:

receiving a docking instruction, wherein the docking instruction is used for performing docking control on the wheelchair and the nursing bed;

detecting a first state of the wheelchair according to the docking instruction;

acquiring mark information of the nursing bed based on the first state;

determining a visual guidable area according to the sign information;

when the mark information of the nursing bed is collected and the wheelchair is determined to be in the visual guidable area, the wheelchair is controlled to move towards the direction close to the nursing bed.

Optionally, in some embodiments, the processor 82 is further configured to control the wheelchair to be coupled with the nursing bed after the steps of collecting the identification information of the nursing bed, determining that the wheelchair is in the visually guidable area, and controlling the wheelchair to move closer to the nursing bed.

Optionally, in some embodiments, the processor 82 is further configured to:

the chassis of the chair seat is controlled to rise, the backrest of the wheelchair is controlled to fall, and the lower leg plate of the chair seat is controlled to rise so that the chair seat is in an in-and-out state;

controlling the wheelchair in the in-out state to move into the accommodating cavity of the nursing bed;

the chassis of the seat is controlled to be lowered, and the backrest and the lower leg plate of the wheelchair are controlled to be jointed with the nursing bed, so that the wheelchair is adjusted to be in a bed shape from an in-out shape.

Optionally, in some embodiments, the seat is connected to the chassis in a lifting manner, the wheelchair backrest and the lower leg plate are respectively provided with a first end and a second end, the nursing bed comprises a bed body, and an inlet and an outlet are formed in one horizontal side of the accommodating cavity; the wheelchair has a chair shape, a bed shape and an in-out shape, and the chair seat, the wheelchair backrest and the lower leg plate are all higher than the bed body of the nursing bed in the in-out shape; the care bed is provided with a guide, a processor 82, further for:

controlling the wheelchair to move towards the nursing bed until the wheelchair moves to the inlet and the outlet;

the process of automatically combining the wheelchair and the nursing bed comprises the following steps: a bed entering preparation stage, a moving bed entering stage and a combination stage;

control wheelchair and nursing bed combine includes:

in the bed entering preparation stage, the seat is lifted, the second end of the backrest of the wheelchair rotates downwards, and the second end of the lower leg plate rotates upwards, so that the wheelchair is adjusted from a chair shape to an in-out shape;

in the moving in-bed stage, the wheelchair in and out of the shape is moved into the accommodating cavity of the nursing bed from the inlet and the outlet;

in the combining stage, the seat is lowered, and the seat, the wheelchair backrest and the lower leg plate are combined with the nursing bed, so that the wheelchair is adjusted to be in a bed shape from the in-out shape.

Optionally, in some embodiments, the wheelchair is configured with a visual sensor, and the processor 82 is further configured to:

collecting visual coordinate information of the wheelchair by adopting a visual sensor;

according to the visual coordinate information of the wheelchair, the wheelchair is controlled to move towards the direction close to the nursing bed by combining the mark information.

Optionally, in some embodiments, the processor 82 is further configured to:

performing preset operation on the mark information, and analyzing according to a result after the preset operation to obtain a reference position of the nursing bed;

and controlling the wheelchair to move towards the direction close to the nursing bed by combining a preset strategy according to the visual coordinate information and the reference position.

Optionally, in some embodiments, the processor 82 is further configured to:

controlling the wheelchair to move towards the central axis of the nursing bed according to the visual coordinate information and the reference position, and updating the visual coordinate information of the wheelchair in real time in the moving process;

until the central axis of the wheelchair is superposed with the central axis of the nursing bed;

and controlling the wheelchair to move towards the direction close to the nursing bed according to the updated visual coordinate information and by combining the reference position.

Optionally, in some embodiments, the processor 82 is further configured to:

judging whether the mark information of the nursing bed can be acquired or not based on the first state;

if the sign information can not be acquired, dynamically adjusting the first state of the wheelchair, and judging whether the sign information can be acquired after each adjustment until the sign information is acquired.

Optionally, in some embodiments, the wheelchair is provided with an ultrasonic sensor for emitting an ultrasonic signal and detecting a reflected echo signal of the emitted ultrasonic signal, and the processor 82 is further configured to:

if the mark information can not be acquired, detecting a reflected echo signal of the transmitted ultrasonic signal through the ultrasonic sensor;

determining the risk information of collision between the wheelchair and the nursing bed according to the reflected echo signals and the dynamic model of the wheelchair;

and dynamically adjusting the first state of the wheelchair according to the risk information.

Optionally, in some embodiments, the processor 82 is further configured to:

comparing the risk information with a set risk threshold;

if the risk information is larger than the set risk threshold, controlling the wheelchair to move towards the direction far away from the nursing bed, detecting new risk information in real time, and dynamically adjusting the first state of the wheelchair until the new risk information detected in real time is smaller than or equal to the set risk threshold;

and if the risk information is less than or equal to the set risk threshold, the first state of the wheelchair is directly and dynamically adjusted.

Optionally, in some embodiments, the wheelchair is provided with an infrared detector for collecting infrared signals, wherein,

sensing an infrared signal of a preset infrared mark on the nursing bed by adopting an infrared detector;

and the processor 82 is also used for analyzing and processing the infrared signals to obtain the mark information of the nursing bed.

Optionally, in some embodiments, the preset ir flag has a corresponding backup ir flag, and before sensing the ir signal of the preset ir flag on the nursing bed by using the infrared detector, the processor 82 is further configured to:

and when the preset infrared mark which works currently breaks down, the preset infrared mark which works currently is switched to the backup infrared mark.

Optionally, in some embodiments, the processor 82 is further configured to:

in the process of controlling the wheelchair to move, whether an obstacle exists is judged according to a reflected echo signal detected by the ultrasonic sensor;

and generating a corresponding obstacle avoidance control instruction according to the judgment result, and correspondingly controlling the wheelchair based on the obstacle avoidance control instruction.

Optionally, in some embodiments, the processor 82 is further configured to:

receiving a separation instruction, wherein the separation instruction is used for performing separation control on the wheelchair and the nursing bed;

detecting a second state of the wheelchair according to the separation instruction;

judging whether the second state meets a set condition;

and if the second state meets the set condition, controlling the wheelchair to be automatically separated from the nursing bed.

Optionally, in some embodiments, the visually guidable region comprises: the fan-like area and the partial area occupied by the containing cavity of the nursing bed.

It should be noted that the foregoing explanation of the embodiment of the wheelchair and the nursing bed in fig. 1 to 7 is also applicable to the control device 80 of this embodiment, and the implementation principle is similar and will not be described again.

It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present application, "a plurality" means two or more unless otherwise specified.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. A method of controlling a wheelchair and a nursing bed, the method comprising the steps of:

receiving a docking instruction, wherein the docking instruction is used for performing docking control on the wheelchair and a nursing bed;

detecting a first state of the wheelchair according to the docking instruction;

acquiring sign information of the nursing bed based on the first state;

determining a visual guidable area according to the flag information;

and when the mark information of the nursing bed is collected and the wheelchair is determined to be in the visual guidable area, controlling the wheelchair to move towards the direction close to the nursing bed.

2. The method for controlling a wheelchair and a nursing bed as claimed in claim 1, wherein after the step of controlling the wheelchair to move closer to the nursing bed when the wheelchair is determined to be in the visual guidable area by collecting the identification information of the nursing bed, the method further comprises:

controlling the wheelchair to be combined with the nursing bed.

3. The method of claim 2, wherein the controlling the wheelchair in combination with the care bed comprises:

controlling the chassis of the seat of the wheelchair to rise, controlling the backrest of the wheelchair to fall, and controlling the lower leg plate of the seat to rise so as to enable the seat to be in an in-and-out state;

controlling the wheelchair in the in-out form to move into the accommodating cavity of the nursing bed;

4. The method of claim 3, wherein the seat is elevatably coupled to the chassis, the wheelchair backrest and the lower leg plate each have a first end and a second end, and the nursing bed comprises a bed body, and the receiving chamber has an access opening on a horizontal side thereof; the wheelchair is provided with a chair shape, a bed shape and an in-out shape, and the chair seat, the wheelchair backrest and the lower leg plate are all higher than the bed body of the nursing bed in the in-out shape; the nursing bed is provided with the guide rail, before control the wheelchair with the nursing bed combines, still include:

controlling the wheelchair to move towards the nursing bed until the wheelchair moves to the entrance/exit;

the controlling the wheelchair in combination with the care bed includes:

in a bed entering preparation stage, the seat is lifted, the second end of the backrest of the wheelchair rotates downwards, and the second end of the lower leg plate rotates upwards, so that the wheelchair is adjusted from a chair shape to an in-out shape;

in the moving in-bed stage, the wheelchair in the in-out state moves into the accommodating cavity of the nursing bed from the inlet and the outlet;

in the coupling stage, the seat is lowered and the seat, the wheelchair back and the lower leg plate are engaged with the nursing bed to adjust the wheelchair from the in-out configuration to the bed configuration.

5. The method for controlling a wheelchair and a nursing bed as claimed in claim 1, wherein the wheelchair is provided with a visual sensor, and the controlling of the wheelchair to move closer to the nursing bed comprises:

acquiring visual coordinate information of the wheelchair by adopting the visual sensor;

and controlling the wheelchair to move towards the direction close to the nursing bed by combining the mark information according to the visual coordinate information of the wheelchair.

6. The method for controlling the wheelchair and the nursing bed according to claim 5, wherein the controlling the wheelchair to move closer to the nursing bed according to the visual coordinate information of the wheelchair and the sign information comprises:

7. The method for controlling the wheelchair and the nursing bed according to claim 6, wherein the controlling the wheelchair to move closer to the nursing bed according to the visual coordinate information and the reference position by combining a preset strategy comprises:

8. The method for controlling a wheelchair and a nursing bed as claimed in claim 1, wherein the collecting of the index information of the nursing bed based on the first state comprises:

and if the sign information cannot be acquired, dynamically adjusting the first state of the wheelchair, and judging whether the sign information can be acquired after each adjustment until the sign information is acquired.

9. The method for controlling a wheelchair and a nursing bed as claimed in claim 8, wherein the wheelchair is provided with an ultrasonic sensor for emitting an ultrasonic signal and detecting a reflected echo signal of the emitted ultrasonic signal, and the dynamically adjusting the first state of the wheelchair if the marker information cannot be acquired comprises:

determining risk information of collision between the wheelchair and the nursing bed according to the reflected echo signals and a dynamic model of the wheelchair;

10. The method of claim 9, wherein the dynamically adjusting the first state of the wheelchair based on the risk information comprises:

comparing the risk information with a set risk threshold;

if the risk information is larger than the set risk threshold, controlling the wheelchair to move in a direction away from the nursing bed, and detecting new risk information in real time until the new risk information detected in real time is smaller than or equal to the set risk threshold, and dynamically adjusting the first state of the wheelchair;

and if the risk information is less than or equal to the set risk threshold, directly and dynamically adjusting the first state of the wheelchair.

11. The control method of a wheelchair and a nursing bed as claimed in claim 1, wherein the wheelchair is provided with an infrared type detector for collecting infrared signals, wherein,

sensing an infrared signal of a preset infrared mark on the nursing bed by adopting the infrared ray type detector;

and analyzing and processing the infrared signal to obtain the mark information of the nursing bed.

12. The method as claimed in claim 11, wherein the preset ir flag has a corresponding backup ir flag, and before sensing the ir signal of the preset ir flag on the nursing bed by the ir line detector, the method further comprises:

and when the preset infrared mark working at present breaks down, switching the preset infrared mark working at present into the backup infrared mark.

13. The control method of a wheelchair and a nursing bed as claimed in claim 9, wherein,

in the process of controlling the wheelchair to move, judging whether an obstacle exists according to the reflected echo signal detected by the ultrasonic sensor;

14. The method of controlling a wheelchair and a nursing bed as claimed in claim 1, further comprising:

judging whether the second state meets a set condition;

15. The wheelchair and care bed control method of any one of claims 4-14 wherein the visually guidable region comprises: a fan-like area and a partial area occupied by the containing cavity of the nursing bed.

16. A control device comprising a housing, a processor, a memory, a circuit board, and a power circuit, wherein the circuit board is disposed inside a space enclosed by the housing, the processor and the memory being disposed on the circuit board; the power supply circuit is used for supplying power to each circuit or device of the control equipment; the memory is used for storing executable program codes; the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for performing:

detecting a first state of the wheelchair according to the docking instruction;

acquiring sign information of the nursing bed based on the first state;

determining a visual guidable area according to the flag information;

17. The control device of claim 16, wherein the processor is further configured to control the wheelchair to engage with the care bed after the step of controlling the wheelchair to move closer to the care bed if the wheelchair is determined to be in the visually guidable area by collecting the identification information of the care bed.

18. The control device of claim 17, wherein the processor is further configured to:

controlling the chassis of the seat to rise, controlling the backrest of the wheelchair to descend, and controlling the lower leg plate of the seat to rise so as to enable the seat to be in an in-and-out state;

19. The control apparatus of claim 18, wherein the seat is elevationally coupled to the chassis, the wheelchair backrest and the lower leg plate each have a first end and a second end, the care bed includes a bed body, and the receiving chamber has an access opening on a horizontal side thereof; the wheelchair is provided with a chair shape, a bed shape and an in-out shape, and the chair seat, the wheelchair backrest and the lower leg plate are all higher than the bed body of the nursing bed in the in-out shape; the nursing bed is provided with the guide rail, the treater still is used for:

the controlling the wheelchair in combination with the care bed includes:

20. The control apparatus of claim 16, wherein the wheelchair is configured with a visual sensor, the processor further to:

21. The control device of claim 20, wherein the processor is further configured to:

22. The control device of claim 21, wherein the processor is further configured to:

23. The control device of claim 16, wherein the processor is further configured to:

24. The control apparatus of claim 23, wherein the wheelchair is provided with an ultrasonic sensor for emitting an ultrasonic signal and detecting a reflected echo signal of the emitted ultrasonic signal, the processor further for:

25. The control device of claim 24, wherein the processor is further configured to:

comparing the risk information with a set risk threshold;

26. Control device according to claim 16, characterized in that the wheelchair is provided with an infrared detector for collecting infrared signals, wherein,

the processor is further used for analyzing and processing the infrared signals to obtain the mark information of the nursing bed.

27. The control device of claim 26, wherein the preset ir flag has a corresponding backup ir flag, and wherein the processor, prior to sensing the ir signal of the preset ir flag on the care bed using the ir line detector, is further configured to:

28. The control device of claim 24, wherein the processor is further configured to:

29. The control device of claim 16, wherein the processor is further configured to:

judging whether the second state meets a set condition;

30. The control device of any one of claims 19-29, wherein the visually guidable region comprises: a fan-like area and a partial area occupied by the containing cavity of the nursing bed.

31. A wheelchair, comprising: the wheelchair comprises a chassis, a seat, a wheelchair backrest and a lower leg plate, wherein the seat is connected to the chassis in a lifting manner, and the wheelchair backrest and the lower leg plate are respectively provided with a first end and a second end; and a control device according to any one of the preceding claims 16-30.