CN114287924A - Prone position detection method of piezoelectric sensor and nursing equipment applying same - Google Patents
Prone position detection method of piezoelectric sensor and nursing equipment applying same Download PDFInfo
- Publication number
- CN114287924A CN114287924A CN202111664961.9A CN202111664961A CN114287924A CN 114287924 A CN114287924 A CN 114287924A CN 202111664961 A CN202111664961 A CN 202111664961A CN 114287924 A CN114287924 A CN 114287924A
- Authority
- CN
- China
- Prior art keywords
- pressure detection
- detection area
- push rod
- wheelchair
- pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 125
- 230000000474 nursing effect Effects 0.000 title claims abstract description 19
- 230000008859 change Effects 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 10
- 210000002414 leg Anatomy 0.000 claims description 35
- 230000007246 mechanism Effects 0.000 claims description 33
- 238000005452 bending Methods 0.000 claims description 30
- 210000003423 ankle Anatomy 0.000 claims description 16
- 210000000689 upper leg Anatomy 0.000 claims description 16
- 230000001965 increasing effect Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 13
- 210000002683 foot Anatomy 0.000 claims description 13
- 244000309466 calf Species 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 6
- 230000007306 turnover Effects 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 210000003127 knee Anatomy 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 230000036544 posture Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000017667 Chronic Disease Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000009530 blood pressure measurement Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000013499 data model Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000003860 sleep quality Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Landscapes
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention discloses a prone position detection method of a piezoelectric sensor and nursing equipment applying the method. The detection method comprises the following steps: when a user lies on the pressure sensor group, the data measured by each pressure sensor is used as one frame of data; integrating all data into a one-dimensional array; and expanding each element in the one-dimensional array to a corresponding position in the two-dimensional array according to the actual position of the corresponding pressure sensor. And converting the two-dimensional array into an image, wherein elements at different positions in the two-dimensional array correspond to pixel values of different pixel points on the image respectively to obtain the image reflecting the prone position of the user. And judging the posture change condition of the user according to the pressure change condition of each pressure detection area. The invention utilizes the change conditions of the pressure sensors to identify the prone position of the user, can detect the posture change conditions of the user and realize the real-time monitoring of the emergency state of the user.
Description
Technical Field
The invention belongs to the technical field of medical rehabilitation, and relates to a prone position detection method of a piezoelectric sensor and nursing equipment applying the method.
Background
Under the background of aging population, the demands of the countries, the society and the families on nursing bed products are increasing day by day, and especially the demands on the nursing beds with high intelligent degree, good performance and multiple functions are becoming more and more serious. As the starting is late, the nursing bed industry in China is still in a relatively lagged position compared with developed countries, and the existing nursing bed products generally have the defects of incomplete functions and single function.
Disclosure of Invention
The invention aims to provide a prone position detection method of a piezoelectric sensor and nursing equipment applying the method.
In a first aspect, the present invention provides a method for detecting a prone position of a piezoelectric sensor, which is used in conjunction with a pressure sensor group disposed on a bed board or other equipment for a user to maintain the prone position. The pressure sensor group comprises a head pressure detection area and a waist pressure detection area which are arranged singly, and a back pressure detection area, a shoulder pressure detection area, an arm pressure detection area, a hip pressure detection area, a thigh pressure detection area and a shank ankle pressure detection area which are arranged in pairs. The relative positions of the head pressure detection region, the back pressure detection region, the waist pressure detection region, the shoulder pressure detection region, the arm pressure detection region, the hip pressure detection region, the thigh pressure detection region, and the calf ankle pressure detection region correspond to the relative positions of the head pressure detection region, the back, the waist, the shoulder, the arm, the hip, the thigh, and the calf ankle of the user, respectively. Each pressure detection area is composed of a plurality of pressure sensors which are arranged in an array shape.
The detection method specifically comprises the following steps:
when a user lies on the pressure sensor group, the pressure value measured by each pressure sensor is used as a frame of data; integrating all data into a one-dimensional array; and expanding each element in the one-dimensional array to a corresponding position in the two-dimensional array according to the actual position of the corresponding pressure sensor. And converting the two-dimensional array into an image, wherein elements at different positions in the two-dimensional array correspond to pixel values of different pixel points on the image respectively to obtain the image reflecting the prone position of the user. And judging the posture change condition of the user according to the pressure change condition of each pressure detection area.
Preferably, when the pressure in the head pressure detection area is reduced and the pressure in the back pressure detection area positioned on the left side of the user is increased, the user turns over to the left; if the pressure of the back pressure detection area positioned on the right side of the user is increased, judging that the user turns over to the right; if both the back pressure detection areas are reduced and the pressure of the hip pressure detection area is increased, it is determined that the user gets up.
Preferably, if the variation range of all the pressure detection areas in the preset time is smaller than the lower limit of the variation range, or the number of times of the user turning over the body in a left-right reciprocating mode in the preset time reaches a threshold value, the user is considered to have an abnormal condition, and an alarm is given.
Preferably, the pressure sensor is a piezo-resistive piezo-electric dual mode pressure sensor comprising a piezo-resistive portion and a piezo-electric portion. The piezoresistive portion and the piezoelectric portion are stacked together, and signal lines are respectively output to the controller.
In a second aspect, the invention provides a nursing device applying the method for detecting a prone position of a piezoelectric sensor, which comprises a bed structure and a wheelchair structure. The bed body structure is provided with a abdicating notch; the wheelchair structure can be deformed into a planar bed plate shape. The wheelchair structure can enter the bed body structure to the abdication gap and is deformed into a plane bed plate shape; at the moment, the top surfaces of the bed body structure and the wheelchair structure are spliced into a complete bed surface.
The bed body structure comprises a main body part; the middle positions of the left side and the right side of the main body part are provided with rectangular abdicating notches. The tail end of the main body part of the abdicating notch is communicated with the head end of the main body part and is not connected with the head end of the main body part. The wheelchair structure comprises a chair body main body, a wheelchair seat plate, a backrest adjusting mechanism and a leg adjusting mechanism; the wheelchair seat board is fixed on the top surface of the chair body main body. The backrest adjusting mechanism comprises a third electric push rod and a back plate; the bottom edge of the back plate is hinged with the rear end of the wheelchair seat plate; one end of the third electric push rod is hinged with the chair body main body; the other end of the third electric push rod is hinged with the back surface of the back plate.
The leg adjusting mechanism comprises a fourth electric push rod, a pedal, a leg bending plate, a transmission rod, a foot plate supporting beam and a seat plate supporting beam. The inner side edge of the leg-bending plate is hinged with the front end of the wheelchair seat plate. The outer edge of the leg-bending plate is hinged with the inner edge of the pedal. Two ends of the fourth electric push rod are respectively hinged with the middle parts of the back surfaces of the chair body main body and the leg bending plate. The foot plate supporting beam is fixed on the foot plate. The seat plate supporting beams are fixed on the bottom surface of the wheelchair seat plate; two ends of the transmission rod are respectively hinged with the foot plate supporting beam and the seat plate supporting beam. The wheelchair seat plate, the leg bending plate, the pedal plate and the transmission rod form a parallelogram mechanism, so that the wheelchair seat plate and the pedal plate are continuously kept parallel.
The head pressure detection area is arranged in the middle of the head end of the top surface of the bed body structure; the back pressure detection area, the waist pressure detection area, the shoulder pressure detection area and the arm pressure detection area are all arranged on the back plate; the hip pressure detection area is arranged on the wheelchair seat plate. The thigh pressure detection area and the calf ankle pressure detection area are both provided on the knee plate.
Preferably, the bed structure further comprises a locking structure. The locking structure is arranged in the abdicating notch and used for locking the wheelchair structure and the bed body structure together. The locking structure comprises a guide rail and an electromagnetic push rod; two guide rails horizontally arranged are respectively fixed on two sides of the abdicating notch. The electromagnetic push rod is fixed on one side of the abdicating notch. A limit pin is fixed on the push rod of the electromagnetic push rod; the wheelchair structure is provided with a positioning pin hole and two sliding blocks which are respectively positioned at two sides of the wheelchair structure. When the wheelchair structure enters the abdicating notch, the two sliding blocks are respectively connected with the two guide rails in a sliding manner. When the wheelchair structure moves in place, the limiting pin on the electromagnetic push rod is aligned with the positioning pin hole on the wheelchair structure.
Preferably, the bed structure further comprises two side-turn structures. The two side-turning structures are respectively arranged on two sides of the head end of the main body part; the rollover structure can be driven by the power element to roll upwards around the inner side edge. The side turning structure comprises a side turning plate, a side turning connecting rod, a first electric push rod and a push rod support; the inner end of the side-turning connecting rod is hinged with the top surface of the main body part; the side-turning plate is fixed on the side-turning connecting rod. The shell of the first electric push rod is hinged with the main body part through a push rod support; the first push rod on the first electric push rod is hinged with the middle part of the side-turning connecting rod.
Preferably, the bed structure further comprises two guard rail structures. The two guardrail structures are both installed on the main body part and are respectively positioned on the opposite sides of the two side-turning structures. The guardrail structure comprises a second electric push rod, a railing, a support rod and a second push rod; the inner ends of the two support rods are respectively hinged with different positions on the main body part; the outer ends of the two support rods are respectively hinged with the two ends of the railing. The main body part, the two support rods and the railings form a parallelogram mechanism. The shell of the second electric push rod is hinged with the main body part; a second push-out rod of the second electric push rod is hinged with the middle part of one of the support rods. The height of the railing is controlled by controlling the extension and retraction of the second electric push rod.
Preferably, the wheelchair structure further comprises two armrest mechanisms. The two armrest mechanisms are respectively arranged on two sides of the chair body main body; the handrail mechanism comprises two connecting rods and a handrail. One end of each connecting rod is hinged with the middle parts of the wheelchair seat plate and the leg bending plate respectively; the other ends of the two connecting rods are hinged together. The inner end of the handrail is fixed with a connecting rod connected with the curved leg plate. The two connecting rods move along with the relative movement of the wheelchair seat plate and the leg bending plate; when the leg bending plate is turned to be in a horizontal state, the armrests move to be lower than the seat plate of the wheelchair along with the corresponding connecting rods. When the leg bending plate is turned downwards, the armrests move to a state higher than the seat plate of the wheelchair along with the corresponding connecting rods.
Preferably, the nursing equipment further comprises a navigation obstacle avoidance system. The navigation obstacle avoidance system comprises an ultrasonic sensor, an infrared sensor, a displacement sensor, a visual sensor, a mobile terminal, a controller and a human-computer interaction terminal; the ultrasonic sensor, the infrared sensor and the displacement sensor are all arranged at the front end of the pedal. The vision sensor is installed at the rear end of the chair body main body.
The invention has the beneficial effects that:
1. the invention utilizes the change conditions of the pressure sensors to identify the prone position of the user, can detect the posture change conditions of the user and realizes the real-time monitoring of the emergency state of the user.
2. The leg bending scheme of the invention takes the electric push rod as a power element, and utilizes a parallelogram mechanism with four connecting rods to enable the electric push rod to push the connecting rods so as to drive the pedal plate and the leg bending plate to move simultaneously, and ensure the stability of the movement.
3. The invention uses electric drive, has faster response speed, more stable transmission and less noise compared with other drive modes, and is convenient to control. And moreover, the precise transmission ratio can be realized, and the realization of strict control motion can be realized.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Figure 2 is a schematic view of the structure of the wheelchair of the present invention.
Fig. 3 is a schematic view of a rollover structure and a guard rail structure according to the present invention.
Figure 4 is a schematic view of the locking structure of the present invention in connection with a wheelchair structure.
Fig. 5 is a schematic view of the backrest adjusting mechanism of the present invention.
Fig. 6 is a schematic view of a leg adjustment mechanism according to the present invention.
Fig. 7 is a schematic view of the armrest mechanism of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1
A method for detecting the prone position of piezoelectric sensor features that a pressure sensor group is arranged on the bed plate or other equipment for user to keep the prone position. The pressure sensor group comprises a head pressure detection area and a waist pressure detection area which are arranged singly, and a back pressure detection area, a shoulder pressure detection area, an arm pressure detection area, a hip pressure detection area, a thigh pressure detection area and a shank ankle pressure detection area which are arranged in pairs. The relative positions of the head pressure detection region, the back pressure detection region, the waist pressure detection region, the shoulder pressure detection region, the arm pressure detection region, the hip pressure detection region, the thigh pressure detection region, and the calf ankle pressure detection region correspond to the relative positions of the head pressure detection region, the back, the waist, the shoulder, the arm, the hip, the thigh, and the calf ankle of the user, respectively.
Each pressure detection area consists of a plurality of pressure sensors which are arranged in an array shape; the sum of the detection values of all the pressure sensors in the pressure detection area is used as the pressure in the detection area. The pressure sensor adopts a piezoresistive and piezoelectric dual-mode pressure sensor. The piezoresistive and piezoelectric dual-mode pressure sensor is not the simple superposition of two single-mode pressure sensors, but adopts an integral design with a layered structure, the layered structure avoids the mutual interference of piezoresistive signals and piezoelectric signals, and the detection and the differentiation of static and dynamic pressure signals are realized. The thickness of a piezo-resistive piezo-electric dual-mode pressure sensor is less than the combined thickness of two single-mode sensors, and the magnitude of the thickness affects the sensitivity of the sensor. Through the mutual cooperation of the measured piezoresistive signals and the piezoelectric signals, the pressure signals can be well detected in the complex pressure loading process of the human body pose change.
The detection method specifically comprises the following steps:
when a user lies on the pressure sensor group, the piezoresistive part and the piezoelectric part in each pressure sensor detect the pressure value applied by the pressure sensor and output a pressure signal; the two kinds of pressure signal data are transmitted to an upper computer in an ASCII code value mode, a program written by MATLAB reads data in a data buffer area and converts the data into a 16-system character string, characters are indexed one by using the length of a single byte (8 bits) in a cycle and converted into decimal integers, two adjacent integers are high and low bytes of the same pressure value, the high bytes are subjected to left shift by 8 bits and then are subjected to data splicing with low byte operation, and the integer generated after conversion is the pressure value.
Taking a pressure value obtained after the pressure sensor is processed as frame data; integrating all data into a one-dimensional array, and recombining the array through row indexes to finally obtain a two-dimensional array; the position of the coordinate of each pressure value in the two-dimensional array corresponds to the relative position of each pressure detection area one by one; and the value of an element on the two-dimensional array, which does not correspond to the positions of all the pressure sensors, is 0. And forming a colorful human-shaped image by utilizing different pressure values corresponding to different colors. The pressure can be judged according to the shade of the color through the displayed colorful human-shaped image. The pressure data is converted into a color human-shaped image, which is beneficial to observing the distribution characteristics and dynamic changes of the pressure when the human body is lying in bed.
The pose change of the human body is judged through the internal correlation between the human body action and the pressure change of each part of the human body to the bed surface. For the action of turning over the lying state to the left, the head is slightly lifted, the pressure of the head is reduced, the muscles on the left side of the chest and the back are contracted, the pressure of the chest and the back is increased, the arms on the left side are pressed down to move, the pressure is increased, the arms on the right side are lifted to move, the pressure is reduced, the muscles on the hip on the left side are contracted, the pressure is increased, the hips on the right side are lifted to move, the pressure is reduced, the muscles on the legs on the left side are contracted, the pressure is increased, the hips on the right side are lifted to move, and the pressure is reduced. By analogy, the change of the dynamic pressure is judged by the method, and the change of the human body pose is judged according to the color depth change of the color human shape image according to the mapping relation.
Therefore, when the pressure in the head pressure detection area is reduced, if the pressure in the back pressure detection area positioned on the left side of the user is increased, the user is judged to turn left; if the pressure of the back pressure detection area positioned on the right side of the user is increased, judging that the user turns over to the right; if both the back pressure detection areas are reduced and the pressure of the hip pressure detection area is increased, it is determined that the user gets up.
And if the variation amplitude of all the pressure detection areas in the preset time is smaller than the lower limit of the variation amplitude, or the number of times of the user turning over in a left-right reciprocating mode in the preset time reaches a threshold value, the user is considered to be in an abnormal state, and an alarm is given.
Example 2
A nursing device applying the prone position detection method of the piezoelectric sensor in the embodiment 1 is a household nursing bed; the household nursing bed comprises a bed body structure, a wheelchair structure, an LCD screen, a single chip microcomputer and a power amplifier loudspeaker. The bed body structure is provided with a abdication gap; the wheelchair structure can be deformed into a planar bed plate shape. The wheelchair structure can enter the bed body structure to the abdication gap and is deformed into a plane bed plate shape; at the moment, the top surfaces of the bed body structure and the wheelchair structure are spliced into a complete bed surface.
The bed body structure comprises a main body part, a side-turning structure 1, a guardrail structure 3 and a locking structure 4; the middle positions of the left side and the right side of the main body part are provided with rectangular abdicating notches. The tail end of the main body part of the abdicating notch is communicated with the head end of the main body part and is not connected with the head end of the main body part. The two side-turning structures 1 are respectively arranged on two sides of the head end of the main body part; the two guardrail structures 3 are both mounted on the main body part and are respectively located on opposite sides of the two side-tipping structures 1. The locking structure 4 is arranged in the abdicating notch and used for locking the wheelchair structure and the bed body structure together. The rollover structure 1 can be driven by the power element to roll over upward around the inner edge. Through the upset of two side structures 1, can push the user to wheelchair structurally.
As shown in fig. 3, the side-turning structure 1 includes a side-turning plate 10, a side-turning connecting rod 11, a first electric push rod 16, and a push rod support 15; the inner end of the side-turning connecting rod 11 is hinged with the top surface of the main body part; the side turning plate 10 is fixed on the side turning connecting rod 11. The shell of the first electric push rod 16 is hinged with the main body part through a push rod support 15; the first push-out rod 9 on the first electric push rod 16 is hinged with the middle part of the side-turning connecting rod 11. The first electric push rod 16 is used as a power element to push the side turning connecting rod 11 to drive the side turning plate 10, so that the side turning plate 10 is pushed by the guide wheel to complete the side turning action.
The guardrail structure 3 comprises a second electric push rod 14, a railing 12, a support rod and a second push rod 13; the inner ends of the two support rods are respectively hinged with different positions on the main body part; the outer ends of the two support rods are respectively hinged with the two ends of the railing 12. The body portion, the two support bars and the balustrade 12 form a parallelogram mechanism so that the balustrade 12 remains horizontal during movement. The shell of the second electric push rod 14 is hinged with the main body part; the second push-out rod 13 of the second electric push rod 14 is hinged with the middle part of one of the support rods. The height of the balustrade 12 is controlled by controlling the extension and retraction of the second power push bar 14.
As shown in fig. 4, the locking structure 4 includes a guide rail 19 and an electromagnetic push rod 20; two guide rails 19 which are horizontally arranged are respectively fixed on two sides of the abdicating notch. The electromagnetic push rod 20 is fixed on one side of the abdicating notch. A limit pin is fixed on the push rod of the electromagnetic push rod 20; the wheelchair structure is provided with a positioning pin hole and two sliding blocks which are respectively positioned at two sides of the wheelchair structure. When the wheelchair structure enters the abdicating notch, the two sliding blocks are respectively connected with the two guide rails 19 in a sliding manner. When the wheelchair structure is moved in place, the limit pins on the electromagnetic push rods 20 are aligned with the locating pin holes on the wheelchair structure. At the moment, the electromagnetic push rod 20 is electrified, the limiting pin is popped out of the positioning pin hole, and the wheelchair structure is locked.
The wheelchair structure 5 comprises a wheelchair body, a wheelchair seat plate 18, a backrest adjusting mechanism 8, a leg adjusting mechanism 7 and an armrest mechanism 6; the backrest adjusting mechanism 8 is arranged at the rear end of the chair body main body; the leg adjusting mechanism 7 is arranged at the front end of the chair body main body; the wheelchair seat plate 18 is fixed to the top surface of the body main body.
As shown in fig. 5, the backrest adjusting mechanism 8 includes a third electric putter 22 and a back plate 21; the bottom edge of the back plate 21 is hinged with the rear end of the wheelchair seat plate 18; one end of the third electric push rod 22 is hinged with the chair body main body; the other end of the third electric push rod 22 is hinged with the back surface of the back plate 21. The back plate is driven to rotate around the hinged position with the wheelchair seat plate 18 through the extension and contraction of the third electric push rod 22.
As shown in fig. 6, the leg portion adjusting mechanism 7 includes a fourth electric putter 24, a foot pedal 17, a leg bending plate 23, a transmission lever, a foot board support beam, and a seat board support beam. The inner edge of the curved leg plate 23 is hinged to the front end of the wheelchair seat plate 18. The outer edge of the leg-bending plate 23 is hinged to the inner edge of the foot board 17. Two ends of the fourth electric push rod 24 are respectively hinged with the middle parts of the chair body main body and the back surface of the leg bending plate 23. The fourth electric push rod 24 drives the crank leg plate 23 to turn relative to the wheelchair seat plate 18.
The footboard support beam is fixed to the footboard 17. The seat plate supporting beams are all fixed on the bottom surface of the wheelchair seat plate 18; two ends of the transmission rod are respectively hinged with the foot plate supporting beam and the seat plate supporting beam. The rotation axis between the transmission rod and the foot plate support beam is staggered with the rotation axis between the foot pedal 17 and the leg bending plate 23; the rotation axis between the transmission rod and the wheelchair seat plate 18 is staggered with the rotation axis between the leg bending plate 23 and the wheelchair seat plate 18; the wheelchair seat plate 18, the leg-bending plate 23, the pedal plate 17 and the transmission rod form a parallelogram mechanism, so that the wheelchair seat plate 18 and the pedal plate 17 are continuously kept parallel.
As shown in fig. 7, two armrest mechanisms 6 are respectively provided on both sides of the seat body; the armrest mechanism 6 includes two connecting rods 26 and an armrest 25. One end of each connecting rod is hinged with the middle parts of the wheelchair seat plate 18 and the leg bending plate 23; the other ends of the two connecting rods are hinged together. The inner end of the armrest 25 is fixed to a connecting rod 26 connected to the curved leg plate 23. The two connecting rods 26 move along with the relative movement of the wheelchair seat plate 18 and the leg-bending plate 23; when the leg-bending plate 23 is turned to the horizontal state, the armrest 25 follows the corresponding connecting rod to move to a state lower than the wheelchair seat plate 18. When the leg-bending plate 23 is turned downward, the armrests 25 follow the corresponding connecting rods to a position higher than the wheelchair seat plate 18 so as to be supported by a seated user.
An LCD screen is mounted on one of the armrests 25; the LCD screen is connected with the controller. The function of LCD screen operation can be realized after the controller is internally provided with a program. The controller adopts a singlechip.
As shown in fig. 2, the navigation obstacle avoidance system includes an ultrasonic sensor 27, an infrared sensor 28, a displacement sensor 29, a vision sensor 30, a mobile terminal, a controller, and a human-computer interaction terminal; the ultrasonic sensor 27, the infrared sensor 28 and the displacement sensor 29 are all installed at the front end of the pedal. The vision sensor 30 is installed at the rear end of the chair body main body for detecting information around the environment; each sensor is respectively connected with the mobile terminal, and the information collected by each sensor is analyzed and processed; the mobile terminal is in wireless connection with the controller, and the controller receives a control signal sent by the mobile terminal and the human-computer interaction terminal; the controller is in wireless connection with the human-computer interaction terminal, and the patient can send out control information of the wheelchair bed through the human-computer interaction terminal.
The head pressure detection area is arranged in the middle of the head end of the top surface of the bed body structure; the back pressure detection area, the waist pressure detection area, the shoulder pressure detection area and the arm pressure detection area are all arranged on the back plate 21; the hip pressure detection area is provided on the wheelchair seat plate 18. Both the thigh pressure detection area and the calf ankle pressure detection area are provided on the knee plate 23.
The angle range of the back plate set by the nursing bed is 0-80 degrees, and the angle range of the side turning plate is 0-45 degrees.
The pressure detection process of the nursing equipment is as follows:
reading the values of the sensors in the hip and head pressure sensing areas, determining the position of the head according to the values of the measuring points, sequentially reading the values of the shoulder, back and waist pressure sensing areas, and determining the positions of the shoulder, back, waist and arms. And reading the values of the thigh and calf ankle pressure sensing areas, and determining the positions of the thigh and the calf ankle.
And secondly, acquiring sensor data of a user in a standard pose, for example, recording data of related pressure measurement points in a lying state, acquiring body size parameters of the user according to the positions of the measurement points, recording the related data, acquiring pressure parameters of each part of a human body so as to acquire quality parameters of each part, and taking the related parameters as template parameters of the user.
And step three, taking the hip position as a reference point, and matching the corresponding shoulder, back, waist, arm, thigh and calf ankle position postures according to the numerical values of the pressure sensing areas and the pressure parameters of the positions of the template parameters.
And step four, establishing a human body pressure data model according to the measured data, inducing and sorting some complex poses, and ending the recognition problems of body torsion, body deviation and body overlapping.
When the bed is in work, a patient lies on the bed in a bed body state, and can control movement through an LCD remote controller and also can control movement through voice. When a patient clicks the guardrail to lift/lower or says 'guardrail lifting/lowering', the guardrail 11 is slowly lifted/lowered for a certain height, so that the patient can be prevented from falling down or the patient can be assisted in borrowing force, and the movement of the patient is more convenient; when the patient clicks the left/right side to turn on the side or says 'the left/right side is lifted up', the left/right side turning plate 10 slowly turns on the side for a certain angle, so that the patient can be assisted to turn over, and the patient is prevented from keeping the same posture for a long time to cause chronic diseases; when a patient clicks to lift the back or says 'the back is lifted up', the bed body back plate 21 is slowly lifted up, so that the patient can also get up on the bed, and the daily life of the patient is facilitated; when a patient clicks the wheelchair or says 'wheelchair separation', the bed frames of the two parts are opened, then the middle part of the bed body begins to deform into the wheelchair 5, and the opening of the bed frames enables the wheelchair 5 to run out to have enough space, so that the patient can conveniently operate the wheelchair 5. In addition, utilize power amplifier loudspeaker, be connected to the singlechip with it, all can report the warning when the bed body begins to move each time, can let the patient possess and prepare, prevent that the bed body from beginning to move when the patient does not have the preparation.
When the patient keeps the same posture for a long time, the patient can turn over automatically; assisting the patient to turn over, turn over at regular time and lift the back.
On the basis of the nursing equipment, the following parts can be added:
a bed-chair docking system. The bed-chair butt joint system comprises an ultrasonic sensor, a PID controller and a servo motor; the butt joint of the bed and the chair is realized by the ultrasonic sensors arranged on the two sides; a closed loop feedback system is formed by a sensor and a servo motor arranged on the wheelchair, and the sensor sends and receives information sent by the sensor; and the clock counting is carried out in the FPGA to measure and calculate the distance, and the rotating speed of the PID adjusting servo motor is used for controlling the position of the wheelchair relative to the bed body so as to prevent the wheelchair and the bed body from colliding. And (5) a power amplifier horn. And the power amplifier loudspeaker makes an emergency call.
Contact massage type mattress. The contact massage type mattress ensures the sleep quality of the patient.
Claims (10)
1. A prone position detection method of a piezoelectric sensor is characterized in that: the pressure sensor group is arranged on a bed board or other equipment for keeping the user prone position; the pressure sensor group comprises a head pressure detection area, a waist pressure detection area, a back pressure detection area, a shoulder pressure detection area, an arm pressure detection area, a hip pressure detection area, a thigh pressure detection area and a shank ankle pressure detection area which are arranged in a single mode, and the back pressure detection area, the shoulder pressure detection area, the arm pressure detection area, the hip pressure detection area, the thigh pressure detection area and the shank ankle pressure detection area are arranged in pairs; the relative positions of the head pressure detection area, the back pressure detection area, the waist pressure detection area, the shoulder pressure detection area, the arm pressure detection area, the hip pressure detection area, the thigh pressure detection area and the calf ankle pressure detection area respectively correspond to the relative positions of the head pressure detection area, the back, the waist, the shoulder, the arm, the hip, the thigh and the calf ankle of the user; each pressure detection area consists of a plurality of pressure sensors which are arranged in an array shape;
the detection method specifically comprises the following steps:
when a user lies on the pressure sensor group, the pressure value measured by each pressure sensor is used as a frame of data; integrating all data into a one-dimensional array; expanding each element in the one-dimensional array to a corresponding position in the two-dimensional array according to the actual position of the corresponding pressure sensor; converting the two-dimensional array into an image, wherein elements at different positions in the two-dimensional array correspond to pixel values of different pixel points on the image respectively to obtain an image reflecting the prone position of the user; and judging the posture change condition of the user according to the pressure change condition of each pressure detection area.
2. The prone position detection method of a piezoelectric sensor according to claim 1, characterized in that: when the head pressure detection area detects that the pressure is reduced, if the pressure of the back pressure detection area positioned on the left side of the user is increased, the user is judged to turn over leftwards; if the pressure of the back pressure detection area positioned on the right side of the user is increased, judging that the user turns over to the right; if both the back pressure detection areas are reduced and the pressure of the hip pressure detection area is increased, it is determined that the user gets up.
3. A prone position detecting method of a piezoelectric sensor according to claim 1 or 2, characterized in that: and if the variation amplitude of all the pressure detection areas in the preset time is smaller than the lower limit of the variation amplitude, or the number of times of the user turning over in a left-right reciprocating mode in the preset time reaches a threshold value, the user is considered to be in an abnormal state, and an alarm is given.
4. The prone position detection method of a piezoelectric sensor according to claim 3, characterized in that: the pressure sensor adopts a piezoresistive and piezoelectric dual-mode pressure sensor which comprises a piezoresistive part and a piezoelectric part; the piezoresistive portion and the piezoelectric portion are stacked together, and signal lines are respectively output to the controller.
5. A care apparatus, characterized by: a prone position detection method using a piezoelectric sensor according to any one of claims 1 to 4; the nursing device comprises a bed body structure and a wheelchair structure; the bed body structure is provided with a abdicating notch; the wheelchair structure can be deformed into a plane bed plate shape; the wheelchair structure can enter the bed body structure to the abdication gap and is deformed into a plane bed plate shape; at the moment, the top surfaces of the bed body structure and the wheelchair structure are spliced into a complete bed surface;
the bed body structure comprises a main body part; a rectangular abdicating notch is arranged at the middle position of the left side and the right side of the main body part; the tail end of the main body part of the abdicating notch is communicated with the head end of the main body part and is not connected with the head end of the main body part; the wheelchair structure (5) comprises a wheelchair body main body, a wheelchair seat plate (18), a backrest adjusting mechanism (8) and a leg adjusting mechanism (7); a wheelchair seat plate (18) is fixed on the top surface of the chair body main body; the backrest adjusting mechanism (8) comprises a third electric push rod (22) and a back plate (21); the bottom edge of the back plate (21) is hinged with the rear end of the wheelchair seat plate (18); one end of a third electric push rod (22) is hinged with the chair body main body; the other end of the third electric push rod (22) is hinged with the back surface of the back plate (21);
the leg adjusting mechanism (7) comprises a fourth electric push rod (24), a pedal (17), a leg bending plate (23), a transmission rod, a pedal plate supporting beam and a seat plate supporting beam; the inner side edge of the leg bending plate (23) is hinged with the front end of the wheelchair seat plate (18); the outer edge of the leg bending plate (23) is hinged with the inner edge of the pedal (17); two ends of a fourth electric push rod (24) are respectively hinged with the middle parts of the back surfaces of the chair body main body and the leg bending plate (23); the foot plate supporting beam is fixed on the foot pedal (17); the seat plate supporting beams are all fixed on the bottom surface of the wheelchair seat plate (18); two ends of the transmission rod are respectively hinged with the foot plate supporting beam and the seat plate supporting beam; the wheelchair seat plate (18), the leg bending plate (23), the pedal (17) and the transmission rod form a parallelogram mechanism, so that the wheelchair seat plate (18) and the pedal (17) are continuously kept parallel;
the head pressure detection area is arranged in the middle of the head end of the top surface of the bed body structure; the back pressure detection area, the waist pressure detection area, the shoulder pressure detection area and the arm pressure detection area are all arranged on the back plate (21); the hip pressure detection area is arranged on the wheelchair seat plate (18); the thigh pressure detection region and the calf ankle pressure detection region are both provided on the knee plate (23).
6. A care apparatus as claimed in claim 1, characterized in that: (ii) a The bed body structure also comprises a locking structure (4); the locking structure (4) is arranged in the abdicating notch and used for locking the wheelchair structure and the bed body structure together; the locking structure (4) comprises a guide rail (19) and an electromagnetic push rod (20); two guide rails (19) which are horizontally arranged are respectively fixed on two sides of the abdicating notch; the electromagnetic push rod (20) is fixed on one side of the abdicating notch; a limit pin is fixed on the push rod of the electromagnetic push rod (20); the wheelchair structure is provided with a positioning pin hole and two sliding blocks which are respectively positioned at two sides of the wheelchair structure; when the wheelchair structure enters the abdicating notch, the two sliding blocks are respectively connected with the two guide rails (19) in a sliding manner; when the wheelchair structure moves in place, the limiting pin on the electromagnetic push rod (20) is aligned with the positioning pin hole on the wheelchair structure.
7. A care apparatus as claimed in claim 1, characterized in that: (ii) a The bed body structure also comprises two side-turning structures (1); the two side-turning structures (1) are respectively arranged on two sides of the head end of the main body part; the side-turning structure (1) can be driven by the power element to turn upwards around the inner side edge; the side turning structure (1) comprises a side turning plate (10), a side turning connecting rod (11), a first electric push rod (16) and a push rod support (15); the inner end of the side-turning connecting rod (11) is hinged with the top surface of the main body part; the side turning plate (10) is fixed on the side turning connecting rod (11); the shell of the first electric push rod (16) is hinged with the main body part through a push rod support (15); a first push rod (9) on the first electric push rod (16) is hinged with the middle part of the side-turning connecting rod (11).
8. A care apparatus as claimed in claim 1, characterized in that: (ii) a The bed body structure also comprises two guardrail structures (3); the two guardrail structures (3) are arranged on the main body part and are respectively positioned on the opposite sides of the two side-turning structures (1); the guardrail structure (3) comprises a second electric push rod (14), a railing (12), a support rod and a second push rod (13); the inner ends of the two support rods are respectively hinged with different positions on the main body part; the outer ends of the two support rods are respectively hinged with the two ends of the railing (12); the main body part, the two support rods and the railing (12) form a parallelogram mechanism; the shell of the second electric push rod (14) is hinged with the main body part; a second push-out rod (13) of the second electric push rod (14) is hinged with the middle part of one of the support rods; the height of the railing (12) is controlled by controlling the extension and contraction of the second electric push rod (14).
9. A care apparatus as claimed in claim 1, characterized in that: (ii) a The wheelchair structure (5) further comprises two armrest mechanisms (6); the two armrest mechanisms (6) are respectively arranged on two sides of the chair body main body; the handrail mechanism (6) comprises two connecting rods (26) and a handrail (25); one end of each connecting rod is hinged with the middle parts of the wheelchair seat plate (18) and the leg bending plate (23) respectively; the other ends of the two connecting rods are hinged together; the inner end of the handrail (25) is fixed with a connecting rod (26) connected with the curved leg plate (23); the two connecting rods (26) move along with the relative movement of the wheelchair seat plate (18) and the leg bending plate (23); when the leg-bending plate (23) is turned to be in a horizontal state, the handrail (25) moves to be lower than the wheelchair seat plate (18) along with the corresponding connecting rod; when the leg-bending plate (23) is turned downwards, the armrests (25) move to a state higher than the wheelchair seat plate (18) along with the corresponding connecting rods.
10. A care apparatus as claimed in claim 1, characterized in that: (ii) a The nursing equipment also comprises a navigation obstacle avoidance system; the navigation obstacle avoidance system comprises an ultrasonic sensor (27), an infrared sensor (28), a displacement sensor (29), a vision sensor (30), a mobile terminal, a controller and a human-computer interaction terminal; the ultrasonic sensor (27), the infrared sensor (28) and the displacement sensor (29) are all arranged at the front end of the pedal; the visual sensor (30) is mounted at the rear end of the chair body main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111664961.9A CN114287924A (en) | 2021-12-31 | 2021-12-31 | Prone position detection method of piezoelectric sensor and nursing equipment applying same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111664961.9A CN114287924A (en) | 2021-12-31 | 2021-12-31 | Prone position detection method of piezoelectric sensor and nursing equipment applying same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114287924A true CN114287924A (en) | 2022-04-08 |
Family
ID=80972666
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111664961.9A Pending CN114287924A (en) | 2021-12-31 | 2021-12-31 | Prone position detection method of piezoelectric sensor and nursing equipment applying same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114287924A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205626336U (en) * | 2016-03-18 | 2016-10-12 | 青岛锐海柏信息技术有限公司 | Multifunctional intelligent caring bed |
| CN109925136A (en) * | 2019-03-20 | 2019-06-25 | 河北工业大学 | A kind of intelligent bed system and its application method based on movement intention assessment |
| CN112206107A (en) * | 2020-11-03 | 2021-01-12 | 佛山市顺德区新大通工艺电器有限公司 | Digital control intelligent nursing bed |
| CN112932835A (en) * | 2021-01-25 | 2021-06-11 | 浙江机电职业技术学院 | Nursing device combining wheelchair and nursing bed and using method thereof |
-
2021
- 2021-12-31 CN CN202111664961.9A patent/CN114287924A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205626336U (en) * | 2016-03-18 | 2016-10-12 | 青岛锐海柏信息技术有限公司 | Multifunctional intelligent caring bed |
| CN109925136A (en) * | 2019-03-20 | 2019-06-25 | 河北工业大学 | A kind of intelligent bed system and its application method based on movement intention assessment |
| CN112206107A (en) * | 2020-11-03 | 2021-01-12 | 佛山市顺德区新大通工艺电器有限公司 | Digital control intelligent nursing bed |
| CN112932835A (en) * | 2021-01-25 | 2021-06-11 | 浙江机电职业技术学院 | Nursing device combining wheelchair and nursing bed and using method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109925136B (en) | Intelligent bed system based on action intention recognition and use method thereof | |
| JP5108776B2 (en) | A system to monitor several different parameters of a patient in bed | |
| CN100464698C (en) | Pulse condition detecting device capable of automatically regulating pulse-feeling pressure and pulse condition characteristic extracting method | |
| US7007327B2 (en) | Adjustable bed | |
| CN110584911A (en) | Intelligent nursing bed based on prone position recognition | |
| CN108618915A (en) | Assisted electric bed system and assisted electric bed control method | |
| JP4584689B2 (en) | Biological information measuring device, bed for biological information measuring device, and biological information measuring method | |
| CN110787006B (en) | Novel electric sickbed based on eyeball driving and adjusting | |
| CN109620176A (en) | A kind of intelligent sleep monitoring method and device | |
| CN107536311B (en) | Intelligent multifunctional seat system | |
| CN109481184A (en) | A kind of intensive care patient bed and its control method with bat back function | |
| CN111513722A (en) | Sleep twitch monitoring mat and mattress based on human body movement signals | |
| CN217409186U (en) | But angle regulation's medical bed | |
| JP3321942B2 (en) | Bedtime equipment | |
| CN210903764U (en) | Intelligent nursing bed based on prone position recognition | |
| CN114287924A (en) | Prone position detection method of piezoelectric sensor and nursing equipment applying same | |
| CN111012098B (en) | Old-person-assisting single bed | |
| CN113456037A (en) | Bed-based ballistocardiogram apparatus and method | |
| TWI685327B (en) | Physiological signal detection system | |
| CN215020759U (en) | Walking-replacing and monitoring robot for helping old people to live | |
| CN112245128B (en) | Robot for helping old people and disabled and personnel monitoring system controlled by electroencephalogram signals | |
| Cohen-McFarlane et al. | Monitoring congestive heart failure using pressure-sensitive mats | |
| CN217566662U (en) | Interactive spine physiotherapy bed | |
| CN111035896A (en) | Lower limb rehabilitation training system | |
| WO2016159347A1 (en) | State determining device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |