CN115067710B - Anti-pinch method and device applied to electric bed, electric bed and storage medium - Google Patents
Anti-pinch method and device applied to electric bed, electric bed and storage medium Download PDFInfo
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C17/00—Sofas; Couches; Beds
- A47C17/86—Parts or details for beds, sofas or couches only not fully covered in a single one of the sub-groups A47C17/02, A47C17/04, A47C17/38, A47C17/52, A47C17/64, or A47C17/84; Drawers in or under beds
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C19/00—Bedsteads
- A47C19/02—Parts or details of bedsteads not fully covered in a single one of the following subgroups, e.g. bed rails, post rails
- A47C19/021—Bedstead frames
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C21/00—Attachments for beds, e.g. sheet holders, bed-cover holders; Ventilating, cooling or heating means in connection with bedsteads or mattresses
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C31/00—Details or accessories for chairs, beds, or the like, not provided for in other groups of this subclass, e.g. upholstery fasteners, mattress protectors, stretching devices for mattress nets
- A47C31/12—Means, e.g. measuring means for adapting chairs, beds or mattresses to the shape or weight of persons
- A47C31/123—Means, e.g. measuring means for adapting chairs, beds or mattresses to the shape or weight of persons for beds or mattresses
Abstract
The embodiment of the application discloses an anti-clamping method and device applied to an electric bed, the electric bed and a storage medium, wherein the electric bed comprises a bed frame and a bed plate; the bed board comprises at least two sub boards; each of the at least two sub-boards is provided with a capacitive sensor; the capacitive sensor of each sub-board is arranged around the lower surface of the sub-board, and the lower surface of the sub-board is the surface of the sub-board close to the bed frame; the method comprises the following steps: acquiring capacitance values detected by each capacitance sensor of the bed board; determining a target sub-board from at least two sub-boards according to capacitance values detected by each capacitance sensor of the bed board; obstacles exist around the target daughter board; the control target sub-board stops moving or rising. By implementing the embodiment of the application, the electric bed can realize edge anti-clamping in the movement process.
Description
Technical Field
The application relates to the technical field of electric beds, in particular to an anti-clamping method and device applied to an electric bed, the electric bed and a storage medium.
Background
Currently, the smart home industry is entering a rapid development phase, in which smart electric beds are increasingly popular. Due to the constantly high price of houses, "one-house multi-use" is becoming a future trend. The bedroom is not only a sleeping place and a reading room, but also an entertainment room for watching television and playing games. Thus, there is an increasing need for multiple functions of beds. In order to solve the multifunctional problem of the bed, an electric bed is generated. Existing electric beds may support multiple modes such as entertainment mode, reading mode, stretch mode, etc. When the mode of the electric bed is switched, the corresponding mechanism moves, and during the movement, a certain part of a human body, such as fingers and the like, is placed in the crack to be scratched. The edge anti-clamping function of the electric bed cannot be realized by the existing electric bed technology.
Disclosure of Invention
The embodiment of the application discloses an anti-clamping method and device applied to an electric bed, the electric bed and a storage medium, so that the electric bed can realize an edge anti-clamping function.
The embodiment of the application discloses an anti-pinch method applied to an electric bed, which is characterized in that the electric bed comprises a bed frame and a bed board; the bed board comprises at least two sub boards; each of the at least two sub-boards is provided with a capacitance sensor; the capacitive sensors of each daughter board are arranged around the lower surface of the daughter board, and the lower surface of the daughter board is one surface of the daughter board close to the bed frame;
acquiring capacitance values detected by each capacitance sensor of the bed board respectively;
determining a target sub-board from the at least two sub-boards according to capacitance values detected by the capacitance sensors of the bed board respectively; barriers exist around the target daughter board;
and controlling the target sub-board to stop moving or rising.
As an alternative embodiment, the at least two sub-boards are divided into one or more sub-board groups, each sub-board group comprises two adjacent sub-boards, and the sub-boards included in different sub-board groups are different; the two sub-boards included in each sub-board group are controlled to move by the same driving device; the two sub-boards included in each sub-board group are respectively provided with a capacitive sensor in parallel connection; the determining, according to the capacitance values detected by the capacitive sensors of the bed board, a target sub-board from the at least two sub-boards includes:
Calculating the sum of capacitance values detected by the capacitive sensors in each sub-board group respectively;
determining a target sub-board group from each sub-board group according to the sum value of capacitance values corresponding to the sub-board groups; at least one target sub-board exists in two sub-boards included in the target sub-board group;
the controlling the target daughter board to stop moving or rising includes:
and controlling the two target sub-boards included in the target sub-board group to stop moving or rising.
As an optional implementation manner, the determining, according to the sum value of the capacitance values corresponding to the sub-board groups, the target sub-board group from the sub-board groups includes:
calculating the change rate of the sum value of the capacitance values corresponding to each sub-board respectively;
determining a target sub-board group from the sub-board groups; and the change rate of the sum value corresponding to the target sub-board group is larger than the first capacitance threshold value corresponding to the target sub-board group.
As an alternative embodiment, the first capacitance threshold value is different corresponding to different sub-board groups in each sub-board group.
As an optional implementation manner, the controlling the target daughter board to stop moving or rising includes:
Controlling the target sub-board to stop moving or rising until the capacitance value detected by the capacitance sensor of the target sub-board is restored to the initial capacitance value; and the initial value of the capacitance is the capacitance value detected by the capacitance sensor of the target daughter board when no obstacle exists around the target daughter board.
As an alternative embodiment, controlling the target sub-board to stop moving until the capacitance value detected by the capacitance sensor of the target sub-board returns to the initial capacitance value includes:
when the target sub-board is in a moving state and the change rate of the capacitance value detected by the capacitance sensor of the target sub-board is larger than a second capacitance threshold and smaller than a third capacitance threshold, controlling the target sub-board to stop moving until the capacitance value detected by the capacitance sensor of the target sub-board is restored to the capacitance initial value; the third capacitance threshold is greater than the second capacitance threshold.
As an alternative embodiment, the method further comprises:
when the target sub-board is in a moving state and the change rate of the capacitance value detected by the capacitance sensor of the target sub-board is larger than the third capacitance threshold value, determining a first moving direction when the target sub-board is in the moving state, and determining a second moving direction opposite to the first moving direction;
And controlling the target sub-board to move according to the second moving direction until the capacitance value detected by the capacitance sensor of the target sub-board is restored to the initial capacitance value.
The embodiment of the application discloses an anti-pinch device applied to an electric bed, which is characterized in that the electric bed comprises a bed frame and a bed plate; the bed board comprises at least two sub boards; each of the at least two sub-boards is provided with a capacitance sensor; the capacitive sensors of each daughter board are arranged around the lower surface of the daughter board, and the lower surface of the daughter board is one surface of the daughter board close to the bed frame; the anti-pinch device comprises:
the acquisition module is used for acquiring capacitance values detected by each capacitance sensor of the bed board respectively;
the determining module is used for determining a target sub-board from the at least two sub-boards according to capacitance values detected by the capacitance sensors of the bed board respectively; barriers exist around the target daughter board;
and the control module is used for controlling the target daughter board to stop moving or rising.
The embodiment of the application discloses an electric bed, which comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor realizes any anti-clamping method applied to the electric bed.
The embodiment of the application discloses a computer readable storage medium which stores a computer program, wherein the computer program enables a computer to execute any anti-clamping method applied to an electric bed.
Compared with the related art, the embodiment of the application has the following beneficial effects:
the electric bed comprises a bed frame and a bed board, wherein each of at least two sub-boards of the bed board is provided with a capacitance sensor, and the capacitance sensor of each sub-board is arranged on the lower surface of the sub-board, which is close to the bed frame, and surrounds the periphery of the sub-board; and the electric bed determines target sub-boards with barriers around from at least two sub-boards according to the acquired capacitance values detected by the capacitance sensors of the bed board respectively, and controls the target sub-boards to stop moving or rising. According to the embodiment of the application, the target sub-boards clamped to the parts of people all around are determined from the plurality of sub-boards through the capacitance values detected by the capacitance sensors arranged on the sub-boards in the bed board respectively, and the target sub-boards are controlled to stop moving or rise so as to prevent clamping injury, so that the electric bed can realize the edge anti-clamping function.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1A is a schematic structural view of an electric bed according to an embodiment of the present disclosure;
FIG. 1B is a partial side view of an electric bed disclosed in an embodiment of the present application;
FIG. 1C is a partial side view of another electric bed disclosed in an embodiment of the present application;
FIG. 2 is a schematic flow chart of an anti-pinch method for an electric bed according to an embodiment of the present disclosure;
FIG. 3A is a bottom view of a bed deck of an electric bed disclosed in an embodiment of the present application;
FIG. 3B is a side cross-sectional view of the bottom of a bed plate of an electric bed as disclosed in an embodiment of the present application;
FIG. 4 is a schematic view of another electric bed according to an embodiment of the present disclosure;
FIG. 5 is a schematic flow chart of another anti-pinch method for an electric bed disclosed in an embodiment of the present application;
FIG. 6 is a schematic flow chart of another anti-pinch method for an electric bed disclosed in an embodiment of the present application;
FIG. 7 is a schematic view of a clamping prevention device for an electric bed according to an embodiment of the present disclosure;
fig. 8 is a schematic structural view of another electric bed disclosed in the embodiment of the present application.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments and figures herein are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
The embodiment of the application discloses an anti-clamping method and device applied to an electric bed, the electric bed and a storage medium, so that the electric bed can realize edge anti-clamping in a moving process. The following will describe in detail.
Referring to fig. 1A, fig. 1A is a schematic structural diagram of an electric bed according to an embodiment of the present disclosure.
The electric bed comprises a bed board 10 and a bed frame 20, wherein the bed board comprises at least two sub-boards, as shown in fig. 1A, the bed board 10 can comprise a sub-board 101, a sub-board 102, a sub-board 103 and a sub-board 104, and the number of the sub-boards included in the bed board is not limited in the embodiment of the present application.
Further, referring to fig. 1B, fig. 1B is a partial side view of an electric bed according to an embodiment of the present disclosure. The lower surface of the bed board 10 of the electric bed is provided with an anti-interlayer 30, and a gap is arranged between the anti-interlayer 30 and the bed frame 20. The bed board 10 of the electric bed is used for bearing a mattress, and each sub-board included in the bed board 10 is placed in a space surrounded by the bed frame 20. Anti-sandwich 30 may include one or more sensors, such as capacitive sensors, infrared sensors, etc., for detecting whether a portion of a person falls within a void. If the bed board 10 of the electric bed contacts with the surface of the bed frame 20 during the movement, friction is generated and the surface of the bed frame 20 is easily worn. When the gap is too large, the appearance is impaired, and the article is dropped. As shown in fig. 1C, when the sub-board 104 in the bed board 10 is lifted, a gap between the sub-board 104 and the bed frame 20 becomes large, and if a certain portion of the human body falls into the gap, the human body is injured by the clamping after the sub-board 104 is lowered.
Referring to fig. 2, fig. 2 is a schematic flow chart of an anti-pinch method applied to an electric bed according to an embodiment of the present application. The method can be applied to the electric bed shown in fig. 1A, 1B and 1C. The electric bed comprises a bed frame 20 and a bed board 10; the bed board 10 comprises at least two sub-boards; each of the at least two sub-boards is provided with a capacitive sensor; the capacitive sensors of each sub-board are disposed around the periphery of the lower surface of the sub-board, which is the surface of the sub-board that is close to the bed frame 20.
As shown in fig. 3A and 3B, the interlayer preventing layer 30 is provided around the periphery of the lower surface 50 of the sub-board 102 and the sub-board 103. An anti-interlayer is arranged around the lower surface of each sub-board.
The anti-interlayer 30 may be divided into three layers, namely an upper polar plate, a dielectric layer and a lower polar plate.
In some alternative embodiments, the upper plate is a sheet metal, typically a metal coated conductive cloth; the medium layer is made of soft buffer material, generally polyurethane or polyethylene material; the lower polar plate is sheet metal, and is generally conductive cloth with a metal coating.
The anti-sandwich layer 30 provided for each sub-board may thus act as a capacitive sensor arranged around the periphery of the lower surface of the sub-board.
As shown in fig. 2, the anti-pinch method applied to the electric bed includes the steps of:
201. and acquiring capacitance values detected by each capacitance sensor of the bed plate.
The electric bed comprises a control main board, and the control main board comprises a signal pickup circuit and a main control circuit. Each capacitive sensor of the bed board is connected with a signal pickup circuit in the control main board, and the signal pickup circuit is connected with a main control circuit. The electric bed further comprises a driving device for controlling the movement of the bed board, wherein one driving device can control one sub-board, or one driving device can jointly control more than two sub-boards, and the electric bed is not limited in particular. The driving device may be an electric driving device (driving motor), an air driving device (cylinder), a hydraulic driving device, or the like, and is not particularly limited.
As shown in fig. 4, fig. 4 is a schematic structural view of another electric bed disclosed in the embodiment of the present application. The number of the driving devices is the same as that of the capacitive sensors 1 and the capacitive sensors 2 and … …, and the capacitive sensors N are respectively arranged on the sub-boards N, namely one driving device controls one sub-board, and N is a positive integer greater than or equal to 2. The signal pickup circuit of the electric bed obtains capacitance values detected by the capacitance sensors of the bed board respectively, and transmits the capacitance values to the main control circuit of the control main board in real time, and the main control circuit of the electric bed controls the motion state of each sub-board through the driving device according to the capacitance values detected by the capacitance sensors respectively.
202. And determining a target sub-board from at least two sub-boards according to the capacitance values detected by the capacitance sensors of the bed board.
The control main board of the electric bed determines a target sub-board from at least two sub-boards according to capacitance values detected by each capacitance sensor of the bed board, wherein the target sub-board can be a sub-board with barriers around determined by the control main board. When a certain part of a human body is clamped by the edge of a certain sub-board in the bed board, the capacitance sensor corresponding to the sub-board receives pressure, and the larger the pressure is, the larger the capacitance value is.
Optionally, determining a sub-board with the capacitance value detected by the capacitance sensor being greater than the capacitance threshold value from at least two sub-boards as a target sub-board; alternatively, a sub-board whose change rate of the capacitance value detected by the capacitance sensor is larger than the capacitance threshold value is determined as the target sub-board from at least two sub-boards. Further alternatively, the capacitance threshold values respectively corresponding to the respective sub-boards may be different, and the capacitance threshold value may be determined according to the size of each sub-board. Specifically, the capacitance threshold corresponding to the small-sized sub-board is smaller than the capacitance threshold corresponding to the large-sized sub-board.
The barriers around the target daughter board may include: the edge or the vicinity of the edge of the target daughter board is clamped to the obstacle and the obstacle is clamped between the target daughter board and the bed frame. The obstacle may be a part of the human body, such as a hand, or an object placed on the bed.
203. The control target sub-board stops moving or rising.
In some embodiments, the bed board of the electric bed may be in a static state, and if the electric bed determines a target sub-board with barriers around from the sub-boards, the target sub-board can be controlled to rise, because the target sub-board rises, the larger the gap between the sub-board and the bed frame is, so that the clamped part can be conveniently pulled out by a user. It should be noted that, the bed board of the electric bed is in a static state, which means that each sub board of the electric bed can be in an initial state, namely a flat state; or in the end of change state, i.e. the individual sub-boards have been adjusted to a suitable angle with the bed frame.
In some embodiments, the bed board of the electric bed is in a descending moving state, and if the electric bed determines a target subplate with barriers around from the subplates, the target subplate can be controlled to stop moving or rise.
In some embodiments, the bed board of the electric bed is in an ascending moving state, and if the electric bed determines a target subplate with barriers around from the subplates, the target subplate can be controlled to stop moving or descend.
Therefore, no matter the bed board of the electric bed is in a static state or a moving state, the electric bed of the embodiment of the application can realize the edge anti-clamping function.
In some alternative embodiments, the electric bed may be wirelessly connected to a remote controller, or may be wirelessly connected to an electronic device, which is not particularly limited. The electric bed can communicate with a remote controller or an electronic device through wireless communication modes such as Bluetooth, mobile cellular data network, wi-Fi (Wireless Fidelity ), infrared and the like, and the electric bed is not particularly limited. The remote control or the electronic device may send a control instruction for controlling the movement of the bed board to the electric bed, and optionally, the control instruction may include an instruction for separately controlling one sub-board, or may include an instruction for simultaneously controlling two or more sub-boards. The control instructions may include a up instruction and a down instruction. The anti-pinch function of the electric bed may be triggered by a control command.
The control instruction is analyzed and the bed board is controlled according to the control instruction if the target sub-board with the barriers around does not exist; if a target sub-board with barriers around is present, the electric bed does not execute a control instruction sent by the remote controller or the electronic equipment, the target sub-board is controlled to stop moving or rising, and the control instruction is executed until the barriers are eliminated.
According to the embodiment of the application, the target sub-boards clamped to the parts of people all around are determined from the plurality of sub-boards through the capacitance values detected by the capacitance sensors arranged on the sub-boards in the bed board respectively, and the target sub-boards are controlled to stop moving or rise so as to prevent clamping injury, so that the electric bed can realize the edge anti-clamping function.
Referring to fig. 5, fig. 5 is a schematic flow chart of another anti-pinch method applied to an electric bed according to an embodiment of the present application. The method can be applied to any of the electric beds of fig. 1-4. The electric bed comprises a bed frame and a bed board; the bed board comprises at least two sub boards; each of the at least two sub-boards is provided with a capacitive sensor; the capacitive sensor of each sub-board is arranged around the lower surface of the sub-board, and the lower surface of the sub-board is the surface of the sub-board close to the bed frame.
At least two sub-boards are divided into one or more sub-board groups, each sub-board group comprises two adjacent sub-boards, and the sub-boards included in different sub-board groups are different; the two sub-boards included in each sub-board group are controlled to move by the same driving device; the two sub-boards included in each sub-board group are respectively provided with capacitance sensors connected in parallel.
As shown in fig. 1A, the bed board includes four sub-boards, which may be divided into two sub-board groups, namely, sub-board group 1 and sub-board group 2, for example, sub-board group 1 may include sub-board 101 and sub-board 102, and sub-board group 2 may include sub-board 103 and sub-board 104. The sub-board 101 and the sub-board 102 may be controlled by the driving device 1, and the sub-board 103 and the sub-board 104 may be controlled by the driving device 2. The capacitive sensor of the daughter board 101 and the capacitive sensor of the daughter board 102 are connected in parallel, and the capacitive sensor of the daughter board 103 and the capacitive sensor of the daughter board 104 are connected in parallel.
Illustratively, the capacitive sensors respectively provided by the daughter board 101 and the daughter board 102 are connected through a wire terminal, the cascade mode is parallel connection, and the wire terminal of the daughter board 101 is connected with a control main board of the electric bed; the capacitance sensors respectively arranged on the sub-board 103 and the sub-board 104 are connected through lead terminals, the cascading mode is parallel connection, and the lead terminals of the sub-board 103 are connected with a control main board of the electric bed.
501. And acquiring capacitance values detected by each capacitance sensor of the bed plate.
502. And calculating the sum of capacitance values detected by the capacitive sensors in each sub-board group.
Because the capacitive sensors corresponding to two adjacent sub-boards in each sub-board group are connected in parallel, the equivalent capacitance value of the capacitive sensors connected in parallel is equal to the sum of the capacitance values corresponding to the capacitive sensors. Therefore, the sum of the capacitance values detected by the capacitance sensors in each sub-board group is calculated, and whether the periphery of each sub-board in each sub-board group is provided with an obstacle can be judged.
Exemplary, the sub-board group 1 includes a sub-board 101 and a sub-board 102, and the capacitance value detected by the capacitance sensor corresponding to the sub-board 101 is C1The capacitance value detected by the capacitance sensor corresponding to the sub-board 102 is C2, so the capacitance value of the signal pickup circuit of the sub-board group 1 output to the electric bed is C x1 ,C x1 =c1+c2; the sub-board group 2 comprises a sub-board 103 and a sub-board 104, the capacitance value detected by the capacitance sensor corresponding to the sub-board 103 is C3, the capacitance value detected by the capacitance sensor corresponding to the sub-board 104 is C4, and therefore the capacitance value of the signal pickup circuit output to the electric bed by the sub-board group 2 is C x2 ,C x2 ＝C3+C4。
503. And determining the target sub-board group from the sub-board groups according to the sum value of the capacitance values corresponding to the sub-board groups.
Because two adjacent sub-boards in the sub-board group are controlled by the same driving device, the two adjacent sub-boards in the sub-board group can realize synchronous movement according to the control of the same driving device.
The electric bed can determine the target sub-board group from the sub-board groups only according to the sum value of the capacitance values corresponding to the sub-board groups.
At least one target sub-board exists in two sub-boards included in the target sub-board group.
In some embodiments, determining the target sub-board group from the sub-board groups according to the sum of the capacitance values corresponding to the sub-board groups respectively may include:
calculating the change rate of the sum value of the capacitance values corresponding to each sub-board group; and determining the target sub-board group from the sub-board groups.
The change rate of the sum value corresponding to the target sub-board group is larger than the first capacitance threshold value corresponding to the target sub-board group.
Each of the sub-board groups corresponds to a rate of change of a sum of the capacitance values, and each of the sub-board groups may correspond to a first capacitance threshold. The first capacitance thresholds corresponding to the respective sub-board groups may be the same or different. When the change rate of the sum value of the capacitance values corresponding to one sub-board group is larger than the first capacitance threshold value corresponding to the sub-board group, the situation that one or two sub-boards in the sub-board group are clamped around to an obstacle is indicated. The specific value of the first capacitance threshold is not specifically limited.
The rate of change of the sum of the capacitance values may be a rate of change of the sum of the capacitance values within 1 second, or a rate of change of the sum of the capacitance values within 0.5 second, and is not particularly limited.
The electric bed can rapidly determine the target sub-board group from the sub-board groups according to the change rate of the sum value of the capacitance values, and the clamping prevention efficiency of the bed board is improved. In each sub-board group, as long as the periphery of one sub-board is provided with barriers, the electric bed can determine the sub-board group where the sub-board is positioned as a target sub-board group.
In some embodiments, the first capacitance threshold value is different for different ones of the sub-board groups.
In some alternative embodiments, the first capacitance threshold value corresponding to each of the sub-board groups may be determined according to the size of each of the sub-boards in each of the sub-board groups. Illustratively, each of the sub-board groups includes a sub-board group 1 and a sub-board group 2, and the sum of the sizes of the sub-boards in the sub-board group 1 is smaller than the sum of the sizes of the sub-boards in the sub-board group 2; the first capacitance threshold value corresponding to the sub-board group 1 is smaller than the first capacitance threshold value corresponding to the sub-board group 2.
In other alternative embodiments, the first capacitance threshold value corresponding to each of the sub-board groups may be determined according to the movement direction of each of the sub-board groups. Accordingly, calculating a change rate of a sum value of capacitance values corresponding to the respective sub-board groups, determining a sub-board group having a change rate of the sum value larger than a first capacitance threshold value from the respective sub-board groups as a target sub-board group, including:
determining the movement direction of each sub-board group; determining a first capacitance threshold value corresponding to each sub-board group according to the movement direction of each sub-board group; determining a first capacitance threshold value corresponding to a rising sub-board group of the plurality of sub-board groups as a rising capacitance threshold value; determining a first capacitance threshold value corresponding to a descending sub-board group in the plurality of sub-board groups as a descending capacitance threshold value; the rising capacitance threshold is greater than the falling capacitance threshold; and determining the target sub-board group from the sub-board groups based on the first capacitance threshold value corresponding to each sub-board group and the change rate of the sum value of the capacitance values corresponding to each sub-board group. Optionally, a target sub-board group with the change rate of the sum value of the capacitance values larger than the rising capacitance threshold value is determined from the rising sub-board group, and/or a target sub-board group with the change rate of the sum value of the capacitance values larger than the falling capacitance threshold value is determined from the falling sub-board group.
It should be noted that, in the rising process of the sub-board group, the gap between each sub-board in the sub-board group and the bed frame is larger and larger; in the descending process of the sub-board group, gaps between the sub-boards in the sub-board group and the bed frame are smaller. When the gap becomes larger, the human body is not easy to be clamped; the more easily the human body is clamped when the air gap becomes smaller. Therefore, the sensitivity of the sub-board group to clamping during the falling process is higher than that during the rising process, and therefore, the falling capacitance threshold is smaller than the rising capacitance threshold.
The first capacitance threshold value corresponding to each sub-board group is determined according to the movement direction of each sub-board group, which is beneficial to flexibly controlling each sub-board group so as to realize the anti-clamping effect and reduce the false judgment rate.
504. The two target sub-boards included in the control target sub-board group stop moving or rising.
In this application embodiment, the at least two sub-boards that the bed board includes divide into one or more sub-board group, and the capacitive sensor that two sub-boards in the sub-board group set up respectively is parallelly connected to through same drive arrangement control, this application embodiment has simplified the anti-pinch structure of bed board through optimizing cascade relation and drive arrangement control relation between the capacitive sensor that each sub-board corresponds, has promoted the efficiency that the bed board was prevented pressing from both sides.
In addition, according to the embodiment of the application, the target sub-board group clamped to the obstacle is determined according to the change rate of the sum value of the capacitance values corresponding to the sub-board groups, so that the accuracy and the sensitivity of the bed board anti-clamping are improved; after the target sub-board group is determined, two target sub-boards in the target sub-board group are synchronously controlled to prevent clamping injury, so that the electric bed can realize the edge clamping prevention function.
Referring to fig. 6, fig. 6 is a schematic flow chart of another anti-pinch method applied to an electric bed according to an embodiment of the present application. The method can be applied to the electric bed described in fig. 1 to 5.
601. And acquiring capacitance values detected by each capacitance sensor of the bed plate.
602. And determining a target sub-board from at least two sub-boards according to the capacitance values detected by the capacitance sensors of the bed board.
Wherein, there is the barrier around the target daughter board.
In some embodiments, after determining the target sub-board from the at least two sub-boards, controlling the target sub-board to stop moving or rising until the capacitance value detected by the capacitance sensor of the target sub-board is restored to the initial capacitance value; and the initial value of the capacitance is the capacitance value detected by the capacitance sensor of the target daughter board when no obstacle exists around the target daughter board. The value of the initial value of the capacitance is not particularly limited.
When detecting that the periphery of any target sub-board in the target sub-board group is clamped to an obstacle, the method controls the target sub-board to stop moving or ascending until the obstacle is removed. For example, when the electric bed receives a descending instruction for the sub-board group 1, the electric bed controls the sub-board group 1 to move downwards, when the electric bed detects that any sub-board in the sub-board group is clamped to an obstacle during the descending movement of the sub-board group 1, the electric bed can control the target sub-board to stop moving or ascending, and when the obstacle is removed, the electric bed controls the sub-board group 1 to continue to move downwards.
603. And when the target sub-board is in a moving state and the change rate of the capacitance value detected by the capacitance sensor of the target sub-board is larger than the second capacitance threshold and smaller than the third capacitance threshold, controlling the target sub-board to stop moving until the capacitance value detected by the capacitance sensor of the target sub-board is restored to the capacitance initial value.
The third capacitance threshold is greater than the second capacitance threshold. And the initial value of the capacitance is the capacitance value detected by the capacitance sensor of the target daughter board when no obstacle exists around the target daughter board.
The second capacitance threshold and the third capacitance threshold are used to distinguish the severity of the user being clipped. When the change rate of the capacitance value is larger than the second capacitance threshold and smaller than the third capacitance threshold, the severity of the clamped part of the user is low, and at the moment, the clamped part can be pulled away by the user only by controlling the target daughter board to stop moving.
604. When the target sub-board is in a moving state and the change rate of the capacitance value detected by the capacitance sensor of the target sub-board is larger than a third capacitance threshold value, determining a first moving direction when the target sub-board is in the moving state, and determining a second moving direction opposite to the first moving direction.
When the change rate of the capacitance value is larger than the third capacitance threshold value, the user is indicated to be clamped with high severity, and at the moment, the target daughter board needs to be controlled to move reversely, so that the user can draw the clamped part away. For example, when the first moving direction of the target sub-board is in a moving state is a falling direction, and when the change rate of the capacitance value detected by the capacitance sensor of the target sub-board is greater than the third capacitance threshold value, determining that the second moving direction opposite to the first moving direction is an rising direction, at this time, the target sub-board can be controlled to move according to the rising direction until the capacitance value detected by the capacitance sensor of the target sub-board is restored to the capacitance initial value.
605. And controlling the target sub-board to move according to the second moving direction until the capacitance value detected by the capacitance sensor of the target sub-board is restored to the initial capacitance value.
According to the method and the device for preventing the edge from being clamped, when the target sub-board is judged to be in the moving state, the severity of clamped users is distinguished by setting different second capacitance thresholds and third capacitance thresholds, and according to the magnitude relation between the change rate of the capacitance values and the second capacitance thresholds and the third capacitance thresholds, what control mode is adopted for the target sub-board is determined, so that the flexibility and the accuracy of preventing the clamping of the bed board are improved, and the edge anti-clamping can be effectively realized when the bed board is in the moving state.
In some alternative embodiments, each sub-board is provided with two capacitive sensors, a first capacitive sensor and a second capacitive sensor, respectively; the first capacitive sensor and the second capacitive sensor are arranged around the periphery of the lower surface of the daughter board, the first capacitive sensor surrounds the periphery of the lower surface of the daughter board, and the second capacitive sensor is farther than the first capacitive sensor from the periphery of the lower surface of the daughter board. When a certain part of the human body applies pressure to the first capacitance sensor, the fact that the certain part of the human body is contacted with the edge of the sub-board at the moment is indicated, but the clamped degree is not high; when a certain part of the human body applies pressure to the second capacitance sensor, the degree that the certain part of the human body is clamped is high.
Optionally, the electric bed may calculate the capacitance weighting value according to the first capacitance value detected by the first capacitance sensor, the first capacitance value weight, the second capacitance value detected by the second capacitance sensor and the second capacitance value weight in each of the sub-boards, and determine, from at least two sub-boards, a sub-board with a capacitance weighting value greater than the capacitance threshold value as the target sub-board according to the capacitance weighting value. The second capacitance weight is greater than the first capacitance weight.
Optionally, the external capacitance threshold corresponding to the first capacitance sensor is greater than the internal capacitance threshold corresponding to the second capacitance sensor. The electric bed may determine a sub-board, of which a first capacitance value detected by the first capacitance sensor is greater than an external capacitance threshold value, from among the at least two sub-boards as a target sub-board; when the second capacitance value detected by the second capacitance sensor in the target sub-board is larger than the internal capacitance threshold value, controlling the target sub-board to rise; and when the second capacitance value detected by the second capacitance sensor in the target sub-board is smaller than the internal capacitance threshold value, controlling the target sub-board to stop moving. According to the embodiment of the application, the inner capacitive sensor and the outer capacitive sensor are arranged on each sub-board, so that the human body can be efficiently prevented from being clamped by the bed board.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an anti-clamping device for an electric bed according to an embodiment of the present disclosure. The device can be applied to an electric bed, and is not particularly limited. The electric bed comprises a bed frame and a bed board; the bed board comprises at least two sub boards; each of the at least two sub-boards is provided with a capacitive sensor; the capacitive sensor of each sub-board is arranged around the lower surface of the sub-board, and the lower surface of the sub-board is the surface of the sub-board close to the bed frame. As shown in fig. 7, the anti-pinch device 700 applied to the electric bed may include: acquisition module 710, determination module 720, control module 730.
The acquisition module 710 is configured to acquire capacitance values detected by each capacitive sensor of the bed board;
the determining module 720 is configured to determine a target sub-board from at least two sub-boards according to capacitance values detected by each capacitive sensor of the bed board; obstacles exist around the target daughter board;
and a control module 730 for controlling the target sub-board to stop moving or ascending.
In one embodiment, at least two sub-boards are divided into one or more sub-board groups, each sub-board group comprising two adjacent sub-boards, different sub-board groups comprising different sub-boards; the two sub-boards included in each sub-board group are controlled to move by the same driving device; the two sub-boards included in each sub-board group are respectively provided with capacitance sensors connected in parallel; the determining module 720 is further configured to calculate a sum of capacitance values detected by the capacitive sensors in each of the sub-board groups; determining a target sub-board group from at least two sub-boards according to the sum of capacitance values corresponding to each sub-board group; at least one target sub-board exists in two sub-boards included in the target sub-board group; the control module 730 is further configured to control the two target sub-boards included in the target sub-board group to stop moving or rising.
In one embodiment, the determining module 720 is further configured to calculate a rate of change of a sum of the capacitance values corresponding to each of the sub-boards respectively; determining a target sub-board group from the sub-board groups; the change rate of the sum value corresponding to the target sub-board group is larger than the first capacitance threshold value corresponding to the target sub-board group.
In one embodiment, the first capacitance threshold value is different for different ones of the sub-board groups.
In one embodiment, the control module 730 is further configured to control the target daughter board to stop moving or rising until the capacitance value detected by the capacitance sensor of the target daughter board is restored to the initial capacitance value; and the initial value of the capacitance is the capacitance value detected by the capacitance sensor of the target sub-board when no obstacle exists around the target sub-board.
In one embodiment, the control module 730 is further configured to control the target daughter board to stop moving when the target daughter board is in a moving state and the rate of change of the capacitance value detected by the capacitance sensor of the target daughter board is greater than the second capacitance threshold and less than the third capacitance threshold, until the capacitance value detected by the capacitance sensor of the target daughter board returns to the initial capacitance value; the third capacitance threshold is greater than the second capacitance threshold.
In one embodiment, the control module 730 is further configured to determine, when the target daughter board is in a moving state and the rate of change of the capacitance value detected by the capacitance sensor of the target daughter board is greater than the third capacitance threshold, a first moving direction when the target daughter board is in the moving state, and determine a second moving direction opposite to the first moving direction; and controlling the target sub-board to move according to the second moving direction until the capacitance value detected by the capacitance sensor of the target sub-board is restored to the initial capacitance value.
Referring to fig. 8, fig. 8 is a schematic structural diagram of another electric bed according to an embodiment of the present disclosure.
As shown in fig. 8, the electric bed 800 may include:
a memory 810 storing executable program code;
a processor 820 coupled to the memory 810;
wherein processor 820 invokes executable program code stored in memory 810 to perform any of the anti-pinch methods disclosed in embodiments of the present application as applied to an electric bed.
The embodiment of the application discloses a computer readable storage medium which stores a computer program, wherein the computer program, when executed by the processor, causes the processor to realize any anti-clamping method applied to an electric bed.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments and that the acts and modules referred to are not necessarily required in the present application.
In various embodiments of the present application, it should be understood that the size of the sequence numbers of the above processes does not mean that the execution sequence of the processes is necessarily sequential, and the execution sequence of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-accessible memory. Based on such understanding, the technical solution of the present application, or a part contributing to the prior art or all or part of the technical solution, may be embodied in the form of a software product stored in a memory, including several requests for a computer device (which may be a personal computer, a server or a network device, etc., in particular may be a processor in the computer device) to perform part or all of the steps of the above-mentioned method of the various embodiments of the present application.
Those of ordinary skill in the art will appreciate that all or part of the steps of the various methods of the above embodiments may be implemented by a program that instructs associated hardware, the program may be stored in a computer readable storage medium including Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disk Memory, magnetic disk Memory, tape Memory, or any other medium that can be used for carrying or storing data that is readable by a computer.
The above describes in detail an anti-pinch method, an apparatus, an electric bed and a storage medium applied to the electric bed disclosed in the embodiments of the present application, and specific examples are applied herein to illustrate the principles and embodiments of the present application, where the above description of the embodiments is only for helping to understand the method and core ideas of the present application. Meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Claims (10)
1. An anti-pinch method applied to an electric bed is characterized in that the electric bed comprises a bed frame and a bed plate; the bed board comprises at least two sub boards; each of the at least two sub-boards is provided with a capacitance sensor; the capacitive sensors of each sub-board are arranged around the lower surface of the sub-board, each sub-board comprises a first capacitive sensor and a second capacitive sensor, the first capacitive sensor is arranged around the peripheral edge of the lower surface of the sub-board, the second capacitive sensor is far away from the peripheral edge of the lower surface of the sub-board than the first capacitive sensor, and the lower surface of the sub-board is one surface of the sub-board close to the bed frame;
Acquiring capacitance values detected by each capacitance sensor of the bed board respectively;
calculating to obtain a capacitance weighting value according to a first capacitance value detected by a first capacitance sensor, a first capacitance value weight, a second capacitance value detected by a second capacitance sensor and a second capacitance value weight in each daughter board, wherein the second capacitance value weight is larger than the first capacitance value weight;
determining a sub-board with the capacitance weighted value larger than a capacitance threshold value in the at least two sub-boards as a target sub-board according to the capacitance weighted value corresponding to each sub-board; barriers exist around the target daughter board;
and controlling the target sub-board to stop moving or rising.
2. The method of claim 1, wherein the at least two sub-boards are divided into one or more sub-board groups, each sub-board group comprising two adjacent sub-boards, different sub-board groups comprising different sub-boards; the two sub-boards included in each sub-board group are controlled to move by the same driving device; the two sub-boards included in each sub-board group are respectively provided with a capacitive sensor in parallel connection; the determining, according to the capacitance values detected by the capacitive sensors of the bed board, a target sub-board from the at least two sub-boards includes:
Calculating the sum of capacitance values detected by the capacitive sensors in each sub-board group respectively;
determining a target sub-board group from each sub-board group according to the sum value of capacitance values corresponding to the sub-board groups; at least one target sub-board exists in two sub-boards included in the target sub-board group;
the controlling the target daughter board to stop moving or rising includes:
and controlling the two sub-boards included in the target sub-board group to stop moving or rising.
3. The method according to claim 2, wherein the determining the target sub-board group from the sub-board groups according to the sum of the capacitance values corresponding to the sub-board groups respectively includes:
calculating the change rate of the sum value of the capacitance values corresponding to each sub-board respectively;
determining a target sub-board group from the sub-board groups; and the change rate of the sum value corresponding to the target sub-board group is larger than the first capacitance threshold value corresponding to the target sub-board group.
4. A method according to claim 3, wherein the first capacitance threshold value is different for different ones of the sub-board groups.
5. The method of claim 1, wherein the controlling the target daughter board to stop moving or rising comprises:
Controlling the target sub-board to stop moving or rising until the capacitance value detected by the capacitance sensor of the target sub-board is restored to the initial capacitance value; and the initial value of the capacitance is the capacitance value detected by the capacitance sensor of the target daughter board when no obstacle exists around the target daughter board.
6. The method of claim 5, wherein controlling the target daughter board to stop moving until the capacitance value detected by the capacitance sensor of the target daughter board returns to the initial capacitance value comprises:
when the target sub-board is in a moving state and the change rate of the capacitance value detected by the capacitance sensor of the target sub-board is larger than a second capacitance threshold and smaller than a third capacitance threshold, controlling the target sub-board to stop moving until the capacitance value detected by the capacitance sensor of the target sub-board is restored to the capacitance initial value; the third capacitance threshold is greater than the second capacitance threshold.
7. The method of claim 6, wherein the method further comprises:
when the target sub-board is in a moving state and the change rate of the capacitance value detected by the capacitance sensor of the target sub-board is larger than the third capacitance threshold value, determining a first moving direction when the target sub-board is in the moving state, and determining a second moving direction opposite to the first moving direction;
And controlling the target sub-board to move according to the second moving direction until the capacitance value detected by the capacitance sensor of the target sub-board is restored to the initial capacitance value.
8. An anti-pinch device applied to an electric bed is characterized in that the electric bed comprises a bed frame and a bed plate; the bed board comprises at least two sub boards; each of the at least two sub-boards is provided with a capacitance sensor; the capacitive sensors of each sub-board are arranged around the lower surface of the sub-board, each sub-board comprises a first capacitive sensor and a second capacitive sensor, the first capacitive sensor is arranged around the peripheral edge of the lower surface of the sub-board, the second capacitive sensor is far away from the peripheral edge of the lower surface of the sub-board than the first capacitive sensor, and the lower surface of the sub-board is one surface of the sub-board close to the bed frame; the anti-pinch device comprises:
the acquisition module is used for acquiring capacitance values detected by each capacitance sensor of the bed board respectively;
the determining module is used for calculating a first capacitance value detected by the first capacitance sensor, a first capacitance value weight, a second capacitance value detected by the second capacitance sensor and a second capacitance value weight in each daughter board to obtain a capacitance weighted value, wherein the second capacitance value weight is larger than the first capacitance value weight; determining a sub-board with the capacitance weighted value larger than a capacitance threshold value in the at least two sub-boards as a target sub-board according to the capacitance weighted value corresponding to each sub-board; barriers exist around the target daughter board;
And the control module is used for controlling the target daughter board to stop moving or rising.
9. An electric bed comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to implement the method of any of claims 1 to 7.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method according to any of claims 1 to 7.
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| CN202210851691.0A CN115067710B (en) | 2022-07-19 | 2022-07-19 | Anti-pinch method and device applied to electric bed, electric bed and storage medium |
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