CN115645204A

CN115645204A - Control system and method for moving patient cart, storage medium and electronic device

Info

Publication number: CN115645204A
Application number: CN202211315104.2A
Authority: CN
Inventors: 王稳; 黄宇; 王了
Original assignee: Chongqing Jinshan Medical Robot Co ltd
Current assignee: Chongqing Jinshan Medical Robot Co ltd
Priority date: 2022-10-26
Filing date: 2022-10-26
Publication date: 2023-01-31

Abstract

The invention discloses a control system and a method for moving a patient trolley, a storage medium and an electronic device, which specifically comprise: the device comprises a determining module, a motion control module and a motion control module, wherein the determining module is used for determining a control object and acquiring a motion control instruction of the control object; the execution module is used for driving the control object to move according to the acquired motion control instruction, and comprises: determining the running state of the control object at a first moment in real time; and determining the motion information of the control object at the second moment continuously according to the running state of the control object at the first moment and the motion control instruction of the control object, generating a driving signal of the control object according to the motion information of the control object at the second moment, and driving the control object to move according to the corresponding motion control instruction. In the scheme provided by the embodiment of the invention, through a set of control system and control method, the motion control of multiple control objects can be realized, and the motion control instruction can be timely and accurately responded.

Description

Control system and method for moving patient cart, storage medium and electronic device

Technical Field

The present invention relates to the field of medical equipment technologies, and in particular, to a control system and method for moving a patient cart, a storage medium, and an electronic device.

Background

A robotic surgical system includes a patient cart with surgical instruments mounted thereon, which are actuated while performing a procedure by receiving input commands from a surgeon to perform a procedure on a patient on the patient cart side.

The patient side cart needs to be movable in the operating room to be brought into close proximity with the patient, and it is desirable to be able to exercise control over the actuators on the patient cart, in addition to the overall movement control of the patient cart. Further, when carrying out motion control to removing patient's handcart, expect to remove patient's handcart and can in time respond to the control command who sends to carry out accurate removal according to control command, also need to guarantee the safety of device in the motion control process.

Disclosure of Invention

In view of the above, the present invention provides a control system and method, storage medium and electronic device for moving a patient trolley which overcomes or at least partly solves the above mentioned problems, as follows:

a control system for moving a patient cart, comprising:

the device comprises a determining module, a motion control module and a motion control module, wherein the determining module is used for determining a control object and acquiring a motion control instruction of the control object;

the execution module is configured to drive the control object to move according to the obtained motion control instruction, and specifically includes: determining the running state of the control object at a first moment in real time; determining the motion information of the control object at a second moment continuously according to the running state of the control object at the first moment and the motion control instruction of the control object, generating a driving signal of the control object according to the motion information of the control object at the second moment, and driving the control object to move according to the corresponding motion control instruction; the first moment is the current moment, and the second moment is the next moment of the first moment.

In the above system, optionally, the control object includes a base mechanism, and the base mechanism includes a base, wheels disposed below the base, and a wheel driving mechanism for driving the wheels;

the motion control instruction of the control object acquired by the determining module comprises a first control instruction for controlling the motion track of the base mechanism;

the method for driving the base mechanism to move according to the acquired first control instruction by the execution module comprises the following steps:

decomposing the motion track of the base mechanism in the first control instruction into the motion track of each wheel, and determining the running state of each wheel at a first moment in real time; and continuously calculating the motion information of each wheel at the second moment according to the motion track of each wheel obtained by decomposition and the running state of each wheel at the first moment, converting the motion information into corresponding wheel driving signals, and outputting the corresponding wheel driving signals to the corresponding wheel by the wheel driving mechanism, so that the base mechanism moves according to the motion track corresponding to the first control instruction.

The above system, optionally, wherein the real-time determination of the operation state of each wheel in the base mechanism at the first time includes real-time determination of at least one of a position, a moving direction, a moving speed and a stress condition of each wheel in the base mechanism at the first time; and continuously calculating the motion information of each wheel at the second moment, wherein at least one of the position, the motion direction, the motion speed and the required applied force of each wheel at the second moment is continuously calculated.

Optionally, the base mechanism further includes a braking member connected to the wheel, and a braking control key connected to the braking member;

the motion control instruction for the control object acquired by the determining module further comprises a second control instruction for controlling the base mechanism to stop moving;

the method for driving the base mechanism to move according to the acquired second control instruction by the execution module comprises the following steps: continuously monitoring whether the second control instruction is acquired, and if not, continuously pressing the brake control key to control the brake piece not to be enabled; and if so, releasing the brake control key and controlling the brake piece to enable.

In the above system, optionally, the method for generating the second control instruction includes: the determining module monitors whether the first control instruction is acquired in real time, and generates the second control instruction when the first control instruction is not acquired.

Optionally, the base mechanism further includes a parking member mounted on the base;

the method for driving the base mechanism to move according to the obtained second control instruction by the execution module further comprises the following steps: and continuously monitoring whether the second control instruction is acquired, and if so, utilizing the parking piece to support all or part of the weight of the base mechanism.

In the above system, optionally, the method for driving the base mechanism to move according to the obtained second control instruction by the execution module further includes:

continuously monitoring whether the second control instruction is acquired, if not, the wheel driving mechanism continuously outputs the wheel driving signal; if so, the wheel driving mechanism stops outputting the wheel driving signal.

In the above system, optionally, the control object further includes an actuator, the actuator includes a column and a beam, the column is installed above the base, and the beam is installed on the column;

the motion control instruction of the control object acquired by the determination module further comprises a third control instruction for controlling the execution mechanism, and the third control instruction comprises at least one of controlling the beam to rotate around the central axis of the upright column, controlling the beam to lift along the axial direction of the central axis of the upright column, and controlling the beam to extend and contract so that the beam reaches a specified position;

the method for driving the execution mechanism to move according to the acquired third control instruction by the execution module comprises the following steps: and determining the position of a cross beam in the executing mechanism at the first moment in real time, continuously generating a cross beam driving signal for driving the cross beam to rotate, lift and stretch at least one of the second moment according to the position of the cross beam at the first moment and a third control command, and driving the cross beam to reach a designated position corresponding to the third control command.

Optionally, in the system, the motion control instruction is input by at least one instruction input device including a key, a touch screen, and a 3D mouse;

the 3D mouse can realize displacement in three directions and rotation around a set axis, wherein the first direction and the second direction are perpendicular to each other and parallel to the plane of the base, and the third direction is perpendicular to the plane of the base;

the execution module determines the motion track of the base mechanism in the first control instruction by acquiring displacement amounts of the 3D mouse in a first direction and a second direction and acquiring a rotation amount of the 3D mouse.

the execution module determines a telescopic track of the beam in the third control instruction by acquiring displacement amounts of the 3D mouse in a first direction and a second direction;

the execution module determines a lifting track of the beam in the third control instruction by acquiring a displacement of the 3D mouse in a third direction;

and the execution module determines a rotation track of the beam in the third control instruction by acquiring the rotation amount of the 3D mouse.

Optionally, the control system further includes a detection module, where the execution module drives the control object to move according to the acquired motion control instruction, the detection module is configured to continuously perform obstacle monitoring and send the second control instruction when an obstacle is monitored, and the obstacle monitoring includes monitoring whether an obstacle is present on a motion trajectory of the base mechanism and monitoring whether a fault occurs inside the mobile patient cart.

Optionally, in the above system, before determining the control object and acquiring the motion control instruction for the control object, the detection module is further configured to perform at least one startup detection, where the startup detection includes:

detecting whether the motion control instruction is input or not, and if so, giving an alarm;

detecting whether the communication inside the mobile patient trolley is smooth or not, and if not, giving an alarm;

detecting whether the mobile patient trolley is in a stop state or not, and if not, giving an alarm;

detecting whether a signal acquisition device for obstacle monitoring fails, and if so, giving an alarm;

and when each starting-up detection is not alarmed, executing the step of determining the control object and acquiring a motion control instruction of the control object.

A control method of moving a patient cart, comprising:

determining a control object, and acquiring a motion control instruction of the control object;

driving the control object to move according to the obtained motion control instruction, specifically comprising:

determining the running state of the control object at a first moment in real time; determining the motion information of the control object at a second moment continuously according to the running state of the control object at the first moment and the motion control instruction of the control object, generating a driving signal of the control object according to the motion information of the control object at the second moment, and driving the control object to move according to the corresponding motion control instruction; the first moment is the current moment, and the second moment is the next moment of the first moment.

In the above method, optionally, the control object includes a base mechanism, and the base mechanism includes a base, wheels disposed below the base, and a wheel driving mechanism for driving the wheels;

the step of obtaining the motion control instruction of the control object comprises obtaining a first control instruction for controlling the motion track of the base mechanism;

the drive base mechanism specifically includes according to the motion of the first control command who obtains:

The method described above, optionally, the determining the running state of each wheel in the base mechanism in real time at the first time includes determining at least one of the position, the moving direction, the moving speed and the stress condition of each wheel in the base mechanism in real time at the first time; and continuously calculating the motion information of each wheel at the second moment, wherein at least one of the position, the motion direction, the motion speed and the required applied force of each wheel at the second moment is continuously calculated.

In the above method, optionally, the base mechanism further includes a braking member connected to the wheel, and a braking control key connected to the braking member;

the method comprises the steps of obtaining a motion control instruction of a control object, and obtaining a second control instruction for controlling the base mechanism to stop moving;

the drive base mechanism specifically includes according to the motion of the second control command who obtains: continuously monitoring whether the second control instruction is acquired, and if not, continuously pressing the brake control key to control the brake piece not to be enabled; and if so, releasing the brake control key and controlling the brake piece to enable.

Optionally, the method for generating the second control instruction includes: and monitoring whether the first control instruction is acquired in real time, and generating the second control instruction when the first control instruction is not acquired.

In the above method, optionally, the base mechanism further includes a parking part mounted on the base;

the driving the base mechanism to move according to the obtained second control instruction further comprises: and continuously monitoring whether the second control instruction is acquired, and if so, utilizing the parking piece to support all or part of the weight of the base mechanism.

Optionally, the method further includes, before the driving the base mechanism to move according to the obtained second control instruction:

In the above method, optionally, the control object further includes an actuator, the actuator includes a column and a beam, the column is installed above the base, and the beam is installed on the column;

the method comprises the steps of obtaining a motion control instruction of a control object, and obtaining a third control instruction for controlling an execution mechanism, wherein the third control instruction comprises at least one of controlling the beam to rotate around the central axis of the upright post, controlling the beam to lift along the axial direction of the central axis of the upright post, and controlling the beam to extend and contract so that the beam reaches a specified position;

driving the executing mechanism to move according to the acquired third control instruction, and the method comprises the following steps: and determining the position of a cross beam in the executing mechanism at the first moment in real time, continuously generating a cross beam driving signal for driving the cross beam to rotate, lift and stretch at least one of the second moment according to the position of the cross beam at the first moment and a third control command, and driving the cross beam to reach a designated position corresponding to the third control command.

Optionally, in the above method, the motion control instruction is input by at least one instruction input device including a key, a touch screen, and a 3D mouse;

and determining the motion track of the base mechanism in the first control instruction by acquiring the displacement of the 3D mouse in the first direction and the second direction and acquiring the rotation amount of the 3D mouse.

Optionally, in the method, the motion control instruction is input by at least one instruction input device including a key, a touch screen, and a 3D mouse;

determining a telescopic track of the beam in the third control instruction by obtaining displacement amounts of the 3D mouse in a first direction and a second direction;

determining a lifting track of the beam in the third control instruction by obtaining a displacement of the 3D mouse in a third direction;

and determining the rotation track of the beam in the third control instruction by acquiring the rotation amount of the 3D mouse.

Optionally, the method further includes, while driving the control object to move according to the acquired motion control instruction:

continuously monitoring obstacles, wherein the obstacle monitoring comprises monitoring whether obstacles exist on the motion track of the base mechanism and monitoring whether faults occur inside the mobile patient trolley;

and when the obstacle is monitored, sending the second control instruction, and clearing the obstacle when the base mechanism keeps a stop state.

Optionally, in the above method, before determining the control object and acquiring the motion control instruction for the control object, at least one startup detection is performed, where the startup detection includes:

detecting whether the mobile patient trolley is kept in a stop state, and if not, giving an alarm;

A storage medium comprising stored instructions, wherein the instructions when executed control a device on which the storage medium is located to perform a method of controlling a mobile patient trolley as described above.

An electronic device comprises at least one processor, at least one memory connected with the processor, and a bus; the processor and the memory complete mutual communication through a bus; the processor is adapted to invoke program instructions in the memory to perform a control method for moving the patient cart as described above.

Compared with the prior art, the invention has the following advantages:

in the scheme provided by the embodiment of the invention, through a set of control system and control method, the motion control of multiple control objects can be realized, and the motion control instruction can be timely and accurately responded.

Furthermore, fault monitoring is carried out before and during the motion control, so that the safety of the motion control is improved; in the motion control process, a plurality of control modes are provided, so that the control flexibility is higher; when the brake is controlled, the brake state is released when the brake control key is pressed, and the brake piece is enabled when the brake control key is released, so that the stability and the safety of the operation process are improved; optionally, the 3D mouse is used as an instruction input device, so that the control of the movement direction and the movement speed of the control object can be provided at the same time.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

FIG. 1 is a block diagram of a connection of a control system for moving a patient cart according to an embodiment of the present invention;

FIG. 2 is a flow chart of a method of controlling a movement of a patient cart according to an embodiment of the present invention;

FIG. 3 is a flow chart of yet another method of controlling a method of moving a patient cart according to an embodiment of the present invention;

FIG. 4 is a schematic view of one configuration of a mobile patient cart;

FIG. 5 is a block diagram of a further connection of a control system for moving a patient cart according to an embodiment of the present invention;

fig. 6 is a structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Referring to fig. 1, a block diagram of a control system for a mobile patient cart according to an embodiment of the present invention is shown, referring to fig. 2, a flowchart of a method for controlling a mobile patient cart according to an embodiment of the present invention is shown, and the system block diagrams and method implementation procedures shown in fig. 1 and fig. 2 are a feasible implementation scheme of the control system and method for a mobile patient cart according to an embodiment of the present invention, which may be applied to various large system platforms, and an implementation subject of the method is a server disposed in the system platform, where the control system for a mobile patient cart specifically includes:

a determining module 101, configured to determine a control object and obtain a motion control instruction for the control object; the execution module 102 is configured to drive the control object to move according to the obtained motion control instruction, and specifically includes: determining the running state of the control object at a first moment in real time; determining the motion information of the control object at a second moment continuously according to the running state of the control object at the first moment and the motion control instruction of the control object, generating a driving signal of the control object according to the motion information of the control object at the second moment, and driving the control object to move according to the corresponding motion control instruction; the first moment is the current moment, and the second moment is the next moment of the first moment.

An embodiment of the present invention further provides a control method for moving a patient cart, where the control system for moving a patient cart can be used to implement the application of the control method for moving a patient cart in practice, and a flowchart of the control method for moving a patient cart may refer to fig. 2, where the control method for moving a patient cart specifically includes:

in the system and the method provided by the embodiment of the invention, the control of the mobile patient trolley comprises the control of at least one control object on the mobile patient trolley, so that when the control is carried out, a specific control object needs to be determined firstly, and then a motion control instruction suitable for the specific control object is given for the specific control object; when controlling other control objects, the control objects need to be switched, and then motion control instructions suitable for the switched control objects are given.

In the system and method provided by the embodiment of the present invention, optionally, the at least one control object includes a base mechanism and an actuator, and referring to fig. 4, a schematic structural diagram of a mobile patient cart according to an embodiment of the present invention is shown; the base mechanism comprises a base 1, wheels 2 arranged below the base 1 and a wheel driving mechanism for driving the wheels, wherein optionally, the wheel driving mechanism comprises wheel motors, and each wheel is connected with the corresponding wheel motor; when the control object is the base mechanism, the motion control instruction of the base mechanism comprises the control of the movement of the base mechanism through the control of the wheels 2, and the movement of the base mechanism comprises translation and rotation. The actuating mechanism comprises a vertical column 3 and a cross beam 5, the vertical column 3 is arranged above the base 1, and the cross beam 5 is arranged on the vertical column 3; when the control object is an actuator, the motion control command to the actuator includes at least one of controlling the beam 5 to rotate around the central axis of the column 3, controlling the beam 5 to move up and down along the axial direction of the central axis of the column 3, and controlling the beam 5 to extend and contract, so that the beam 5 reaches a specified position.

In the system and method provided by the embodiment of the invention, optionally, when the whole position of the mobile patient trolley needs to be controlled to move, the determination module 101 can determine the control object to the base mechanism; when the movable patient cart is moved to a predetermined position, the determination module 101 determines a current determination control object in real time, and when the determination module 101 determines that the control object at that time is an actuator, the determination control object is switched from the base mechanism to the actuator, so that the cross beam reaches a predetermined position for performing a surgical operation. The system and the method provided by the embodiment of the invention realize the motion control of a plurality of control objects through a set of control system and control method.

Referring to fig. 2, after determining a control object and acquiring a motion control instruction for the control object, processing the acquired motion control instruction, and driving the control object to move according to the acquired motion control instruction, optionally, an execution module 102 in the control system drives the control object to move according to the acquired motion control instruction, where the specific method includes:

In the system and the method provided by the embodiment of the invention, the motion control of the control object is calculated and driven in real time, namely, the running state of the control object is obtained at each current moment, wherein the obtained running state of the control object comprises information such as the motion speed, the motion direction, the current position and the current stress condition of the control object. And then calculating the motion information of the control object at the next moment and generating a corresponding driving signal according to the running state of the control object at the current moment and the acquired motion control instruction of the control object, so that the control object can move according to the driving signal generated by calculation according to the information collected at the current moment at the next moment. And after the next moment moves according to the drive signal obtained by corresponding calculation, the next moment is taken as the current moment, the process of collecting the running state of the current moment and calculating the drive signal corresponding to the next moment of the current moment is repeated, so that the control object can timely and accurately move according to the corresponding motion control instruction.

In the system and the method provided in the embodiment of the present invention, optionally, when it is determined that the control object is the base mechanism, the obtaining of the motion control instruction for the control object includes obtaining a first control instruction for controlling the motion trajectory of the base mechanism and obtaining a second control instruction for controlling the stop of motion of the base mechanism.

When the first control instruction is executed, the base mechanism is driven to move by the wheels arranged below the base mechanism, and the control of the motion trail of the base mechanism can be decomposed into the control of the motion trail of each wheel. Through driving the wheel that sets up base mechanism below, realize the drive base mechanism specifically includes according to the first control command motion that acquires: decomposing the motion trail of the base mechanism in the first control instruction into the motion trail of each wheel, and determining the running state of each wheel at a first moment in real time; continuously calculating the motion information of each wheel at the second moment according to the motion track of each wheel obtained by decomposition and the running state of each wheel at the first moment, converting the motion information into corresponding wheel driving signals, and outputting the corresponding wheel driving signals to the corresponding wheel by the wheel driving mechanism; optionally, when the wheel driving mechanism is implemented by a wheel motor, the wheel driving mechanism generates a corresponding wheel motor driving signal to drive the corresponding wheel according to the calculated motion information of each wheel at the second time, so that the base mechanism moves according to the motion track corresponding to the first control instruction.

In the system and the method provided by the embodiment of the invention, the speed of each wheel can be solved according to the motion state of the base through an inverse kinematics model, the kinematics equation of each wheel is realized through driver conversion, namely the vector speed is converted into the driver speed, and the acceleration, the deceleration and the sudden stop deceleration of a related driver motor are set according to time and speed.

Optionally, the control of the motion trajectory of the base mechanism includes three control modes: the base mechanism comprises a distance mode, a speed mode and a force mode, wherein the distance mode is a distance which is set for the base mechanism to move, for example, the base mechanism is set to reach a certain specified position, or the base mechanism is set to move to a first distance in a first direction and then move to a second distance in a second direction, and the like, and the running speed and the running time of the base mechanism are not required in the process of moving; the speed mode is to set the movement speed of the base mechanism during moving, the size and direction of the movement speed can be set to be constant or variable, no specific target position or travel distance is specified in the mode, and the speed control is usually the processes of first acceleration, middle uniform speed and last deceleration to finish the process from the start of movement to the stop of movement, namely the speed set in the speed mode is usually changed; the force mode is a force which needs to be applied to the base mechanism when the base mechanism moves, after the base mechanism receives the force applied to the base mechanism according to the motion control command, the force is synthesized with other forces such as friction force, gravity and the like received by the base mechanism, and then a resultant force is determined, and the motion condition of the base mechanism is determined by the resultant force, wherein the motion condition comprises the motion speed and the motion direction of the base mechanism.

In the system and the method provided in the embodiment of the present invention, optionally, the determining the running state of each wheel in the base mechanism in real time at the first time includes determining at least one of a position, a moving direction, a moving speed, and a stress condition of each wheel in the base mechanism at the first time in real time; and continuously calculating the motion information of each wheel at the second moment, wherein at least one of the position, the motion direction, the motion speed and the required applied force of each wheel at the second moment is continuously calculated. The running state of the wheel to be monitored at a first moment and the movement information of the wheel to be calculated at a second moment can be selected according to the fact that the selected control mode is a distance mode, a speed mode or a force mode; for example, in the distance mode, the collected running state of the wheel at the first moment can be selected as the moving direction and the moving speed, and the calculated moving information of the wheel at the second moment is corresponding to the moving direction and the moving speed; for another example, in the distance mode, the collected operation state of the wheel at the first time may be selected as the position of the wheel at the first time, and the calculated motion information of the wheel at the second time may be corresponding to the motion information of the wheel at the second time.

In the system and method provided by the embodiment of the present invention, the second control instruction is an instruction for controlling the base mechanism to stop moving, and optionally, the second control instruction may be an instruction for controlling the base mechanism to keep a stop state; further, before the second control instruction is generated, the movement of the base mechanism can be controlled through the first control instruction, the movement speed of the wheels of the base mechanism is reduced to zero, the first control instruction is stopped being output after the wheel speed is reduced to zero, the second control instruction is generated, and the optional second control instruction has the function of ensuring that the wheels do not roll except under the control of the first control instruction when the first control instruction does not exist.

The method for controlling the base mechanism to keep the stop state after executing the second control instruction optionally comprises the following steps: the parking mechanism is realized by matching the brake mechanism with the parking mechanism or matching the brake mechanism with the wheel driving mechanism or matching the brake mechanism with the parking mechanism and the wheel driving mechanism, the brake mechanism comprises a brake piece connected with the wheel and a brake control key connected with the brake piece, and the parking mechanism comprises a parking piece arranged on the base.

Realize the drive through brake mechanism when base mechanism moves according to the second control command who obtains, specifically include: continuously monitoring whether the second control instruction is obtained or not, if the second control instruction for controlling the base mechanism to stop moving is not obtained all the time, continuously pressing the brake control key to control the brake piece not to be enabled; when a second control instruction for controlling the base mechanism to stop moving is acquired, the brake control key is released, the brake piece is controlled to be enabled, the movement speed of the optional wheel is reduced to zero under the control of the first control instruction, and the brake piece can be enabled through the second control instruction, so that the wheel is kept in a stop state without the action of the first control instruction.

In the traditional brake design, a brake control key is pressed to enable a brake part, the stop state of a wheel is kept, the brake part is loosened to release the brake state, and the wheel can move. In the system and the method provided by the embodiment of the invention, the brake is reversely designed, the brake state is released when the brake control key is pressed, the trolley for the patient is moved, the brake piece is enabled when the brake control key is released, and the trolley for the patient is moved to enter the brake state and can not be moved. Design like this need not press the brake control key when the brake always, can guarantee not when the brake control key operates, removes patient's handcart and can keep brake state, prevents to remove patient's handcart and is moved by the false triggering when performing the operation, promotes the security and the stability of operation process.

When realizing the drive through the parking mechanism base mechanism according to the second control command motion that acquires, specifically include: continuously monitoring whether the second control instruction is acquired, and if the second control instruction for controlling the base mechanism to stop moving is not acquired all the time, disabling the parking part; when a second control command is acquired to control the base mechanism to stop moving, the parking member is enabled, and all or part of the weight of the base mechanism is supported by the parking member. The parking member is usually arranged beside the wheel and can be moved in a direction perpendicular to the plane of the base. When the second control instruction is not acquired, the lifting parking piece is not contacted with the ground, and the wheels can be contacted with the bottom surface; when a second control instruction is acquired and the base mechanism is to be stopped, the parking part is put down to be in contact with the ground, so that the parking part lifts all or part of the wheels off the ground, and the parking part supports all or part of the weight of the base mechanism, for example, the base can be lifted upwards to drive the wheels to leave the ground. The parking mechanism can be used in cooperation with the brake mechanism to further ensure that the mobile patient cart remains in a stopped state.

Realize the drive through wheel drive mechanism when base mechanism moves according to the second control command who obtains, specifically include: continuously monitoring whether the second control instruction is obtained or not, if the second control instruction for controlling the base mechanism to stop moving is not obtained all the time, continuously outputting a wheel driving signal by the wheel driving mechanism, and driving wheels to continuously move according to the first control instruction; when a second control instruction for controlling the base mechanism to stop moving is acquired, the wheel driving mechanism stops outputting wheel driving signals, the wheel driving mechanism does not have the first control instruction to control the movement of the wheels, and the patient trolley is controlled to be kept in a state of stopping moving by the brake mechanism. If the wheel driving mechanism adopts a wheel motor, the second control instruction is obtained to control the brake piece to enable, and meanwhile, the wheel motor can also be controlled to stop rotating so as to reduce the braking distance; if the wheel motor is not actively stopped, the wheel motor can adjust the output of the motor through locked-rotor protection when the brake piece is enabled.

In the system and method provided in the embodiment of the present invention, optionally, the method for generating the second control instruction includes: and monitoring whether the first control instruction is acquired or not in real time, and generating the second control instruction when the first control instruction is not acquired. When the first control instruction is executed, whether the first control instruction is obtained or not can be continuously monitored, and only when the first control instruction is obtained at every moment, the fact that the base mechanism needs to be controlled to continuously move is indicated; once it is detected that the first control command is not acquired, the command for controlling the movement of the base mechanism is stopped, and at this time, the base mechanism cannot move according to the previously acquired first control command and needs to be switched to a stop state, so that a second control command is generated.

In the system and method provided in the embodiment of the present invention, optionally, when the first control instruction is executed to control the movement of the base mechanism, whether the obtained first control instruction changes may be continuously monitored, and if the speed mode is adopted for control, the base mechanism may be made to move according to the first speed and the first speed direction at the current moment, and at the next moment, the base mechanism may be made to move according to the second speed and the second speed direction, so that the change of the first control instruction needs to be monitored in real time, and the movement information of the control object at the next moment is calculated according to the real-time monitored first control instruction and the real-time monitored operation state of the control object.

In the system and the method provided in the embodiment of the present invention, optionally, when it is determined that the control object is an actuator, a motion control command for the control object is obtained, which includes obtaining a third control command for controlling the actuator, where the third control command includes controlling the cross beam 5 to rotate around the central axis of the upright 3, controlling the cross beam 5 to lift along the axial direction of the central axis of the upright 3, and controlling at least one of extension and contraction of the cross beam 5, so that the cross beam 5 reaches a specified position.

In the system and the method provided by the embodiment of the invention, the beam 5 can rotate around the central shaft of the upright post 3, two rotating mechanisms can be arranged on the mobile patient trolley to control the beam 5 to rotate around the central shaft of the upright post 3, the first rotating mechanism can be arranged at the joint of the upright post 3 and the base 1, and the beam 5 is driven to rotate around the central shaft of the upright post 3 by controlling the upright post 3 to rotate around the central shaft of the upright post 3; the second rotating mechanism can be arranged at the joint of the upright post 3 and the cross beam 5, the upright post 3 is kept still, and the cross beam 5 is driven to rotate around the central shaft of the upright post 3 through the second rotating mechanism.

Driving the executing mechanism to move according to the acquired third control instruction, and the method comprises the following steps: and determining the position of the cross beam 5 in the execution mechanism at the first moment in real time, continuously generating a cross beam driving signal for driving the cross beam 5 to rotate, lift and stretch at least one of the second moment according to the position of the cross beam 5 at the first moment and a third control command, and driving the cross beam 5 to reach a specified position corresponding to the third control command.

In the system and method provided by the embodiment of the present invention, the motion control instruction may be input by at least one instruction input device including a button, a touch screen, and a 3D mouse, and optionally, the determining module 101 receives a motion control instruction generated by at least one instruction input device including a button, a touch screen, and a 3D mouse; referring to fig. 4, the instruction input mechanism 4 is installed on the upright 3, and the instruction input mechanism 4 may include a button 41, a touch screen 42 and a 3D mouse 43, for example, a motion control instruction for controlling a brake, controlling parking, switching a control object, and the like may be input through the button 41, and a command for displaying the function and acquiring a motion trajectory of the control object, such as a brake, parking, switching the control object, and the like, may be acquired through the touch screen 42.

Optionally, the control of the motion trajectory of the control object may be implemented by a 3D mouse 43, where the 3D mouse is capable of implementing displacement in three directions and rotation around a set axis, the first direction and the second direction are perpendicular to each other and parallel to the plane of the base 1, and the third direction is perpendicular to the plane of the base 1.

When the control object is the base mechanism, optionally, the method for executing the first control instruction by using the 3D mouse includes determining a motion trajectory of the base mechanism in the first control instruction by obtaining displacement conditions of the 3D mouse in the first direction and the second direction. In detail, mapping the motion of the 3D mouse to a motion trajectory of the control object, determining whether the 3D mouse is displaced in a first direction and a second direction, and determining a magnitude of a displacement value, and if the 3D mouse is displaced in the first direction and/or the second direction, determining that the control object is also displaced in the first direction and/or the second direction, thereby specifying a motion direction of the control object; determining a movement speed of the control object according to the displacement value of the 3D mouse in the first direction and/or the second direction, for example, setting a maximum movable displacement value of the 3D mouse in the first direction to correspond to the maximum movement speed of the control object in the first direction, and then determining a movement speed corresponding to the actual position value of the 3D mouse in the first direction according to a ratio of the actual position value of the 3D mouse in the first direction to the maximum movable displacement value, where as the displacement value of the 3D mouse in the first direction increases, the movement speed of the control object in the first direction also increases, and a change of the movement speed of the control object in the first direction may be a uniform change with the displacement value of the 3D mouse or an increase with a different ratio with a difference of the displacement value of the 3D mouse. The method comprises the steps of obtaining the displacement condition of the 3D mouse in the first direction and/or the second direction, correspondingly obtaining the motion condition of a control object in the first direction and/or the second direction, synthesizing to obtain the actual motion track of the control object, and generating a first control instruction. The 3D mouse is adopted as an instruction input device, and the control on the movement direction and the movement speed of the control object can be provided at the same time.

In the system and method provided by the embodiment of the invention, optionally, the wheels 2 arranged under the base 1 are maclam wheels, the maclam wheels are all-directional wheels, the function of all-directional movement can be realized, and the base mechanism can be steered in situ through the maclam wheels. The setting of the first control instruction on the motion track of the control object further comprises the step of enabling the base mechanism to turn in place, and the rotation amount of the base mechanism turning in place can be obtained through obtaining the rotation amount of the 3D mouse around the set axis and mapping.

When the control object is an execution mechanism, a mode of executing a third control instruction by using a 3D mouse is optionally included, and the method includes determining a lifting track of the beam in the third control instruction by obtaining a displacement of the 3D mouse in a third direction; determining the telescopic track of the beam in the third control instruction by acquiring the displacement of the 3D mouse in the first direction and the second direction; and determining the rotation track of the beam in the third control instruction by acquiring the rotation amount of the 3D mouse.

In the system and the method provided by the embodiment of the invention, optionally, the motion control instruction can be changed in real time, and the motion condition of the control object is adjusted according to the motion control instruction which is changed in real time; by changing the displacement amount and the rotation amount in different directions on the 3D mouse, real-time adjustable motion control instruction output is realized.

In the system and method provided by the embodiment of the invention, the motors are used as driving parts of wheels, rotating mechanisms and the like, for example, one wheel corresponds to one wheel motor for driving, each wheel motor is connected with each wheel of the patient trolley in a one-to-one correspondence mode, and the movement direction and the movement speed of the corresponding wheel are respectively controlled by controlling the torque and the motor rotating speed transmitted by each motor. It should be noted that the motor used in the embodiments is not intended to limit the scope of the present invention, and other driving structures are also applicable to the control method of the present application.

Referring to fig. 3, a flowchart of another method of a control method for moving a patient cart according to an embodiment of the present invention is shown, and referring to fig. 5, a block diagram of another connection of a control system for moving a patient cart according to an embodiment of the present invention is shown, in this embodiment, the control system further includes a detection module 503, and the detection module 503 is optionally configured to implement obstacle monitoring and/or power-on detection; the specific implementation method of the detection module 503 includes: before determining a control object and acquiring a motion control instruction of the control object, performing at least one startup detection, wherein the startup detection items comprise: detecting whether the motion control instruction is input or not, and if so, giving an alarm; detecting whether the communication inside the mobile patient trolley is smooth or not, and if not, giving an alarm; detecting whether the mobile patient trolley is in a stop state or not, and if not, giving an alarm; detecting whether a signal acquisition device for obstacle monitoring fails, and if so, alarming; and when no alarm exists in each startup detection, executing the step of determining the control object and acquiring a motion control instruction of the control object.

In the system and the method provided by the embodiment of the invention, before the startup is completed, whether the motion control instruction is input or not is detected, that is, all the instruction input devices are ensured not to be started, if yes, the alarm is given, the instruction input devices which are alarmed are started and released, the motion control instruction is ensured not to be input, and then the next startup detection item or the startup completion can be carried out. Optionally, the startup detection item further includes a communication condition detection, and if a communication fault exists, an alarm is given and a faulty communication line is replaced in advance, so that each communication line is normal when the mobile patient cart control system works normally, and a next startup detection item or startup completion is performed when no communication fault is detected. Optionally, before the mobile patient cart is used, it is to be ensured that the mobile patient cart is in a stop state, for example, whether a brake control key is pressed to ensure that a brake element is enabled or whether a parking element is enabled is detected, if it is detected that the mobile patient cart is not in the stop state, an alarm is given and the brake element and/or the parking element is enabled, so that the mobile patient cart is kept in the stop state before the start-up is completed, and then a next start-up detection item or start-up completion can be performed. Optionally, the operation state of the acquisition control object at the first moment needs a corresponding signal acquisition device, and a corresponding signal acquisition device is also needed when the obstacle monitoring is performed, so the startup detection item further includes monitoring whether the signal acquisition device is faulty, if a fault is detected, an alarm is given and the signal acquisition device triggering the alarm is replaced or overhauled, and the next startup detection item or startup is completed until all the signal acquisition devices are faulty.

And after the startup is finished, determining a control object and performing motion control. When the control object is a base mechanism, receiving a first control instruction, needing to press a brake control key first, releasing the brake state, and then executing the first control instruction; when the control object is an actuating mechanism, the brake control key needs to be released, the brake piece is enabled, the base mechanism is kept in a stop state, and a third control instruction for controlling the actuating mechanism is received. Optionally, when the first control instruction and the third control instruction are input by the 3D mouse, the motion of the 3D mouse is mapped onto a control object, that is, the base mechanism or the execution mechanism, by continuously receiving the first control instruction or the third control instruction sent by the 3D mouse, so that the control object moves according to the set motion trajectory.

Referring to fig. 3, in the system and the method provided in the embodiment of the present invention, optionally, in the process of driving the control object to move according to the obtained motion control command, the method further includes: and continuously monitoring the obstacles, and when the obstacles are monitored, enabling the trolley for the mobile patient to clear the obstacles in a state of keeping stopping. In the motion process of the control object, various operation data of the trolley for the mobile patient can be acquired in real time by adopting signal acquisition equipment, obstacle monitoring is continuously carried out, alarm is given when a fault occurs, the output of each motor is stopped, the trolley for the mobile patient is decelerated until the trolley for the mobile patient is stopped, the trolley for the mobile patient is ensured to be in a stop state, and the fault is manually cleared. The obstacle monitoring comprises external obstacle detection and internal fault detection, wherein the external obstacle detection leads the base mechanism to be incapable of moving according to a set movement track by monitoring whether an obstacle exists on the movement track of the base mechanism; internal fault detection is the monitoring whether the inside trouble that breaks down of removal patient handcart, including high temperature detection, limit detection etc.. The obstacle monitoring can acquire data such as the current motion state, the surrounding environment, the state of an internal device and the like through a sensor, and analyze the acquired data to judge whether an external obstacle or an internal fault occurs. If an external obstacle appears, controlling the base mechanism to stop moving and keep a stop state, and then manually clearing the external obstacle or adjusting the motion track to bypass the external obstacle and continue working; if an internal fault occurs, the first control instruction or the third control instruction can be stopped to be output, the second control instruction is generated, the brake control key is released, the brake piece is enabled, the trolley for the mobile patient is kept in a stop state, and then the first control instruction or the third control instruction can be obtained again after manual maintenance is carried out to remove the internal fault.

In the system and method provided in the embodiments of the present invention, optionally, the signal acquisition device includes, but is not limited to, a position encoder, a force sensor, a temperature sensor, a current sensor, and a voltage sensor, the position encoder is configured to acquire position information of the mobile patient cart, and by analyzing the position information of the mobile patient cart acquired by the position sensor, a movement speed and a movement direction of each wheel of the mobile patient cart at a first time can be determined; the force sensor is used for acquiring the stress condition of the trolley in the motion direction; the current sensor and the voltage sensor are used for acquiring the current and the voltage of each wheel motor in the driving module, and the input force condition of each wheel motor can be determined according to the current and the voltage of each wheel motor in the driving module; the temperature sensor is used for acquiring the working environment temperature of each part in the mobile patient trolley. The signal acquisition equipment can determine the running state signal of the trolley for the mobile patient and the input signal for fault detection, and when the fault is monitored, high-temperature alarm can be performed by judging whether the working environment temperature of the corresponding part exceeds a set temperature threshold value, overspeed alarm can be performed by judging the speed of the base mechanism, and alarm of the telescopic limit of the cross beam can be performed by detecting the position of the cross beam.

The control system of the mobile patient trolley provided by the embodiment of the invention comprises a processor and a memory, the control methods of the mobile patient trolley are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more, the password updating process is dynamically executed by adjusting kernel parameters, and the updating efficiency is improved.

An embodiment of the invention provides a storage medium having a program stored thereon, which when executed by a processor implements the method of controlling a mobile patient cart.

An embodiment of the invention provides a processor for running a program, wherein the program when running executes the method of controlling a mobile patient trolley.

As shown in fig. 6, an embodiment of the present invention provides an electronic device, where the electronic device 60 includes at least one processor 601, at least one memory 602 connected to the processor 601, and a bus 603; the processor 601 and the memory 602 complete communication with each other through the bus 603; the processor 601 is arranged to call up program instructions in the memory 602 to perform the above-described control method of moving the patient trolley.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a device includes one or more processors (CPUs), memory, and a bus. The device may also include input/output interfaces, network interfaces, and the like.

The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip. The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include transitory computer readable media (transmyedia) such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A control system for moving a patient cart, comprising:

2. The system of claim 1, wherein the control object comprises a base mechanism comprising a base, wheels disposed below the base, and a wheel drive mechanism for driving the wheels;

decomposing the motion trail of the base mechanism in the first control instruction into the motion trail of each wheel, and determining the running state of each wheel at a first moment in real time; and continuously calculating the motion information of each wheel at the second moment according to the motion track of each wheel obtained by decomposition and the running state of each wheel at the first moment, converting the motion information into corresponding wheel driving signals, and outputting the corresponding wheel driving signals to the corresponding wheel by the wheel driving mechanism, so that the base mechanism moves according to the motion track corresponding to the first control instruction.

3. The system of claim 2, wherein said determining in real time the operational status of each wheel in the base mechanism at a first time comprises determining in real time at least one of a position, a direction of movement, a speed of movement, and a force condition of each wheel in the base mechanism at the first time; and continuously calculating the motion information of each wheel at the second moment, wherein at least one of the position, the motion direction, the motion speed and the required applied force of each wheel at the second moment is continuously calculated.

4. The system of claim 2, wherein the base mechanism further comprises a braking member coupled to the wheel, and a brake control coupled to the braking member;

5. The system of claim 4, wherein the method of generating the second control instruction comprises: the determining module monitors whether the first control instruction is acquired in real time, and generates the second control instruction when the first control instruction is not acquired.

6. The system of claim 4, wherein the base mechanism further comprises a parking member mounted on the base;

7. The system of claim 4, wherein the method for the execution module to drive the base mechanism to move according to the obtained second control instruction further comprises:

8. The system of claim 2, wherein the control object further comprises an actuator comprising a column and a beam, the column mounted above the base, the beam mounted on the column;

the motion control instruction of the control object obtained by the determining module further comprises a third control instruction for controlling the executing mechanism, and the third control instruction comprises at least one of controlling the beam to rotate around the central axis of the upright column, controlling the beam to lift along the axial direction of the central axis of the upright column, and controlling the beam to extend and contract, so that the beam reaches a specified position;

9. The system of claim 2, wherein the motion control command is input by at least one command input device comprising a key, a touch screen, a 3D mouse, a 3D joystick;

10. The system of claim 8, wherein the motion control command is input by at least one command input device comprising a button, a touch screen, a 3D mouse;

the execution module determines a telescopic track of the beam in the third control instruction by obtaining displacement amounts of the 3D mouse in a first direction and a second direction;

11. The system of claim 1, wherein the control system further comprises a detection module, and the detection module is configured to continuously perform obstacle monitoring and issue the second control command when an obstacle is detected while the execution module drives the control object to move according to the acquired motion control command, and the obstacle monitoring includes monitoring whether an obstacle is present on a motion track of the base mechanism and monitoring whether a fault occurs inside the mobile patient cart.

12. The system of claim 11, wherein before determining a control object and obtaining motion control commands for the control object, the detection module is further configured to perform at least one power-on detection, and the power-on detection includes:

13. A control method for moving a patient cart, comprising:

14. A storage medium comprising stored instructions, wherein the instructions, when executed, control a device on which the storage medium resides to perform the method of controlling a mobile patient cart according to claim 13.

15. An electronic device comprising at least one processor, and at least one memory, bus connected to the processor; the processor and the memory complete mutual communication through a bus; the processor is for invoking program instructions in the memory for executing the control method of moving the patient cart of claim 13.