CN109498306A - Bed chair Split type nursing bed and automatic butt method with docking mechanism - Google Patents
Bed chair Split type nursing bed and automatic butt method with docking mechanism Download PDFInfo
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- CN109498306A CN109498306A CN201811606125.3A CN201811606125A CN109498306A CN 109498306 A CN109498306 A CN 109498306A CN 201811606125 A CN201811606125 A CN 201811606125A CN 109498306 A CN109498306 A CN 109498306A
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- bed
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/015—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame divided into different adjustable sections, e.g. for Gatch position
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/05—Parts, details or accessories of beds
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/16—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto converting a lying surface into a chair
- A61G7/165—Chair detachable from bed
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- Health & Medical Sciences (AREA)
- Nursing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
本发明公开了一种具有对接机构的床椅分体式护理床，包含轮椅部，其可在平摊状态与轮椅状态两种状态间切换，且其两侧均具有对接导向轮；床体部，其中部具有容纳供轮椅部豁槽，豁槽的两侧均具有对接导向轨；在轮椅部进入豁槽的方向上，两侧的两个对接导向轨之间的间距先由宽变窄然后保持不变。本发明的具有对接机构的床椅分体式护理床及自动对接方法通过在床体部中部设置用于容纳轮椅的豁槽，并设置包括对接导向轮与对接导向轨的对接装置使得对接操作简单，且这种结构设计合理，分离与对接时患者没有跌落风险，自动对接方法可利用视觉算法自动实现轮椅部与床体部的对接，无需医护人员操作，可节省医护资源，提高患者的自主行动能力。
The invention discloses a bed-chair split-type nursing bed with a docking mechanism, which comprises a wheelchair part, which can be switched between two states of a flat state and a wheelchair state, and has docking guide wheels on both sides; the bed body part, There is a slot for the wheelchair part in the middle, and the two sides of the slot have butting guide rails; in the direction that the wheelchair part enters the slot, the distance between the two docking guide rails on both sides is first narrowed from wide and then maintained. constant. The bed-chair split nursing bed with a docking mechanism and the automatic docking method of the present invention provide a slot for accommodating a wheelchair in the middle of the bed body and a docking device including a docking guide wheel and a docking guide rail, so that the docking operation is simple, In addition, the structure design is reasonable, and the patient has no risk of falling during separation and docking. The automatic docking method can use the visual algorithm to automatically realize the docking of the wheelchair part and the bed body part, without the need for medical personnel to operate, which can save medical resources and improve the patient's ability to move independently. .
Description
Technical field
The present invention relates to medical instruments field, more particularly to a kind of bed chair Split type nursing bed with docking mechanism and
Automatic butt method.
Background technique
Existing nursing bed is mostly monoblock type, is not able to satisfy the mobile demand of patient, if mobile patient is also by sufferer
It is transferred on wheelchair from the bed, not only increases the nursing intensity of nursing staff, be also easy to cause the secondary injury of patient.More bodies
Formula intelligent rehabilitation nursing bed is by many-sided Integration ofTechnology such as intelligent wheel chair, nursing bed, to alleviate brought by long-term bedridden patients
Medical resource is nervous, nursing staff is short, and promotes rehabilitation efficacy, and mitigating society has important social effect.It is existing
Multi-hull type nursing bed wheelchair part and the docking operation of bed body part are complicated, and the professional operation for needing to rely on nursing staff is just able to achieve
Relatively good docking effect.Furthermore it is current can automatic butt the nursing bed mode that mostly uses side to dock, this is not only limited
Bed body realizes the function of automatic turn-over body, also increases the risk that patient falls from the bed.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of bed with docking mechanism
Chair Split type nursing bed and automatic butt method have the advantages that docking operation is simple, prevent patient from falling.
Technical solution: to achieve the above object, the bed chair Split type nursing bed with docking mechanism of the invention includes
Wheelchair portion can switch between state of dividing and wheelchair state two states, and its two sides all has docking guiding
Wheel；
Bed body portion, middle part, which has, to be entered docking for the wheelchair portion and separates the slot being driven out to, and the two of the slot
Side all has docking guided way；On the direction that the wheelchair portion enters slot, between two docking guided ways of two sides between
Away from first narrowing from the width and then remain unchanged.
Further, the two sides of the slot all have mattress；The wheelchair portion when dividing state with the bed body portion
After docking, the top in wheelchair portion is concordant with the top of the mattress.
Further, the wheelchair portion has several power wheels and controller, and all power wheels are electrically connected with the controller
It connects.
Further, the wheelchair portion switches between state of dividing and wheelchair state two states and is driven by several electric pushrods
Dynamic, the electric pushrod is electrically connected with the controller.
Further, the wheelchair portion includes cushion, and the side of the cushion is equipped with back pad, the other side of the cushion
Leg pad and pedal pad are installed, the back pad and leg pad are turned by an electric pushrod driving relative to the cushion respectively
Dynamic, the pedal pad remains parallel.
Further, image acquisition units are installed, described image acquisition unit is electrically connected the control in the wheelchair portion
Device processed；Positioning auxiliary image is provided in the bed body portion.
Further, detection sensor group is provided in the wheelchair portion, the detection sensor group includes laser radar
With depth camera, the sensor that the detection sensor group is included is electrically connected the controller.
Automatic butt method, based on the above-mentioned bed chair Split type nursing bed with docking mechanism, the positioning auxiliary figure
There is dark border as upper, auxiliary positioning dot there are four tools in the dark border, the method includes
Obtain the image of image acquisition units acquisition；
Whether judge in described image comprising positioning auxiliary image；
When including positioning auxiliary image in described image, even if utilizing the position in the positioning auxiliary image wheelchair portion
Appearance；
Control strategy is calculated according to the pose in the wheelchair portion, and the power wheel is driven to rotate.
Further, even if the pose using the positioning auxiliary image wheelchair portion includes
Marginal information in described image is obtained using Boundary extracting algorithm；
It obtains obtaining image using the edge that Morphological scale-space obtains target area；
The acquisition image is calculated using gray scale centroid method, obtains the pose in the wheelchair portion.
Further, the marginal information using in Boundary extracting algorithm acquisition described image includes
Convolution algorithm is carried out using gradient operator and described image；
Gradient image grey level histogram is calculated, n-th maximum value is as threshold value T in acquisition gradient image, and wherein N is setting
Value；
Binary conversion treatment is carried out to gradient image as threshold value using T and obtains the marginal information in image.
The utility model has the advantages that of the invention bed chair Split type nursing bed and automatic butt method with docking mechanism passes through in bed
Slot for accommodating wheelchair is set in the middle part of body portion, and being arranged includes that docking directive wheel makes with the docking facilities for docking guided way
Docking operation is simple, and this reasonable in design, patient without being substantially moved in wheelchair portion on nursing bed, separation with it is right
Patient does not fall risk when connecing, and automatic butt method can realize automatically docking for wheelchair portion and bed body portion using vision algorithm,
It is operated without medical staff, medical care resource can be saved, improve the autonomous actions ability of patient.
Detailed description of the invention
Attached drawing 1 is the overall structure figure of the bed chair Split type nursing bed with docking mechanism；
Attached drawing 2 is the structure chart in wheelchair portion；
Attached drawing 3 is the partial enlarged view of part A in attached drawing 2；
Attached drawing 4 is the bottom view in bed body portion；
Attached drawing 5 is the first state figure of sensor attachment mechanism；
Attached drawing 6 is the second state diagram of sensor attachment mechanism；
Attached drawing 7 is the first state figure in wheelchair portion；
Attached drawing 8 is second state diagram in wheelchair portion；
Attached drawing 9 is the figure of positioning auxiliary image.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
Bed chair Split type nursing bed with docking mechanism as shown in Fig. 1, comprising can relative separation and docking
Wheelchair portion 1 and bed body portion 2, carry out guiding by docking mechanism between wheelchair portion 1 and bed body portion 2 and dock；As shown in Fig. 2 with it is attached
Shown in Fig. 3, the wheelchair portion 1 can be cut between state of dividing (shown in attached drawing 8) and wheelchair state (shown in attached drawing 7) two states
It changes, and its two sides all has docking directive wheel 1-1.As shown in Fig. 4, the middle part in the bed body portion 2, which has, supplies the wheelchair portion 1
The slot 2-1 being driven out into docking and separation, the two sides of the slot 2-1 all have docking guided way 2-2；In the wheelchair
Portion 1 enters on the direction of slot 2-1, then the spacing between two docking guided way 2-2 of two sides, which first narrows from the width, to be kept not
Become.When wheelchair portion 1 is docked with bed body portion 2, firstly, wheelchair portion 1 is directed at the slot 2-1, then, make wheelchair portion 1 move into
Enter slot 2-1, during, the docking directive wheel 1-1 of 1 two sides of wheelchair portion enters between two docking guided way 2-2, wheel
The error of both chair portion 1 and slot 2-1 width direction can by the contact between docking directive wheel 1-1 and docking guided way 2-2 into
Row compensates, and the part that spacing narrows from the width between two docking guided way 2-2 can guarantee that docking directive wheel 1-1 can smoothly enter into two
Root docks between guided way 2-2, and in docking directive wheel 1-1 motion process, gradually makes 2 adjusting position of bed body portion, make wheelchair
Portion 1 can smoothly enter into inside bed body portion 2, in order to make bed body portion 2 can it is smooth cooperation wheelchair portion 1 movement, the lower end in bed body portion 2 has
Castor.
The two sides of the slot 2-1 all have mattress 2-3；The wheelchair portion 1 is right with the bed body portion 2 when dividing state
After connecing, the top in wheelchair portion 1 is concordant with the top of the mattress 2-3.It is whole under state of dividing that wheelchair portion 1 can be solved in this way
The problem of body narrower width, dividing after the wheelchair portion 1 under state is docked with bed body portion 2 may make up a width and normal care bed
Consistent wheelchair-type nursing bed, and the width of entire wheelchair-type nursing bed is determined by mattress 2-3, can be widened as needed,
Nursing bed is spacious and comfortful when ensure that the small and exquisite of wheelchair portion 1 when using as wheelchair and using as nursing bed.Preferred
In embodiment, mattress 2-3 can controllably be overturn, and the rotation axis of mattress 2-3 overturning is it close to a side in wheelchair portion 1, this
Sample can realize the body turning function to patient by the overturning of control mattress 2-3.
In order to make patient that can independently manipulate the movement in wheelchair portion 1, the wheelchair portion 1 has several power wheel 1-2 and control
Device 1-3, it further includes the manipulation unit 1-14 for user's manipulation, user that all power wheel 1-2 are electrically connected with the controller 1-3
The movement that wheelchair portion 1 can be manipulated by manipulation unit 1-14 such as manipulates wheelchair portion 1 and cuts between state of dividing and wheelchair state
Change, manipulate the turning of 1 forward-reverse of wheelchair portion etc..
The wheelchair portion 1 switches between state of dividing and wheelchair state two states to be driven by several electric pushrod 1-4, institute
Electric pushrod 1-4 is stated to be electrically connected with the controller 1-3.Specifically, the wheelchair portion 1 includes chassis 1-13, on the 1-13 of chassis
It is fixed with cushion 1-5, the side of the cushion 1-5 is equipped with back pad 1-6, and the other side of the cushion 1-5 is equipped with leg pad 1-7
And pedal pad 1-15, the back pad 1-6 and leg pad 1-7 are respectively by an electric pushrod 1-4 driving relative to the seat
1-5 rotation is padded, the pedal pad 1-15 remains parallel.
Image acquisition units 1-9 is installed, described image acquisition unit 1-9 is electrically connected the control in the wheelchair portion 1
Device 1-3；Positioning auxiliary image 2-4 is provided in the bed body portion 2, positioning auxiliary image 2-4 is horizontally disposed, image acquisition units
1-9 shoots image downward.Preferably, positioning auxiliary image 2-4 is fixed relative to bed body portion 2, naturally it is also possible to be directly anchored to
On ground.
Detection sensor group is provided in the wheelchair portion 1, the detection sensor group includes laser radar 1-10, depth
Camera 1-11 and ultrasonic range finder sensor 1-12, the sensor that the detection sensor group is included are electrically connected the control
Device 1-3.By installing detection sensor group, the data that controller 1-3 can be obtained according to detection sensor group carry out SLAM navigation
And automatic obstacle-avoiding promotes the autonomous actions energy of patient so that wheelchair portion 1 can carry out self-navigation in the case where less user interferes
Power, SLAM navigation and automatic obstacle-avoiding technology based on multisensor are mature technology, at present in sweeping robot, guide to visitors server
The fields such as device people are widely used, and the present invention does not illustrate excessively herein.
As shown in attached drawing 5 and attached drawing 6, the detection sensor is mounted on chassis 1-13 by sensor attachment mechanism 1-8
On, sensor attachment mechanism 1-8 includes to include fixed frame 1-81, radar mounting base 1-82 and camera mounting base 1-83, fixed frame
1-81 is fixedly mounted on the 1-13 of chassis, and radar mounting base 1-82 is for installing laser radar 1-10 and ultrasonic range finder sensor
1-12, camera mounting base 1-83 are used for fitting depth camera 1-11；The radar mounting base 1-82 is driven by first connecting rod mechanism
It is moved between high-order and low level, and it remains horizontal, the laser radar 1- being so mounted on radar mounting base 1-82
10 can only occur translational motion with ultrasonic range finder sensor 1-12, without generating yaw motion；The camera mounting base 1-83
It is driven and is moved by second connecting rod mechanism, there is camera mounting portion 1-831, as shown in Fig. 6, when described on camera mounting base 1-83
When described in radar mounting base 1-82 in a high position, wheelchair portion 1 is in and divides state, as shown in Fig. 8, i.e. cushion 1-5, back pad 1-
6, the upper surface of leg pad 1-7 and pedal pad 1-15 is concordant, and entire sensor attachment mechanism 1-8 is below pedal pad 1-15 at this time
Upper surface, camera mounting portion 1-831 is in receiving state, will not influence the use in wheelchair portion 1；As shown in Fig. 5, when described
When being in low level described in radar mounting base 1-82, wheelchair portion 1 is in wheelchair state (as shown in Fig. 7), camera mounting portion at this time
1-831 is higher than the radar mounting base 1-82, and camera mounting portion 1-831 is in use state at this time, and is mounted on camera installation
Depth camera 1-11 on portion 1-831 is in head-up state, and height locating for depth camera 1-11 is in suitable position at this time.
In order to move synchronously radar mounting base 1-82 can with camera mounting base 1-83, and save the number of power source, institute
It states first connecting rod mechanism and second connecting rod mechanism linkage moves.Specifically, the first connecting rod mechanism is parallelogram-type
Link mechanism, it includes the first connecting rods being parallel to each other always and effective length (spacing between two articulated shafts of connecting rod) is isometric
1-84 and second connecting rod 1-85, the both ends of first connecting rod 1-84 are respectively hinged at fixed frame 1-81 and radar mounting base 1-82
On, the both ends of second connecting rod 1-85 are also respectively hinged on fixed frame 1-81 and radar mounting base 1-82, i.e. first connecting rod machine
Structure is made of first connecting rod 1-84, second connecting rod 1-85, fixed frame 1-81 and radar mounting base 1-82；Described second connects
Linkage includes third connecting rod 1-86 and fourth link 1-87, and one end of the third connecting rod 1-86 is hinged on the second connecting rod
On 1-85, the other end is hinged on the fourth link 1-87, and the fourth link 1-87 is hinged on the first connecting rod 1-84
Far from the fixed frame 1-81 end；Second connecting rod mechanism is by first connecting rod 1-84, second connecting rod 1-85, third connecting rod 1-
86 and fourth link 1-87 is constituted, and when such first connecting rod mechanism kinematic, second connecting rod mechanism can also move therewith, institute
Camera mounting base 1-83 is stated to be fixed on the fourth link 1-87.
Leg pad 1-7 is fixed on first connecting rod 1-84, and pedal pad 1-15 is fixed on radar mounting base 1-82, and such first
Link mechanism and second connecting rod mechanism can pad 1-7 by leg and drive movement, the number of power source can so be effectively reduced, so that control
It makes relatively simple.
Automatic butt method, based on the above-mentioned bed chair Split type nursing bed with docking mechanism, the method includes such as
Lower step S301-S303:
Step S301 obtains the image of image acquisition units 1-9 acquisition；
Whether step S302 judges in described image comprising positioning auxiliary image 2-4；
Step S303, when including positioning auxiliary image 2-4 in described image, even if utilizing the positioning auxiliary image 2-4
The pose in the wheelchair portion 1；
Step S304 calculates control strategy according to the pose in the wheelchair portion 1, and the power wheel 1-2 is driven to rotate.
After the pose for completing wheelchair portion 1 for the first time calculates, real-time locating and tracking can be realized by Kalman filtering algorithm,
So that controller 103 can be moved and be compensated to its position deviation in continuous control wheelchair portion 1 under the auxiliary of vision, until
The pose in wheelchair portion 1 meets docking condition, i.e., it is directed at the slot 2-1.It is fixed in real time to be carried out using Kalman filtering algorithm
Position tracking can save subsequent calculation amount.
As shown in Fig. 9, the background color of the positioning auxiliary image 2-4 is white, is painted with dark border, dark border thereon
Wire frame there is one fixed width, there are four the auxiliary positioning dots of black (to be also possible to other numbers for tool in the dark border
Amount), four setting circle point symmetries are arranged in dark border, and dark border is that the pass of edge extracting is carried out in image processing process
Key element, the gradient value at edge is maximum and the border width of the collected dark border of image acquisition units 1-9 corresponding to
Number of pixels substantially determines, is conducive to the extraction that controller 1-3 carries out target area (region i.e. in dark border), is controlling
After device 1-3 extracts the corresponding image in target area, precise positioning is carried out using the setting circle point in target area and determines wheel
The pose in chair portion 1.
Specifically, even if including using the pose in the wheelchair portion 1 positioning auxiliary image 2-4 described in step S303
Following steps step S401-S403:
Step S401 obtains the marginal information in described image using Boundary extracting algorithm；
Step S402 obtains obtaining image using the edge that Morphological scale-space obtains target area；
Step S403 calculates the acquisition image using gray scale centroid method, obtains the pose in the wheelchair portion 1.
In above-mentioned steps S401, the gradient based on pixel in image carries out edge detection to target area, to get
Marginal information in whole image uses object-oriented edge acquisition methods in the present invention, based in positioning auxiliary image 2-4
The feature of edge gradient maximum gets marginal information, wherein the marginal information got includes the interior outside of dark border
Edge, detailed process comprise the following steps S501-S503:
Step S501 carries out convolution algorithm using gradient operator and described image；
Step S502 calculates gradient image grey level histogram, obtains in gradient image n-th maximum value as threshold value T,
Middle N is setting value；
Step S503 carries out binary conversion treatment to gradient image as threshold value using T and obtains the marginal information in image.
In step S402, Morphological scale-space is namely based on a series of images processing operation of shape, most basic morphology
Processing has corrosion and expansion, and both this uses extensively, is mainly used for eliminating noise, the independent pictorial element of segmentation and connection phase
Adjacent element, in the present invention, based on the relatively determining feature of the corresponding number of pixels of width on every one side of dark border to step
The image that rapid S401 is obtained first carries out dilation operation and carries out erosion operation again, has effectively removed the information of background, has obtained target
The frame in region, and the intramarginal part of target area is partitioned into as acquisition figure from image based on the edge of target area
Picture.Wherein, the width of the frame of target area is 1-2 pixel, and corresponding lines correspond roughly to original position assistant images 2-4
Dark border inward flange.
In step S403, gray scale centroid method is used to calculate the center position for obtaining each dot in image, and according to four
The center position of a dot calculates the center of entire positioning auxiliary image 2-4, can calculate the offset distance in wheelchair portion 1 accordingly
From can calculate the deflection angle in wheelchair portion 1 according to the distribution situation of the central point of four dots, wheelchair portion 1 can be calculated accordingly
Pose.
Of the invention bed chair Split type nursing bed and automatic butt method with docking mechanism passes through in the middle part of bed body portion
Slot for accommodating wheelchair is set, and being arranged includes docking directive wheel to make docking operation with the docking facilities for docking guided way
Simply, and this reasonable in design, patient separates and patient when docking without being substantially moved in wheelchair portion on nursing bed
Do not fall risk, automatic butt method can realize automatically docking for wheelchair portion and bed body portion using vision algorithm, without medical care
Personnel's operation, can save medical care resource, improve the autonomous actions ability of patient.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. the bed chair Split type nursing bed with docking mechanism, which is characterized in that include
Wheelchair portion can switch between state of dividing and wheelchair state two states, and its two sides all has docking directive wheel；
Bed body portion, middle part, which has, enters the slot that docking and separation are driven out to for the wheelchair portion, and the two sides of the slot are equal
With docking guided way；On the direction that the wheelchair portion enters slot, the spacing between two docking guided ways of two sides is first
It narrows from the width and then remains unchanged.
2. by the bed chair Split type nursing bed described in claim 1 with docking mechanism, which is characterized in that the two of the slot
Side all has mattress；After the wheelchair portion is docked when dividing state with the bed body portion, the top in wheelchair portion and the bed
The top of pad is concordant.
3. by the bed chair Split type nursing bed described in claim 1 with docking mechanism, which is characterized in that the wheelchair portion tool
There are several power wheels and controller, all power wheels are electrically connected with the controller.
4. by the bed chair Split type nursing bed as claimed in claim 3 with docking mechanism, which is characterized in that the wheelchair portion exists
It divides switching between state and wheelchair state two states to be driven by several electric pushrods, the electric pushrod and controller electricity
Connection.
5. by the bed chair Split type nursing bed as claimed in claim 4 with docking mechanism, which is characterized in that the wheelchair portion packet
Containing cushion, the side of the cushion is equipped with back pad, and the other side of the cushion is equipped with leg pad and pedal pad, the back pad
It is rotated respectively by an electric pushrod driving relative to the cushion with leg pad, the pedal pad remains parallel.
6. by the bed chair Split type nursing bed as claimed in claim 4 with docking mechanism, which is characterized in that in the wheelchair portion
Image acquisition units are installed, described image acquisition unit is electrically connected the controller；It is auxiliary that positioning is provided in the bed body portion
Help image.
7. by the bed chair Split type nursing bed as claimed in claim 4 with docking mechanism, which is characterized in that in the wheelchair portion
It is provided with detection sensor group, the detection sensor group includes laser radar and depth camera, the detection sensor group institute
The sensor for including is electrically connected the controller.
8. automatic butt method, which is characterized in that based on the bed chair split type nursing as claimed in claim 6 with docking mechanism
Bed, there is dark border, there are four auxiliary positioning dot, the methods for tool in the dark border on the positioning auxiliary image
Including
Obtain the image of image acquisition units acquisition；
Whether judge in described image comprising positioning auxiliary image；
When including positioning auxiliary image in described image, even if utilizing the pose in the positioning auxiliary image wheelchair portion；
Control strategy is calculated according to the pose in the wheelchair portion, and the power wheel is driven to rotate.
9. by automatic butt method according to any one of claims 8, which is characterized in that even if described utilize the positioning auxiliary image institute
The pose for stating wheelchair portion includes
Marginal information in described image is obtained using Boundary extracting algorithm；
It obtains obtaining image using the edge that Morphological scale-space obtains target area；
The acquisition image is calculated using gray scale centroid method, obtains the pose in the wheelchair portion.
10. by automatic butt method as claimed in claim 9, which is characterized in that described using described in Boundary extracting algorithm acquisition
Marginal information in image includes
Convolution algorithm is carried out using gradient operator and described image；
Gradient image grey level histogram is calculated, n-th maximum value is as threshold value T in acquisition gradient image, and wherein N is setting value；
Binary conversion treatment is carried out to gradient image as threshold value using T and obtains the marginal information in image.
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| CN201811606125.3A CN109498306A (en) | 2018-12-27 | 2018-12-27 | Bed chair Split type nursing bed and automatic butt method with docking mechanism |
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| CN201811606125.3A CN109498306A (en) | 2018-12-27 | 2018-12-27 | Bed chair Split type nursing bed and automatic butt method with docking mechanism |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109925141A (en) * | 2019-04-17 | 2019-06-25 | 中国矿业大学徐海学院 | A kind of wheelchair-type nursing bed |
| CN109991618A (en) * | 2019-05-13 | 2019-07-09 | 上海理工大学 | A kind of embedded wheelchair-type nursing bed and its automatic butt method |
| CN110101511A (en) * | 2019-06-17 | 2019-08-09 | 青岛安捷医疗科技有限公司 | The intelligent supplementary controlled system of personnel's transfer car(buggy) |
| CN110327170A (en) * | 2019-05-30 | 2019-10-15 | 中奕智创医疗科技有限公司 | Auxiliary device |
| CN110786999A (en) * | 2019-11-05 | 2020-02-14 | 昆明理工大学 | Multifunctional wheelchair convertible into medical bed and control method thereof |
| CN110974572A (en) * | 2019-12-06 | 2020-04-10 | 上海交通大学 | Wheelchair bed integrated nursing robot system and operation method |
| CN111163739A (en) * | 2019-10-18 | 2020-05-15 | 广东博智林智能技术有限公司 | Wheelchair bed |
| CN112656597A (en) * | 2020-12-31 | 2021-04-16 | 沈阳新松机器人自动化股份有限公司 | Automatic docking and separating system and method based on wheelchair integrated robot |
| WO2021072756A1 (en) * | 2019-10-18 | 2021-04-22 | 广东博智林智能技术有限公司 | Wheelchair bed combination method and separation method |
| CN112842739A (en) * | 2021-01-22 | 2021-05-28 | 季华实验室 | Bed-chair butt-joint structure of nursing bed |
| CN112932834A (en) * | 2021-01-25 | 2021-06-11 | 浙江机电职业技术学院 | Nursing bed with side turning assistance and integrated wheelchair and using method thereof |
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| CN109991618A (en) * | 2019-05-13 | 2019-07-09 | 上海理工大学 | A kind of embedded wheelchair-type nursing bed and its automatic butt method |
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| CN112842739B (en) * | 2021-01-22 | 2022-02-08 | 季华实验室 | Bed-chair butt-joint structure of nursing bed |
| CN112932834A (en) * | 2021-01-25 | 2021-06-11 | 浙江机电职业技术学院 | Nursing bed with side turning assistance and integrated wheelchair and using method thereof |
| CN113303985A (en) * | 2021-04-30 | 2021-08-27 | 浙江英洛华康复器材有限公司 | Split type medical care bed |
| CN116327510A (en) * | 2023-03-03 | 2023-06-27 | 南通市顺隆康复器材有限公司 | Intelligent household nursing bed with monitoring alarm function |
| CN116327510B (en) * | 2023-03-03 | 2024-03-19 | 南通市顺隆康复器材有限公司 | Intelligent household nursing bed with monitoring alarm function |
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