CN111973427A - Intelligent back-patting and turning robot and control method - Google Patents
Intelligent back-patting and turning robot and control method Download PDFInfo
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- CN111973427A CN111973427A CN202010762478.3A CN202010762478A CN111973427A CN 111973427 A CN111973427 A CN 111973427A CN 202010762478 A CN202010762478 A CN 202010762478A CN 111973427 A CN111973427 A CN 111973427A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
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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
- A61G7/05—Parts, details or accessories of beds
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/081—Back
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Abstract
The invention belongs to the technical field of medical care instruments and discloses an intelligent back-patting turning-over robot and a control method thereof.A base passes through a hinge and a push plate, a square through hole is formed in the middle of the push plate, a slide rail is welded at the right end of the square through hole, and the slide rail is connected with an electric slide block in a sliding manner; a rotating motor is fixed on the electric sliding block through a bolt, and an output shaft of the rotating motor is connected with the right-angle connecting cylinder and the telescopic rod; the telescopic rod is connected with the hammer handle through a bolt, and the hammer handle is embedded with a pressure sensor. After the turning over is finished, the host machine controls the electric slide block to move up and down; after the position adjustment is finished, the host machine controls the rotating motor to rotate in a positive and negative rotation mode to drive the push handle to carry out back patting on the patient with a certain beating force; meanwhile, a pressure sensor on the beating handle can detect the beating force generated on the back of the patient, and the host controls the corresponding rotating speed of the rotating motor. The invention can effectively control the beating force and improve the comfort of the patient; meanwhile, the invention automatically realizes the back-patting of the patient, thereby reducing the workload of nurses.
Description
Technical Field
The invention belongs to the technical field of medical care instruments, and particularly relates to an intelligent back-patting and turning-over robot and a control method.
Background
At present, in hospitals, a plurality of bedridden patients need to assist patients to turn over, buckle the back and massage the skin of the pressed part every 2 hours by nurses in order to improve the skin blood circulation, enhance the antibacterial capability of the skin and prevent the bedsore.
It is written in the electronic journal of modern medicine and health research, 60 cases of bedridden patients who are treated in 2017 in 1-2017 in 6 are extracted, auxiliary treatment such as turning over and back-beating is performed at regular time while conventional treatment is received, and the nursing method and the treatment effect are observed and summarized. As a result, the patient can be pertinently and effectively turned over and patted back on the back under the condition that the physical condition of the patient can be endured, and complications such as bedsore, infection, thrombus and the like caused by long-term bed rest of the patient are effectively reduced. Therefore, the turning-over back-patting is used as a physical treatment method, and can effectively help long-term bedridden patients to relieve symptoms, prevent various complications and improve the life and living quality of the patients through clinical care practice, so that the turning-over back-patting is an indispensable nursing means in clinical care. In order to reduce the workload of medical staff, the patting back and turning-over robot plays a critical role.
In summary, the problems of the prior art are as follows:
(1) the existing back-patting and turning-over robot needs a nurse to complete most actions in the using process, and the workload of the nurse is increased.
(2) The existing patting back turning-over robot has the defect that the patting force is not uniform enough in the using process, so that the comfort level of a patient is influenced.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an intelligent back-patting and turning-over robot and a control method.
The invention is realized in such a way that the intelligent patting back body-turning robot is provided with a base; the base is connected with the push plate through a hinge, a square through hole is formed in the middle of the push plate, a sliding rail is welded at the right end of the square through hole, and the sliding rail is connected with an electric sliding block in a sliding mode;
a rotating motor is fixed on the electric sliding block through a bolt, and an output shaft of the rotating motor is connected with the right-angle connecting cylinder and the telescopic rod; the telescopic rod is connected with the hammer handle through a bolt, and a pressure sensor is embedded on the hammer handle;
the base is connected with the electric telescopic rod through a bolt, and the other end of the electric telescopic rod is connected with the push plate through a hinge;
the main machine and the storage battery are fixed inside the base through bolts, a charging port is formed in the right side of the base, and the touch screen is embedded in the front of the base;
the host is connected with the touch screen, the electric sliding block, the rotating motor and the pressure sensor through electric signals;
the side surface of the base is connected with an inclined plate through a pin shaft, and a spongy cushion is paved on the inclined plate.
Furthermore, a sound pick-up is arranged on the base and is connected with the host through an electric signal;
the base is placed in the groove of the bed body, and the upper end of the base is flush with the edge of the groove.
Further, intelligence is clapped back of body and is stood up robot still includes:
the image acquisition module is connected with the central processing module and is fixed with a camera through the bed body to monitor the state of the patient; the image acquisition module carries out a denoising process on the image acquired by the camera, establishes an image denoising set for the acquired patient image, and identifies the image containing noise in the image denoising set; after the recognition is finished, extracting an image containing noise; selecting a circular neighborhood from an image containing noise, and calculating pixel values in the circular neighborhood; sorting the pixel values according to the calculated pixel values, and selecting a middle value as a correction value; continuously moving the circular neighborhood, and smoothing other noises in the image;
the pressure acquisition module is connected with the central processing module, a pressure sensor is fixed on the beating handle, and the pressure sensor detects the beating force generated on the back of the patient;
the displacement acquisition module is connected with the central processing module, and a displacement sensor is fixed on the electric telescopic rod and used for detecting the length of the electric telescopic rod;
the inclination angle acquisition module is connected with the central processing module, and an inclination angle sensor is fixed on the push plate and used for detecting the inclination angle of the push plate;
the forward and reverse rotation speed acquisition module is connected with the central processing module, and a speed sensor is fixed on the forward and reverse motor and used for detecting the rotation speed of the forward and reverse motor;
the display touch module is connected with the central processing module and used for inputting instruction information on the touch display screen; switching on a power supply of the touch display screen, contacting a surface keyboard of the touch screen according to input instruction information, and increasing pressure on the touch screen; after the touch screen is contacted for a period of time, the finger is lifted, the pressure of the finger is gradually reduced, the finger leaves the touch screen, and the whole touch process is finished;
and the central processing module is respectively connected with the image acquisition module, the pressure acquisition module, the displacement acquisition module, the inclination angle acquisition module, the forward and backward rotation speed acquisition module, the display touch module, the wireless signal transceiving module, the electric telescopic rod module, the push plate operation module, the electric slider module and the hammer handle operation module, and coordinates normal operation of each module.
Further, intelligence is clapped back of body and is stood up robot still includes:
the wireless signal transceiver module is connected with the central processing module, and the host machine is communicated with the mobile terminal by using the wireless signal transceiver as a bridge between the host machine and the mobile terminal;
the mobile terminal is connected with the wireless signal transceiver through the mobile terminal and remotely controls the operation of the whole device;
the electric telescopic rod module is connected with the central processing module, receives the instruction of the host, realizes the extension or the shortening of the electric telescopic rod and changes the inclination angle of the push plate; a rotating motor on the electric telescopic rod receives a signal of the host, and the rotating motor is in line contact with a straight tooth on a telescopic inner rod inside the electric telescopic rod through a gear; the rotating motor drives the rotating gear to rotate, so that the relative position of the telescopic inner rod in the telescopic outer cylinder is changed, and the length of the electric telescopic rod is adjusted;
the push plate operation module is connected with the central processing module, and the push plate changes the inclination angle of the push plate under the operation of the electric telescopic rod;
the electric sliding block module is connected with the central processing module, and the electric sliding block moves up and down to adjust the position of the hammering handle; a rotating motor on the electric sliding block is connected with a power supply, and an output shaft of the rotating motor drives a gear of the electric sliding block to rotate; a gear on the electric sliding block is in line contact with a straight tooth on the sliding rail, a rotating motor receives a control signal of a host, and the rotating motor drives the electric sliding block to adjust the corresponding position;
the beating handle operation module is connected with the central processing module, and the beating speed of the beating handle is controlled under the forward and reverse rotation motion of the beating handle, so that the back of the patient is beaten.
Another object of the present invention is to provide a method for controlling an intelligent back-patting and turning-over robot based on the intelligent back-patting and turning-over robot, wherein the method for controlling the intelligent back-patting and turning-over robot comprises:
firstly, a camera is fixed on an image acquisition module through a bed body to monitor the state of a patient; the pressure acquisition module is fixedly provided with a pressure sensor on the beating handle and used for detecting the beating force generated on the back of the patient;
secondly, a displacement sensor is fixed on the electric telescopic rod by a displacement acquisition module to detect the length of the electric telescopic rod; the inclination angle acquisition module is fixedly provided with an inclination angle sensor on the push plate and used for detecting the inclination angle of the push plate; the forward and reverse rotation speed acquisition module is fixedly provided with a speed sensor on the forward and reverse rotation motor and used for detecting the rotation speed of the forward and reverse rotation motor;
according to the state of each device of the integral device, the central processing module controls the normal operation of each module of the image acquisition module, the pressure acquisition module, the displacement acquisition module, the inclination angle acquisition module, the forward and reverse rotation speed acquisition module, the display touch module, the wireless signal receiving and transmitting module, the electric telescopic rod module, the push plate operation module, the electric sliding block module and the hammer handle operation module;
step four, the electric telescopic rod in the electric telescopic rod module receives the instruction of the host machine, so that the electric telescopic rod can be extended or shortened, and the inclination angle of the push plate is changed; in the push plate operation module, the push plate changes the inclination angle of the push plate under the operation of the electric telescopic rod;
fifthly, the electric slide block in the electric slide block module moves up and down to adjust the position of the hammering handle; the beating handle in the beating handle running module controls the beating speed of the beating handle under the forward and reverse rotation motion to beat the back of the patient;
step six, the wireless signal transceiver module utilizes the wireless signal transceiver as a bridge between the host and the mobile terminal, and the host and the mobile terminal are communicated to remotely control the operation of the whole device; and simultaneously, the display touch module inputs instruction information on the touch display screen.
Further, in the first step, the process of denoising the image collected by the camera by the image collection module is as follows:
establishing an image denoising set for the acquired patient image, and identifying the image containing noise in the image denoising set;
after the recognition is finished, extracting an image containing noise; selecting a circular neighborhood from an image containing noise, and calculating pixel values in the circular neighborhood;
sorting the pixel values according to the calculated pixel values, and selecting a middle value as a correction value;
and continuously moving the circular neighborhood to smooth other noises in the image.
Further, in the fourth step, the operation process of the electric telescopic rod is as follows:
a rotating motor on the electric telescopic rod receives a signal of the host, and the rotating motor is in line contact with a straight tooth on a telescopic inner rod inside the electric telescopic rod through a gear;
the rotating motor drives the rotating gear to rotate, so that the relative position of the telescopic inner rod in the telescopic outer barrel is changed, and the length of the electric telescopic rod is adjusted.
Further, in the fifth step, the electric slider moves in the following manner:
a rotating motor on the electric sliding block is connected with a power supply, and an output shaft of the rotating motor drives a gear of the electric sliding block to rotate;
the gear on the electric sliding block is in line contact with the straight teeth on the sliding rail, the rotating motor receives a control signal of the host, and the rotating motor drives the electric sliding block to adjust the corresponding position.
Further, in the sixth step, a specific process of displaying the instruction information input by the touch module on the touch display screen is as follows:
switching on a power supply of the touch display screen, contacting a surface keyboard of the touch screen according to input instruction information, and increasing pressure on the touch screen;
after the touch screen is kept in contact for a period of time, the finger is lifted, the pressure of the finger is gradually reduced, the finger leaves the touch screen, and the whole touch process is finished.
Further, the process of processing the acquired data according to the keyboard contacting the touch screen is as follows:
the A/D converter continuously converts the pressure signals and sums the converted signals;
and averaging the sum to obtain the final effective value, and processing.
In summary, the advantages and positive effects of the invention are: when a patient needs to turn over, the push plate assists the patient to turn over; after the turning over is finished, the host machine controls the electric slide block to move up and down; after the position adjustment is finished, the host machine controls the rotating motor to rotate in a positive and negative rotation mode to drive the push handle to carry out back patting on the patient with a certain beating force; meanwhile, a pressure sensor on the beating handle can detect the beating force generated on the back of the patient, and the host controls the corresponding rotating speed of the rotating motor. In the using process, the beating force can be effectively controlled, and the comfort of a patient is improved; meanwhile, the invention automatically realizes the back-patting of the patient, thereby reducing the workload of nurses. When the patient needs to turn over, the electric telescopic rod extends to enable the push plate to push the patient to turn over. When adjusting each running device, operating on the touch screen; controlling the operation of each device by the host according to the input instruction; simultaneously through being provided with the mouth that charges for provide the electric energy for the battery. The side surface of the base is connected with an inclined plate through a pin shaft, and a spongy cushion is paved on the inclined plate. The inclined plate is connected through the pin shaft to form a certain inclined plane, so that the patient can be supported.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an intelligent patting back turning robot provided by an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a push plate provided by an embodiment of the invention.
Fig. 3 is a schematic structural diagram of a base and a sloping plate according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a control system of the intelligent back-beating turning-over robot provided by the embodiment of the invention.
Fig. 5 is a flowchart of a method for controlling an intelligent back-shooting and turning-over robot according to an embodiment of the present invention.
In the figure: 1. a base; 2. a touch screen; 3. an electric telescopic rod; 4. a storage battery; 5. a charging port; 6. a host; 7. pushing the plate; 8. a hinge; 9. a square through hole; 10. an electric slider; 11. rotating the motor; 12. a slide rail; 13. a telescopic rod; 14. hammering the handle; 15. a pressure sensor; 16. a sloping plate; 17. a pin shaft; 18. an image acquisition module; 19. a pressure acquisition module; 20. a displacement acquisition module; 21. an inclination angle acquisition module; 22. a forward and reverse rotation speed acquisition module; 23. a display touch module; 24. a central processing module; 25. a wireless signal transceiving module; 26. a mobile terminal; 27. an electric telescopic rod module; 28. a push plate operation module; 29. an electric slider module; 30. and a handle hammering operation module.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.
Aiming at the problems in the prior art, the invention provides an intelligent back-patting and turning-over robot and a control method thereof, and the invention is described in detail with reference to the accompanying drawings.
As shown in fig. 1-3, the intelligent patting back turning robot provided by the embodiment of the invention is provided with a base 1;
example 1: the base 1 and the push plate 7 are connected through a hinge 8, a square through hole 9 is formed in the middle of the push plate 7, a sliding rail 12 is welded at the right end of the square through hole 9, and the sliding rail 12 is connected with an electric sliding block 10 in a sliding mode; a rotating motor 11 is fixed on the electric sliding block 10 through a bolt, and a right-angle connecting cylinder and a telescopic rod 13 are connected with an output shaft of the rotating motor 11; the telescopic rod 13 is connected with a hammer handle 14 through a bolt, and a pressure sensor 15 is embedded on the hammer handle 14.
When the patient needs to turn over, the push plate 7 assists the patient to turn over; after the turning over is finished, the host machine 6 controls the electric slide block 10 to move up and down; after the position adjustment is finished, the host machine 6 controls the rotating motor 11 to rotate in a positive and negative rotation mode to drive the push handle to carry out back patting on the patient with a certain beating force; meanwhile, a pressure sensor 15 on the hammer handle 14 can detect the hammer force generated on the back of the patient, and the main machine controls the corresponding rotating speed of the rotating motor 11.
In the using process, the beating force can be effectively controlled, and the comfort of a patient is improved; meanwhile, the invention automatically realizes the back-patting of the patient, thereby reducing the workload of nurses.
In this embodiment, to assist the patient in turning over. The base 1 is connected with the electric telescopic rod 3 through a bolt, and the other end of the electric telescopic rod 3 is connected with the push plate 7 through a hinge.
When the patient needs to turn over, the electric telescopic rod 3 extends to enable the push plate 7 to push the patient to turn over.
In this embodiment, the overall device is adjusted for convenience according to the physical characteristics of the patient. A host 6 and a storage battery 4 are fixed inside the base 1 through bolts, a charging port 5 is arranged on the right side of the base 1, and a touch screen 2 is embedded in the front of the base 1.
The host machine 6 is connected with the touch screen 2, the electric slider 10, the rotating motor 11 and the pressure sensor 15 through electric signals.
When adjusting each operating device, operating on the touch screen 2; according to the input command, the host 6 controls the operation of each device; and is provided with a charging port 5 to supply electric energy to the storage battery 4.
In the embodiment, in order to prevent the back of the patient from generating the impression in the process of assisting the patient to turn over. The side surface of the base 1 is connected with an inclined plate 16 through a pin shaft 17, and a spongy cushion is paved on the inclined plate 16. The inclined plate 16 is connected through a pin shaft 17 to form a certain inclined plane, so that the patient can be supported.
In this embodiment, the base 1 of the present invention is further provided with a sound pickup, and the sound pickup is connected to the host through an electrical signal. Wherein, the base 1 is arranged in a groove of the bed body, and the upper end of the base is flush with the edge of the groove.
As shown in fig. 4, the intelligent back-patting and turning robot provided by the embodiment of the present invention further includes:
the image acquisition module 18 is connected with the central processing module 24, and monitors the state of the patient by fixing a camera on the bed body.
And the pressure acquisition module 19 is connected with the central processing module 24, and a pressure sensor is fixed on the beating handle and used for detecting the beating force generated on the back of the patient.
And the displacement acquisition module 20 is connected with the central processing module 24, and a displacement sensor is fixed on the electric telescopic rod and used for detecting the length of the electric telescopic rod.
And the inclination angle acquisition module 21 is connected with the central processing module 24, and an inclination angle sensor is fixed on the push plate to detect the inclination angle of the push plate.
The forward and reverse rotation speed acquisition module 22 is connected with the central processing module 24, and a speed sensor is fixed on the forward and reverse rotation motor for detecting the rotation speed of the forward and reverse rotation motor.
And a display touch module 23 connected to the central processing module 24 for inputting command information on the touch display screen.
And the central processing module 24 is respectively connected with the image acquisition module 18, the pressure acquisition module 19, the displacement acquisition module 20, the inclination angle acquisition module 21, the forward and reverse rotation speed acquisition module 22, the display touch module 23, the wireless signal transceiver module 25, the electric telescopic rod module 27, the push plate operation module 28, the electric slider module 29 and the hammer handle operation module 30, and coordinates normal operation of each module.
And a wireless signal transceiver module 25 connected to the central processing module 24, wherein the host communicates with the mobile terminal by using the wireless signal transceiver as a bridge between the host and the mobile terminal.
And the mobile terminal 26 is connected with the wireless signal transceiver through the mobile terminal to remotely control the operation of the whole device.
And the electric telescopic rod module 27 is connected with the central processing module 24, receives the instruction of the host, realizes the extension or the shortening of the electric telescopic rod and changes the inclination angle of the push plate.
And the push plate operation module 28 is connected with the central processing module 24, and the push plate changes the inclination angle of the push plate under the operation of the electric telescopic rod.
And the electric sliding block module 29 is connected with the central processing module 24, and the electric sliding block moves up and down to adjust the position of the hammer handle.
And the beating handle operation module 30 is connected with the central processing module 24, and controls the beating speed of the beating handle under the forward and reverse rotation motion of the beating handle to beat the back of the patient.
As shown in fig. 5, the method for controlling the intelligent back-patting and turning-over robot provided by the embodiment of the invention comprises the following steps:
s101: the image acquisition module is fixed with a camera through the bed body and monitors the state of the patient; the pressure acquisition module is fixed with a pressure sensor on the beating handle and used for detecting the beating force generated on the back of the patient.
S102: the displacement acquisition module is fixedly provided with a displacement sensor on the electric telescopic rod and used for detecting the length of the electric telescopic rod; the inclination angle acquisition module is fixedly provided with an inclination angle sensor on the push plate and used for detecting the inclination angle of the push plate; the forward and reverse rotation speed acquisition module is fixed with a speed sensor on the forward and reverse rotation motor and used for detecting the rotation speed of the forward and reverse rotation motor.
S103: according to the state of each device of the whole device, the central processing module controls the normal operation of each module of the image acquisition module, the pressure acquisition module, the displacement acquisition module, the inclination angle acquisition module, the forward and reverse rotation speed acquisition module, the display touch module, the wireless signal receiving and transmitting module, the electric telescopic rod module, the push plate operation module, the electric sliding block module and the hammer handle operation module.
S104: the electric telescopic rod in the electric telescopic rod module receives the instruction of the host machine, so that the electric telescopic rod can be extended or shortened, and the inclination angle of the push plate is changed; the push plate in the push plate operation module changes the inclination angle of the push plate under the operation of the electric telescopic rod.
S105: the electric sliding block in the electric sliding block module moves up and down to adjust the position of the hammering handle; the beating handle in the beating handle running module controls the beating speed of the beating handle under the forward and backward rotation motion to beat the back of the patient.
S106: the wireless signal transceiver module utilizes a wireless signal transceiver as a bridge between the host and the mobile terminal, and the host is communicated with the mobile terminal to remotely control the operation of the whole device; and simultaneously, the display touch module inputs instruction information on the touch display screen.
In S101 provided by the embodiment of the present invention, a process of denoising an image acquired by a camera by an image acquisition module is as follows:
establishing an image denoising set for the acquired patient image, and identifying the image containing noise in the image denoising set;
after the recognition is finished, extracting an image containing noise; selecting a circular neighborhood from an image containing noise, and calculating pixel values in the circular neighborhood;
sorting the pixel values according to the calculated pixel values, and selecting a middle value as a correction value;
and continuously moving the circular neighborhood to smooth other noises in the image.
In S104 provided by the embodiment of the present invention, the operation process of the electric telescopic rod is as follows:
a rotating motor on the electric telescopic rod receives a signal of the host, and the rotating motor is in line contact with a straight tooth on a telescopic inner rod inside the electric telescopic rod through a gear;
the rotating motor drives the rotating gear to rotate, so that the relative position of the telescopic inner rod in the telescopic outer barrel is changed, and the length of the electric telescopic rod is adjusted.
In S105 provided by the embodiment of the present invention, the electric slider moves in the following manner:
a rotating motor on the electric sliding block is connected with a power supply, and an output shaft of the rotating motor drives a gear of the electric sliding block to rotate;
the gear on the electric sliding block is in line contact with the straight teeth on the sliding rail, the rotating motor receives a control signal of the host, and the rotating motor drives the electric sliding block to adjust the corresponding position.
In S106 provided by the embodiment of the present invention, a specific process of displaying the instruction information input by the touch module on the touch display screen is as follows:
switching on a power supply of the touch display screen, contacting a surface keyboard of the touch screen according to input instruction information, and increasing pressure on the touch screen;
after the touch screen is kept in contact for a period of time, the finger is lifted, the pressure of the finger is gradually reduced, the finger leaves the touch screen, and the whole touch process is finished.
The process of processing the acquired data according to the keyboard contacting the touch screen comprises the following steps:
the A/D converter continuously converts the pressure signals and sums the converted signals;
and averaging the sum to obtain the final effective value, and processing.
The working principle of the invention is as follows: fixing a sloping plate on the side surface of the base 1, and placing the device at the bottom of the body of a patient; the host machine 6 controls the electric telescopic rod 3 to extend, so that the push plate 7 pushes the patient to turn over; when a patient needs to be patted, the host machine 6 controls the electric slide block 10 to move up and down according to the physical characteristics of the patient; after the position adjustment is finished, the main machine 6 controls the rotating motor 11 to rotate in a positive and negative rotation mode, and drives the beating handle 14 to beat the back of the patient with a certain beating force; meanwhile, a pressure sensor 15 on the hammer handle 14 can detect the hammer force generated on the back of the patient, so that the main machine 6 controls the corresponding rotating speed of the rotating motor 11.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed herein, which is within the spirit and principle of the present invention, should be covered by the present invention.
Claims (10)
1. The utility model provides an intelligence is clapped back of body and is stood up robot which characterized in that, intelligence is clapped back of body and is stood up robot and be provided with:
a base;
the base is connected with the push plate through a hinge, a square through hole is formed in the middle of the push plate, a sliding rail is welded at the right end of the square through hole, and the sliding rail is connected with an electric sliding block in a sliding mode;
a rotating motor is fixed on the electric sliding block through a bolt, and an output shaft of the rotating motor is connected with the right-angle connecting cylinder and the telescopic rod; the telescopic rod is connected with the hammer handle through a bolt, and a pressure sensor is embedded on the hammer handle;
the base is connected with the electric telescopic rod through a bolt, and the other end of the electric telescopic rod is connected with the push plate through a hinge;
the main machine and the storage battery are fixed inside the base through bolts, a charging port is formed in the right side of the base, and the touch screen is embedded in the front of the base;
the host is connected with the touch screen, the electric sliding block, the rotating motor and the pressure sensor through electric signals;
the side surface of the base is connected with an inclined plate through a pin shaft, and a spongy cushion is paved on the inclined plate.
2. The intelligent patting back turning robot as claimed in claim 1, wherein a sound pickup is arranged on the base and is connected with a host through an electric signal;
the base is placed in the groove of the bed body, and the upper end of the base is flush with the edge of the groove.
3. The intelligent patting back and turning robot as claimed in claim 1, further comprising:
the image acquisition module is connected with the central processing module and is fixed with a camera through the bed body to monitor the state of the patient; the image acquisition module carries out a denoising process on the image acquired by the camera, establishes an image denoising set for the acquired patient image, and identifies the image containing noise in the image denoising set; after the recognition is finished, extracting an image containing noise; selecting a circular neighborhood from an image containing noise, and calculating pixel values in the circular neighborhood; sorting the pixel values according to the calculated pixel values, and selecting a middle value as a correction value; continuously moving the circular neighborhood, and smoothing other noises in the image;
the pressure acquisition module is connected with the central processing module, a pressure sensor is fixed on the beating handle, and the pressure sensor detects the beating force generated on the back of the patient;
the displacement acquisition module is connected with the central processing module, and a displacement sensor is fixed on the electric telescopic rod and used for detecting the length of the electric telescopic rod;
the inclination angle acquisition module is connected with the central processing module, and an inclination angle sensor is fixed on the push plate and used for detecting the inclination angle of the push plate;
the forward and reverse rotation speed acquisition module is connected with the central processing module, and a speed sensor is fixed on the forward and reverse motor and used for detecting the rotation speed of the forward and reverse motor;
the display touch module is connected with the central processing module and used for inputting instruction information on the touch display screen; switching on a power supply of the touch display screen, contacting a surface keyboard of the touch screen according to input instruction information, and increasing pressure on the touch screen; after the touch screen is contacted for a period of time, the finger is lifted, the pressure of the finger is gradually reduced, the finger leaves the touch screen, and the whole touch process is finished;
and the central processing module is respectively connected with the image acquisition module, the pressure acquisition module, the displacement acquisition module, the inclination angle acquisition module, the forward and backward rotation speed acquisition module, the display touch module, the wireless signal transceiving module, the electric telescopic rod module, the push plate operation module, the electric slider module and the hammer handle operation module, and coordinates normal operation of each module.
4. The intelligent patting back and turning robot as claimed in claim 1, further comprising:
the wireless signal transceiver module is connected with the central processing module, and the host machine is communicated with the mobile terminal by using the wireless signal transceiver as a bridge between the host machine and the mobile terminal;
the mobile terminal is connected with the wireless signal transceiver through the mobile terminal and remotely controls the operation of the whole device;
the electric telescopic rod module is connected with the central processing module, receives the instruction of the host, realizes the extension or the shortening of the electric telescopic rod and changes the inclination angle of the push plate; a rotating motor on the electric telescopic rod receives a signal of the host, and the rotating motor is in line contact with a straight tooth on a telescopic inner rod inside the electric telescopic rod through a gear; the rotating motor drives the rotating gear to rotate, so that the relative position of the telescopic inner rod in the telescopic outer cylinder is changed, and the length of the electric telescopic rod is adjusted;
the push plate operation module is connected with the central processing module, and the push plate changes the inclination angle of the push plate under the operation of the electric telescopic rod;
the electric sliding block module is connected with the central processing module, and the electric sliding block moves up and down to adjust the position of the hammering handle; a rotating motor on the electric sliding block is connected with a power supply, and an output shaft of the rotating motor drives a gear of the electric sliding block to rotate; a gear on the electric sliding block is in line contact with a straight tooth on the sliding rail, a rotating motor receives a control signal of a host, and the rotating motor drives the electric sliding block to adjust the corresponding position;
the beating handle operation module is connected with the central processing module, and the beating speed of the beating handle is controlled under the forward and reverse rotation motion of the beating handle, so that the back of the patient is beaten.
5. An intelligent back-patting and body-turning robot control method based on the intelligent back-patting and body-turning robot as claimed in claims 1-4, wherein the intelligent back-patting and body-turning robot control method comprises the following steps:
firstly, a camera is fixed on an image acquisition module through a bed body to monitor the state of a patient; the pressure acquisition module is fixedly provided with a pressure sensor on the beating handle and used for detecting the beating force generated on the back of the patient;
secondly, a displacement sensor is fixed on the electric telescopic rod by a displacement acquisition module to detect the length of the electric telescopic rod; the inclination angle acquisition module is fixedly provided with an inclination angle sensor on the push plate and used for detecting the inclination angle of the push plate; the forward and reverse rotation speed acquisition module is fixedly provided with a speed sensor on the forward and reverse rotation motor and used for detecting the rotation speed of the forward and reverse rotation motor;
according to the state of each device of the integral device, the central processing module controls the normal operation of each module of the image acquisition module, the pressure acquisition module, the displacement acquisition module, the inclination angle acquisition module, the forward and reverse rotation speed acquisition module, the display touch module, the wireless signal receiving and transmitting module, the electric telescopic rod module, the push plate operation module, the electric sliding block module and the hammer handle operation module;
step four, the electric telescopic rod in the electric telescopic rod module receives the instruction of the host machine, so that the electric telescopic rod can be extended or shortened, and the inclination angle of the push plate is changed; in the push plate operation module, the push plate changes the inclination angle of the push plate under the operation of the electric telescopic rod;
fifthly, the electric slide block in the electric slide block module moves up and down to adjust the position of the hammering handle; the beating handle in the beating handle running module controls the beating speed of the beating handle under the forward and reverse rotation motion to beat the back of the patient;
step six, the wireless signal transceiver module utilizes the wireless signal transceiver as a bridge between the host and the mobile terminal, and the host and the mobile terminal are communicated to remotely control the operation of the whole device; and simultaneously, the display touch module inputs instruction information on the touch display screen.
6. The control method of the intelligent back-beating and body-turning robot as claimed in claim 5, wherein in the first step, the process of denoising the image collected by the camera by the image collecting module is as follows:
establishing an image denoising set for the acquired patient image, and identifying the image containing noise in the image denoising set;
after the recognition is finished, extracting an image containing noise; selecting a circular neighborhood from an image containing noise, and calculating pixel values in the circular neighborhood;
sorting the pixel values according to the calculated pixel values, and selecting a middle value as a correction value;
and continuously moving the circular neighborhood to smooth other noises in the image.
7. The control method of the intelligent patting back turning-over robot as claimed in claim 5, wherein in the fourth step, the operation process of the electric telescopic rod is as follows:
a rotating motor on the electric telescopic rod receives a signal of the host, and the rotating motor is in line contact with a straight tooth on a telescopic inner rod inside the electric telescopic rod through a gear;
the rotating motor drives the rotating gear to rotate, so that the relative position of the telescopic inner rod in the telescopic outer barrel is changed, and the length of the electric telescopic rod is adjusted.
8. The control method of the intelligent patting back turning-over robot as claimed in claim 5, wherein in the fifth step, the mode of moving the electric slide block is as follows:
a rotating motor on the electric sliding block is connected with a power supply, and an output shaft of the rotating motor drives a gear of the electric sliding block to rotate;
the gear on the electric sliding block is in line contact with the straight teeth on the sliding rail, the rotating motor receives a control signal of the host, and the rotating motor drives the electric sliding block to adjust the corresponding position.
9. The control method of the intelligent back-beating and body-turning robot as claimed in claim 5, wherein in the sixth step, the specific process of displaying the instruction information input by the touch module on the touch display screen is as follows:
switching on a power supply of the touch display screen, contacting a surface keyboard of the touch screen according to input instruction information, and increasing pressure on the touch screen;
after the touch screen is kept in contact for a period of time, the finger is lifted, the pressure of the finger is gradually reduced, the finger leaves the touch screen, and the whole touch process is finished.
10. The control method of the intelligent back-beating and body-turning robot as claimed in claim 9, wherein the process of processing the collected data according to the keyboard contacting the touch screen is as follows:
the A/D converter continuously converts the pressure signals and sums the converted signals;
and averaging the sum to obtain the final effective value, and processing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010762478.3A CN111973427A (en) | 2020-07-31 | 2020-07-31 | Intelligent back-patting and turning robot and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010762478.3A CN111973427A (en) | 2020-07-31 | 2020-07-31 | Intelligent back-patting and turning robot and control method |
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|---|---|---|---|---|
| US20110131726A1 (en) * | 2008-07-31 | 2011-06-09 | Yiping Wen | Multifunctional Turn-Over Nursing Bed |
| US20170014287A1 (en) * | 2015-07-17 | 2017-01-19 | Tai-Tien Chung | Pull-type Body Turning Aid and Pull-type Body Turning Device Including the Same |
| CN110575334A (en) * | 2019-09-16 | 2019-12-17 | 山东宝德龙健身器材有限公司 | Intelligent back-patting type electric sickbed system based on brain-computer interface control |
| CN210020047U (en) * | 2018-12-07 | 2020-02-07 | 宗莉莉 | Back buckling nursing device |
| CN210991337U (en) * | 2019-07-24 | 2020-07-14 | 扬州市中医院 | Novel stepless regulation turning cushion |
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2020
- 2020-07-31 CN CN202010762478.3A patent/CN111973427A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110131726A1 (en) * | 2008-07-31 | 2011-06-09 | Yiping Wen | Multifunctional Turn-Over Nursing Bed |
| US20170014287A1 (en) * | 2015-07-17 | 2017-01-19 | Tai-Tien Chung | Pull-type Body Turning Aid and Pull-type Body Turning Device Including the Same |
| CN210020047U (en) * | 2018-12-07 | 2020-02-07 | 宗莉莉 | Back buckling nursing device |
| CN210991337U (en) * | 2019-07-24 | 2020-07-14 | 扬州市中医院 | Novel stepless regulation turning cushion |
| CN110575334A (en) * | 2019-09-16 | 2019-12-17 | 山东宝德龙健身器材有限公司 | Intelligent back-patting type electric sickbed system based on brain-computer interface control |
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