Folding moment optimization method and system based on load distribution

Abstract

The invention discloses a folding torque optimization method and system based on load distribution, and belongs to the field of medical equipment.The method comprises the steps that folding resistance and folding force data in the stretcher folding process are collected in real time through a force monitoring sensor array; constructing a real-time stress information matrix based on the data; the historical stress information matrix is analyzed, stress fluctuation parameters are obtained, and folding efficiency information is set; according to the real-time stress information matrix and the folding efficiency information, the folding assisting torque of the assisting controller array is optimized, and an optimized torque array is obtained; according to the optimized torque array, the folding structure is controlled through the power-assisted controller array, and auxiliary folding of the stretcher is achieved. The technical problems that in the stretcher folding process in the prior art, stress of all the folding structures is unbalanced, and the folding efficiency is unstable are solved, and the technical effects that the stress balance of all the folding structures in the stretcher folding process is improved, and the folding assisting force is dynamically optimized according to the actual stress condition to meet the set folding efficiency are achieved.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment, and in particular to a folding torque optimization method and system based on load distribution. Background Art

[0002] In medical rescue, patient transfer and other scenarios, folding stretchers are commonly used medical auxiliary equipment. Medical staff need to frequently fold and unfold the folding stretcher for easy carrying, storage and use. However, the folding stretcher in the prior art often has the problem of uneven force on each folding structure during the folding process. Since the folding stretcher includes multiple folding structures, such as multiple stretcher legs, the resistance and external force received by each folding structure during the folding process are quite different, resulting in uneven force states of each part during the folding process, with some structures bearing excessive force and some structures bearing less force. This problem of uneven force can cause deformation or damage to the folding structure, affecting the service life and stability of the folding stretcher. On the other hand, the existing folding stretcher usually adopts a simple manual folding method or a single power-assisting device, and cannot dynamically adjust the size and distribution of the power-assisting during the folding process according to the actual force conditions. This leads to unstable folding efficiency and is difficult to meet actual use requirements. Too low folding efficiency will reduce the folding speed and prolong the operation time; while too high folding efficiency may cause safety hazards and cause harm to medical staff and patients. Therefore, the prior art has the technical problems of uneven force on the folding structures and unstable folding efficiency during the folding process of the stretcher. Summary of the invention

[0003] The present application provides a folding torque optimization method and system based on load distribution, aiming to solve the technical problems of uneven force on various folding structures and unstable folding efficiency during the folding process of the stretcher in the prior art.

[0004] In view of the above problems, the present application provides a folding torque optimization method and system based on load distribution.

[0005] The first aspect disclosed in the present application provides a folding torque optimization method based on load distribution, which includes: monitoring and collecting the folding resistance of multiple folding structures of the target stretcher in real time during the folding process through the force monitoring sensor array to obtain multiple folding resistance data, and monitoring the folding forces applied to the multiple folding structures to obtain multiple folding force data; constructing a real-time force information matrix of the target stretcher based on the multiple folding resistance data and the multiple folding force data; performing force fluctuation analysis on the multiple folding structures according to the historical force information matrix during the folding process to obtain multiple force fluctuation parameters, and setting folding efficiency information of the multiple folding structures according to the multiple force fluctuation parameters; optimizing the folding assist torque of the multiple folding structures on the assist controller array according to the real-time force information matrix and the folding efficiency information to obtain an optimized folding assist force matrix column, wherein the optimized folding assist force matrix column includes multiple optimized folding assist torques of the multiple folding structures in order to improve the force balance of the multiple folding structures and meet the folding efficiency information; performing assist folding control on the multiple folding structures through the assist controller array according to the optimized folding assist force matrix column.

[0006] Another aspect disclosed in the present application provides a folding torque optimization system based on load distribution, which includes: a force data acquisition module, which is used to monitor and acquire the folding resistance of multiple folding structures of a target stretcher in a folding process in real time through the force monitoring sensor array to obtain multiple folding resistance data, and monitor the folding forces exerted on the multiple folding structures to obtain multiple folding force data; a force matrix construction module, which is used to construct a real-time force information matrix of the target stretcher based on the multiple folding resistance data and the multiple folding force data; a force fluctuation analysis module, which is used to perform force fluctuation analysis on the multiple folding structures according to the historical force information matrix during the folding process to obtain multiple force fluctuation parameters , setting the folding efficiency information of the multiple folding structures according to the multiple force fluctuation parameters; an assist optimization calculation module, used to optimize the folding assist torque of the multiple folding structures of the assist controller array according to the real-time force information matrix and the folding efficiency information, and obtain an optimized folding assist force matrix column, wherein the optimization is performed to improve the force balance of the multiple folding structures and to meet the folding efficiency information, and the optimized folding assist force matrix column includes multiple optimized folding assist torques of the multiple folding structures; a folding control execution module, used to perform assist folding control on the multiple folding structures through the assist controller array according to the optimized folding assist force matrix column.

[0007] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0008] By adopting a force monitoring sensor array, the folding resistance of multiple folding structures of the target stretcher during the folding process is monitored and collected in real time to obtain multiple folding resistance data, and the folding force of multiple folding structures is monitored to obtain multiple folding force data, so as to fully understand the stress conditions of each folding structure during the folding process; based on multiple folding resistance data and multiple folding force data, a real-time force information matrix of the target stretcher is constructed to clearly characterize the stress state of each folding structure, providing a data basis for subsequent force analysis and folding assistance optimization; according to the historical force information matrix during the folding process, force fluctuation analysis of multiple folding structures is carried out to obtain multiple force fluctuation parameters, and according to the multiple force fluctuation parameters, folding efficiency information of multiple folding structures is set, and by analyzing the historical force fluctuation conditions, the force stability of each folding structure during the folding process is evaluated, and reasonable folding efficiency requirements are set accordingly to avoid sudden force changes or efficiency out of control during the folding process; according to the real-time force The information matrix and folding efficiency information are used to optimize the folding assist torque of multiple folding structures of the assist controller array to obtain an optimized folding assist torque matrix. The optimization process aims to improve the force balance of multiple folding structures and meet the folding efficiency information. The optimized folding assist torque matrix contains the optimal folding assist torque of each folding structure, which can balance the stress state of each folding structure while taking into account the folding efficiency requirements; according to the optimized folding assist torque matrix, the multiple folding structures are assisted in folding control through the assist controller array, and the optimized folding assist torque is actually applied to each folding structure to achieve a technical solution of force balance and stable efficiency in the folding process, which solves the technical problems of uneven force and unstable folding efficiency of each folding structure in the prior art during the folding process of the stretcher, and achieves the technical effect of improving the force balance of each folding structure in the folding process of the stretcher and dynamically optimizing the folding assist according to the actual stress conditions to meet the set folding efficiency.

[0009] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 A flow chart of a folding torque optimization method based on load distribution is provided for an embodiment of the present application;

[0011] Figure 2 A structural schematic diagram of a folding torque optimization system based on load distribution is provided for an embodiment of the present application.

[0012] Explanation of the reference numerals: force data acquisition module 11 , force matrix construction module 12 , force fluctuation analysis module 13 , power optimization calculation module 14 , folding control execution module 15 . DETAILED DESCRIPTION

[0013] The overall idea of ​​the technical solution provided by this application is as follows:

[0014] The embodiments of the present application provide a folding torque optimization method and system based on load distribution, which dynamically optimizes the distribution of the folding assist torque by real-time monitoring of the stress state during the folding process, thereby achieving force balance and stable efficiency control during the folding process.

[0015] Specifically, first, the folding resistance and folding force data are acquired by using the force monitoring sensor array, and a real-time force information matrix is ​​constructed to fully grasp the force distribution during the folding process; then, by analyzing the historical force fluctuations, a reasonable folding efficiency target is set to avoid sudden changes and loss of control in the folding process; on this basis, the real-time force state and target folding efficiency are comprehensively considered to optimize the folding assist torque distribution of each folding structure and generate the optimal folding assist torque matrix; then, the optimized folding assist torque is applied to each folding structure through the assist controller array to achieve force balance and efficiency stability in the folding process.

[0016] After introducing the basic principles of the present application, various non-limiting implementation methods of the present application will be specifically described below in conjunction with the drawings in the specification.

[0017] Embodiment 1, as Figure 1 As shown, an embodiment of the present application provides a folding torque optimization method based on load distribution, which is applied to a stretcher folding control device, which includes a force monitoring sensor array and a power assist controller array.

[0018] Specifically, the load distribution-based folding torque optimization method of this embodiment is applied to a stretcher folding control device. The stretcher folding control device includes a force monitoring sensor array and a power assist controller array. The force monitoring sensor array is arranged on multiple folding structures of the stretcher, and is used to monitor and collect the force conditions of each folding structure during the folding process of the stretcher in real time, including the folding resistance and folding force of each folding structure during the folding process. The power assist controller array cooperates with the force monitoring sensor array, and outputs an optimized folding assist torque after optimization calculation based on the force data collected by the force monitoring sensor array, and provides power assist folding control for multiple folding structures, so as to achieve force balance and improved folding efficiency during the folding process.

[0019] By introducing a force monitoring sensor array and a power assist controller array into the stretcher folding control and optimizing the folding torque based on load distribution, the technical problems of uneven force on the folding structures and unstable folding efficiency during the stretcher folding process in the prior art are effectively solved.

[0020] Folding moment optimization methods include:

[0021] S1: The force monitoring sensor array is used to monitor and collect the folding resistance of multiple folding structures of the target stretcher in real time during the folding process to obtain multiple folding resistance data, and the folding force exerted on the multiple folding structures is monitored to obtain multiple folding force data.

[0022] Specifically, during the folding process of the stretcher, the force monitoring sensor arrays arranged on the multiple folding structures of the stretcher (such as the legs of the stretcher) work in real time to continuously monitor the force conditions of each folding structure. On the one hand, the force monitoring sensor array monitors the folding resistance of each folding structure during the folding process, such as the resistance from the friction between the folding structures, the damping force at the hinges, and the self-weight of the folding structure, and obtains a plurality of folding resistance data reflecting the folding resistance of each folding structure. On the other hand, the force monitoring sensor array monitors the folding force of each folding structure, that is, the folding driving force applied by medical staff to each folding structure, and obtains a plurality of folding force data reflecting the folding force of each folding structure.

[0023] The folding resistance data and folding force data obtained through the force monitoring sensor array provide the necessary data basis for the subsequent construction of a real-time force information matrix and the analysis of force fluctuations to optimize the folding assist torque.

[0024] S2: constructing a real-time force information matrix of the target stretcher based on the multiple folding resistance data and the multiple folding force data.

[0025] Specifically, the folding resistance data and folding force data of each folding structure obtained are integrated as a plurality of real-time force information reflecting the real-time force state of each folding structure. At the same time, the position information of each folding structure in the stretcher is obtained. Then, the real-time force information and position information of each folding structure are combined to construct a real-time force information matrix reflecting the overall real-time force state of the target stretcher. Among them, the real-time force information matrix adopts a matrix form to associate and integrate the real-time force information and position information of each folding structure. Each row of the matrix corresponds to a folding structure of the target stretcher, and each column corresponds to a mechanical parameter (such as force magnitude, force direction) or position parameter (such as the spatial coordinates of the folding structure). In the form of a matrix, the force distribution of each part of the target stretcher is depicted in real time.

[0026] By constructing a real-time force information matrix, an intuitive and reliable data model is provided for the subsequent force fluctuation analysis of the folding structure and the optimization of the folding assist torque.

[0027] S3: performing force fluctuation analysis on the multiple folding structures according to the historical force information matrix during the folding process to obtain multiple force fluctuation parameters, and setting folding efficiency information of the multiple folding structures according to the multiple force fluctuation parameters.

[0028] Specifically, after constructing the real-time force information matrix of the target stretcher, multiple historical force information matrices constructed at multiple historical moments in the current folding process of the target stretcher are obtained. Then, the real-time force information matrix and the historical force information matrix are compared and analyzed, the force change amplitude of each folding structure is calculated, and multiple force fluctuation parameters reflecting the force stability of each folding structure are obtained. The force fluctuation parameter is the change range of the force magnitude of each folding structure, the frequency of direction change, etc. According to multiple force fluctuation parameters, the stability of the folding process of the target stretcher is judged. The larger the force fluctuation parameter, the more unstable the force of the folding structure during the folding process, and there is a risk of damage to the folding structure or injury to the user, and the folding efficiency needs to be reduced. Therefore, by calculating the average value of multiple force fluctuation parameters, the average force fluctuation parameter is obtained, which is compared with the preset safety force fluctuation threshold, and combined with the preset standard folding efficiency, the target folding efficiency of each folding structure at this time is set to obtain the folding efficiency information.

[0029] By analyzing the force fluctuations, the stability and safety of the folding process can be judged, and the folding efficiency can be adaptively adjusted. Under the premise of ensuring the safety and reliability of the folding process, the folding efficiency can be improved as much as possible, providing a basis for the optimization of the subsequent folding assist torque.

[0030] S4: According to the real-time force information matrix and folding efficiency information, the folding assist torque of the multiple folding structures of the assist controller array is optimized to obtain an optimized folding assist force matrix column, wherein the optimization is performed to improve the force balance of the multiple folding structures and to satisfy the folding efficiency information, and the optimized folding assist force matrix column includes multiple optimized folding assist torques of the multiple folding structures.

[0031] Specifically, after obtaining the real-time force information matrix and folding efficiency information, the folding assist torque range that each assist controller in the assist controller array can provide is determined according to the current folding angle of each folding structure, and the solution space of the folding assist torque optimization problem is obtained. Then, a set of initial folding assist torque matrices is randomly generated in the solution space, and the matrix is ​​combined with the real-time force information matrix for analysis to evaluate the force balance of each folding structure under the assist torque combination to obtain the balance fitness value; at the same time, the folding efficiency under the assist torque combination is evaluated and compared with the target folding efficiency information to obtain the folding efficiency fitness value. With improving force balance and satisfying folding efficiency as the optimization objective function, the comprehensive fitness value of the folding assist torque combination is obtained by weighted average balance fitness value and efficiency fitness value as an evaluation index to measure the optimization effect. Then, an intelligent optimization algorithm, such as a genetic algorithm, is used to perform iterative search optimization in the solution space. The intelligent optimization algorithm continuously evolves and optimizes the population of solutions by encoding, selecting, crossover, mutating and other operations on the solutions, and finally converges to the folding assist torque combination with the best comprehensive fitness, which is output as the optimized folding assist torque matrix.

[0032] By comprehensively considering the force balance and folding efficiency, the optimal folding assist torque distribution scheme is searched in the solution space to achieve the optimal assist folding performance of the assist controller array.

[0033] S5: According to the optimized folding assist force matrix, the assist controller array is used to perform assist folding control on the plurality of folding structures.

[0034] Specifically, after obtaining the optimized folding assist torque matrix, the output optimized folding assist torque matrix is ​​transmitted to the assist controller array as a control instruction for each assist controller to output the folding assist torque. The assist controller array adjusts the output parameters of each assist controller according to the received folding assist torque matrix, so that it provides a folding assist torque of specified size and direction to the corresponding folding structure. Under the coordinated action of the assist controller array, each folding structure receives the optimized distributed folding assist, and performs a folding action with the assistance of the folding torque. Since the folding assist torque matrix has been optimized, taking into account both force balance and folding efficiency, each folding structure can smoothly and efficiently complete the folding process under a force balance state, thereby realizing the reliable folding of the entire target stretcher.

[0035] By implementing the optimized folding assist torque matrix, the assist controller array applies optimized assist and performs closed-loop control on the folding process, thus ensuring the actual effect of the folding process and achieving the purpose of improving the force balance and folding efficiency during the stretcher folding process.

[0036] Furthermore, the embodiment of the present application also includes:

[0037] Step S110: monitoring and collecting the friction force and friction direction of the multiple folding structures of the target stretcher in real time during the folding process through the force monitoring sensor array as multiple friction force data, and combining the gravity data of the multiple folding structures as multiple folding resistance data;

[0038] Step S120: monitoring the folding forces and directions of the folding forces applied to the multiple folding structures as multiple folding force data.

[0039] In a feasible implementation, first, the force monitoring sensor array monitors the friction force applied to the folding structure during the folding process in real time, and obtains friction force data reflecting the magnitude and direction of the friction force. To monitor the friction force, tactile sensors or strain sensors are arranged at key locations such as the hinges and contact surfaces of the folding structure. At the same time, the gravity data of the folding structure is obtained by estimating structural parameters or measuring in real time with force sensors. The friction force data and gravity data are combined to obtain folding resistance data that comprehensively reflects the folding resistance, providing a basis for subsequent folding resistance analysis. At the same time, the force monitoring sensor array monitors the folding driving force applied by medical staff to the folding structure during the folding process in real time, and obtains folding force data reflecting the magnitude and direction of the folding force. To monitor the folding force, pressure sensors or torque sensors are arranged at key locations such as the handle of the folding structure.

[0040] By comprehensively monitoring the folding resistance and folding driving force, the force data of the folding process is obtained to provide data support for the optimization of the folding torque.

[0041] Furthermore, the embodiment of the present application also includes:

[0042] Step S210: using the plurality of folding resistance data and the plurality of folding force data as a plurality of real-time force information of the plurality of folding structures;

[0043] Step S220: combining the position information of the plurality of folding structures and the plurality of real-time force information to construct a real-time force information matrix of the target stretcher.

[0044] In a feasible implementation, first, the folding resistance data and folding force data of multiple folding structures are integrated as real-time force information reflecting the real-time force state of each folding structure. The folding resistance data reflects the friction and gravity resistance of the folding structure during the folding process, and the folding force data reflects the human driving force of the folding structure. The two are combined to comprehensively describe the force condition of the folding structure at a certain moment, and obtain the real-time force information of the folding structure. The real-time force information is expressed in the form of a vector or scalar, including parameters such as force magnitude and direction, which changes dynamically over time, reflecting the continuous change process of the force of the folding structure during the folding process.

[0045] After obtaining the real-time force information of the folding structure, these force information are combined with the position information of the folding structure to construct the real-time force information matrix of the target stretcher. The position information of the folding structure describes the spatial position and relative position relationship of each folding structure in the overall structure of the stretcher. The position parameters such as coordinates and angles of the folding structure can be obtained by means of mechanical structure design parameters, sensor measurements, etc. The real-time force information and position information of the folding structure are associated to obtain a real-time force information matrix that reflects the overall force state of the stretcher. Each row of the matrix corresponds to a folding structure, and each column corresponds to a force or position parameter. The values ​​of the matrix elements are dynamically updated over time. Through matrix representation, we can not only analyze the force changes of a single folding structure, but also examine the force distribution law of the entire stretcher to realize force modeling of the folding process.

[0046] Through the real-time force information matrix, the force information and position information scattered on each folding structure are integrated to achieve a dynamic description of the overall force state of the folding process, providing an intuitive and complete data model for subsequent force analysis and folding moment optimization.

[0047] Furthermore, the embodiment of the present application also includes:

[0048] Step S310: Acquire multiple historical force information matrices at multiple historical moments monitored and constructed during the folding process;

[0049] Step S320: calculating multiple force information change amplitude information of multiple folding structures as multiple force fluctuation parameters according to the multiple historical force information matrices and the real-time force information matrix;

[0050] Step S330: Calculate an average force fluctuation parameter based on the multiple force fluctuation parameters, adjust and calculate the preset folding efficiency based on the average force fluctuation parameter and the preset force fluctuation parameter, and set the folding efficiency information.

[0051] In a feasible implementation, at each sampling moment of the folding process, the force information and position information of the folding structure are collected through the sensor array to construct a real-time force information matrix. All real-time force information matrices constructed from the start of folding to the current moment are arranged in chronological order to form a time series, that is, multiple historical force information matrices. The historical force information matrix records the historical changes in the force state of each folding structure during the folding process. By analyzing the historical force information matrix, the force change law and trend in the folding process can be found, providing an important reference for optimizing the folding assistance. At the same time, by comparing the real-time force information matrix at the current moment with the historical force information matrix, it can be determined whether the current force state has abnormal fluctuations and the folding strategy can be adjusted in time. Subsequently, for each folding structure, the difference between the corresponding elements in the force information matrix at two adjacent historical moments is calculated to obtain the force change amount of the folding structure between the two moments, which is marked as a force fluctuation parameter. Repeat this process until the force fluctuation parameters of all folding structures between all adjacent historical moments are calculated. The force fluctuation parameter is a vector that represents the magnitude and direction of the force change. By calculating the force fluctuation parameter, the stability of the force on the folding structure can be quantitatively described. The larger the force fluctuation parameter, the more unstable the force during the folding process, which may cause the risk of damage to the folding structure or injury to the user; conversely, the smaller the force fluctuation parameter, the more stable and controllable the folding process.

[0052] Subsequently, the arithmetic average or weighted average of the multiple force fluctuation parameters is performed to obtain the average force fluctuation parameter representing the entire folding process. The average force fluctuation parameter reflects the overall force stability of the folding process. Then, the average force fluctuation parameter is compared with the preset force fluctuation parameter. The preset force fluctuation parameter is determined based on the design strength, material properties and other factors of the folding mechanism, indicating the maximum force fluctuation level that the folding mechanism can withstand under normal working conditions. At the same time, the preset force fluctuation parameter corresponds to a preset folding efficiency, indicating that under this fluctuation level, the folding mechanism can stably and reliably complete the highest efficiency of the folding action, usually expressed as the percentage of folding completed per second. If the average force fluctuation parameter is greater than the preset force fluctuation parameter, it means that the average force fluctuation level of the current folding process exceeds the design bearing capacity of the mechanism, and continuing to fold according to the preset folding efficiency may cause safety problems, and the folding efficiency needs to be reduced. For example, the ratio of the preset force fluctuation parameter to the average force fluctuation parameter is multiplied by the preset folding efficiency as the adjusted folding efficiency information. If the ratio is less than 1, the adjusted folding efficiency is lower than the preset level, which plays a role in speed reduction protection. The smaller the ratio, the greater the speed reduction. In extreme cases, if the average force fluctuation parameter is much larger than the preset force fluctuation parameter, the ratio approaches zero, and the folding efficiency information also approaches zero, the folding process should be stopped immediately to ensure safety. If the average force fluctuation parameter is less than or equal to the preset force fluctuation parameter, it means that the current folding process is relatively stable, the force fluctuation is within a controllable range, and the preset folding efficiency can be maintained, that is, the preset folding efficiency is used as the folding efficiency information.

[0053] By analyzing the historical force information matrix, the force fluctuation level during the folding process is calculated, and the folding efficiency is adjusted based on this. The requirements of efficiency and safety are balanced in the folding assistance optimization, and adaptive control of the folding process is achieved.

[0054] Furthermore, the embodiment of the present application also includes:

[0055] Step S410: acquiring the folding assist torque space of the plurality of assist controllers in the assist controller array according to the plurality of current folding angles of the plurality of folding structures;

[0056] Step S420: randomly generating a first folding assist force moment matrix in the folding assist force moment space;

[0057] Step S430: performing force balance analysis on the multiple folding structures according to the first folding assist torque matrix and in combination with the real-time force information matrix to obtain a first folding balance fitness;

[0058] Step S440: performing folding efficiency analysis according to the first folding assist torque matrix and the real-time force information matrix to obtain first folding efficiency information, calculating and obtaining a first folding efficiency fitness degree in combination with the folding efficiency information, and calculating and obtaining a first folding fitness degree in combination with the first folding equilibrium fitness degree;

[0059] Step S450: Continue to optimize the folding assist torques of the multiple folding structures in the folding assist torque space until convergence, and output the folding assist torque matrix with the maximum folding fitness as the optimized folding assist force matrix column.

[0060] In a feasible implementation, first, the current folding angle of each folding structure is measured by an angle sensor, and then the theoretical value range of the folding torque that the power-assisting controller can output at the current angle is calculated in combination with the mechanical characteristics and control algorithm of the power-assisting controller, so as to obtain a multi-dimensional folding power-assisting torque space that varies with the angle. Each dimension of the space corresponds to a folding structure, and each point in the space represents a possible combination of folding power-assisting torques. Obtaining the folding power-assisting torque space provides a reasonable solution space for subsequent folding power-assisting optimization, avoids the optimization algorithm from searching for an infeasible solution, and improves the optimization efficiency. At the same time, by introducing angle dependence, the folding power-assisting torque space can be adaptively adjusted according to the progress of the folding process, so that the folding power-assisting optimization has real-time and adaptive properties, and adapts to the dynamic changes of the folding process. Then, in the folding power-assisting torque space, according to uniform distribution or other probability distribution, a set of folding power-assisting torque sample points are randomly sampled, and each sample point corresponds to a possible combination of folding power-assisting torques, forming a first-generation folding power-assisting torque matrix. The number of rows of the matrix is ​​the number of folding structures, the number of columns is the number of randomly sampled sample points, and the matrix elements are the folding torque values ​​output by the power-assisting controller. By randomly generating initial solutions in the solution space, a variety of search starting points are provided for subsequent iterative optimization, which helps the optimization algorithm to jump out of the local optimum and conduct global search. At the same time, by adjusting the random sampling strategy, a trade-off can be made between optimization efficiency and global search capability.

[0061] Subsequently, the first folding assist torque matrix is ​​used as a set of folding assist inputs, and is substituted into the dynamic equation of the folding structure together with the real-time force information matrix to calculate the force response of each folding structure under the assist input, including the resultant force, torque, etc. At the same time, force balance evaluation indicators are designed, such as the variance of the resultant force of each folding structure, the discrete degree of the torque, etc. By calculating these indicators, the quantitative folding balance fitness is obtained. The higher the folding balance fitness, the more balanced the force of each folding structure under the folding assist. Among them, balanced fitness analysis is an important goal of folding assist optimization. By balancing the force of the folding structure, local stress concentration can be reduced, damage to the folding mechanism can be prevented, and the folding process can be ensured to be smooth and reliable. At the same time, balanced force also helps to reduce the force burden of medical staff and improve the human-computer interaction experience. Then, the first-generation folding assist torque matrix and the real-time force information matrix are substituted into the folding dynamics model, and the kinematic parameters such as angular velocity and angular acceleration of the folding structure under the assist input are calculated. Combined with the target folding time, the actual time required to complete the folding is estimated to obtain the folding efficiency information. Then, the folding efficiency information is compared with the target folding efficiency, and a folding efficiency fitness function is designed. This function takes into account the degree of proximity between the actual folding efficiency and the target folding efficiency, as well as the acceptable range of the folding time, and quantifies the folding efficiency as a fitness value to obtain the first folding equilibrium fitness. After that, the first folding efficiency fitness is weighted and summed with the obtained first folding equilibrium fitness to obtain the comprehensive fitness of the folding assist torque of this generation, that is, the first folding fitness, as an indicator for judging the quality of this group of solutions. The higher the comprehensive fitness, the better the folding assist solution is, as it meets the force balance requirements while improving the folding efficiency as much as possible.

[0062] After obtaining the comprehensive fitness of the first generation of folding power torque, the intelligent optimization algorithm is used to perform iterative optimization in the folding power torque space, and the folding power torque matrix is ​​continuously updated until the algorithm converges and the folding power torque combination with the best comprehensive fitness is found, which is output as the optimal folding power scheme. Specifically, according to the optimization algorithm adopted, the first generation folding power torque matrix is ​​updated according to certain rules to generate a new generation of folding power torque matrix. For example, when a genetic algorithm is used, the second generation matrix is ​​obtained by performing operations such as selection, crossover, and mutation on the first generation matrix; when a particle swarm optimization algorithm is used, the particle position is updated according to the particle speed and position update formula to obtain a new generation of particle swarm matrix. Repeat the execution to calculate the comprehensive fitness of the new generation matrix, and compare it with the optimal fitness of the previous generation, and record the optimal folding power scheme so far. Repeat the above process until the convergence conditions of the algorithm are met, such as the fitness improvement is less than the set threshold, or the maximum number of iterations is reached. The optimal solution at the time of convergence is used as the final folding power optimization result, and the corresponding optimized folding power torque matrix is ​​output, which is used to guide the actual power controller output to achieve the optimal power in the folding process.

[0063] Through the intelligent optimization algorithm, under the premise of considering the influence of the folding structure angle, the folding assist torque is optimized and solved with the improvement of folding force balance and folding efficiency as the optimization goal. While meeting the strength constraint of the folding mechanism, the efficiency and reliability of the stretcher folding are improved, the role of the assist controller array is fully utilized, and intelligent assistance in the folding process is realized.

[0064] Furthermore, the embodiment of the present application also includes:

[0065] Step S431: processing and acquiring multiple structural folding force information of the multiple folding structures according to the first folding assist torque matrix and the real-time force information matrix;

[0066] Step S432: performing force balance analysis and calculation on the multiple folding structures according to the folding force information of the multiple structures, and obtaining first force balance information as the first folding balance fitness.

[0067] In a preferred embodiment, the first generation folding assist torque matrix is ​​paired with the real-time force information matrix to extract the assist torque value and real-time force information of each folding structure, and then each folding structure is individually subjected to physical force modeling and calculation to obtain the force response of the structure under the current assist torque and external conditions, that is, the structural folding force information, thereby obtaining multiple structural folding force information of multiple folding structures. Subsequently, when calculating the folding equilibrium fitness, the stress state of all folding structures is comprehensively considered, and the folding force information of multiple structures is subjected to overall statistical analysis to reflect the force balance of the entire folding system. For example, the key stress parameters of each folding structure are combined into a multidimensional system state vector, and the balance of the vector is measured using indicators such as variance, thereby obtaining the balanced fitness of the folding assist combination, and obtaining the first folding balanced fitness.

[0068] By performing independent physical modeling and force calculation on each folding structure, the force response information at the structural level was obtained. On this basis, through a comprehensive analysis of the force status of all folding structures, the balanced performance of the current power-assisting combination at the system level was evaluated to guide subsequent optimization.

[0069] Furthermore, the embodiment of the present application also includes:

[0070] Step S441: collecting multiple sample structure folding force information sets of the multiple folding structures according to the stretcher folding record data, and annotating and obtaining multiple sample folding efficiency information sets according to the folding completion time of the multiple folding structures under different sample structure folding force information;

[0071] Step S442: using the plurality of sample structure folding force information sets and the plurality of sample folding efficiency information sets to train a folding efficiency analyzer;

[0072] Step S443: using the folding efficiency analyzer to perform folding efficiency analysis on the folding force information of the multiple structures, obtaining multiple folding efficiency information, and calculating and obtaining average folding efficiency information;

[0073] Step S444: calculating and obtaining a first folding efficiency fitness according to a deviation amplitude of the average folding efficiency information from the folding efficiency information;

[0074] Step S445: performing weighted calculation on the first folding balance fitness and the first folding efficiency fitness to obtain a first folding fitness.

[0075] In a preferred embodiment, for each historical folding process, the real-time force information matrix of each folding structure is extracted, and the structural folding force information of each folding structure in the folding process is calculated to obtain a set of structural folding force information of multiple folding structures as a sample input. At the same time, the completion time of the folding process is recorded, and the folding efficiency is calculated according to the folding completion time. The folding efficiency can be measured by the folding progress completed per unit time, such as the change in folding angle completed per second, or the percentage of folding completed per second. The calculated folding efficiency is used as a sample output, and constitutes a complete training sample with the corresponding structural folding force information. By analyzing a large number of historical folding records, a multi-sample structural folding force information set is obtained, each sample corresponds to a set of folding structure stress states; and a corresponding sample folding efficiency information set, each sample corresponds to a folding efficiency value. These two sets together constitute a sample data set for training a folding efficiency analyzer, which reflects the corresponding relationship between the folding structure stress state and the folding efficiency, and lays a data foundation for subsequent folding efficiency analysis. Then, the sample structure folding force information set is used as the training input, and the sample folding efficiency information set is used as the training target, and the folding efficiency analyzer is trained using supervised learning. By minimizing the error between the model's predicted efficiency and the sample's true efficiency, the model parameters are optimized and the model's prediction accuracy is improved. During the training process, techniques such as cross-validation and early stopping are used to control the model's complexity, prevent overfitting, and improve the model's generalization performance. After sufficient training, the folding efficiency analyzer can more accurately establish the mapping relationship between the stress state of the folding structure and the folding efficiency, providing a quantitative prediction tool for subsequent folding efficiency analysis.

[0076] Afterwards, the obtained folding force information of multiple structures, that is, the stress state data of all folding structures under the current optimized power-assisting combination, is input into the folding efficiency analyzer. After feature extraction and nonlinear transformation within the model, the predicted folding efficiency value of each folding structure, that is, the folding efficiency information, is obtained. Then, the folding efficiency information of multiple folding structures is averaged to obtain the average folding efficiency information of the entire folding system under the current optimized power-assisting combination, which reflects the overall folding efficiency level of the power-assisting combination. The higher the average folding efficiency information, the more conducive the current optimized power-assisting combination is to improving the folding speed and the better the folding performance. Through the folding efficiency analyzer, the quantitative mapping and evaluation from the local stress state of the folding structure to the overall folding efficiency is realized, revealing the folding performance of the current optimization scheme, which is an important basis for the optimization of the scheme.

[0077] At the same time, a folding efficiency target value is set to indicate the desired folding efficiency level. This target value is determined based on actual needs and the upper limit of the performance of the folding system. It is usually hoped that the folding efficiency is as high as possible, but the limitations of mechanical strength, cost and other factors must also be taken into account. Then, the difference between the average folding efficiency information and the folding efficiency target value is compared to calculate the degree of deviation between the two. The degree of deviation can be measured by indicators such as absolute error and relative error, reflecting the degree of proximity between the current folding efficiency and the target value. Thereafter, the degree of deviation is mapped to the interval [0, 1] through a certain mathematical transformation to obtain the first folding efficiency fitness value. Subsequently, the weight coefficients of the folding balance fitness and the folding efficiency fitness are set. These two weight coefficients reflect the importance of the folding process to the two performance indicators of force balance and folding efficiency. Folding balance is closely related to system reliability, while folding efficiency affects the time cost more. Therefore, the balance weight is generally slightly higher than the efficiency weight, but the specific value needs to be determined based on actual needs and the characteristics of the folding system. Afterwards, the folding balance fitness and the folding efficiency fitness are multiplied by the corresponding weight coefficients respectively, and then summed to obtain a weighted fusion comprehensive fitness value, which is recorded as the first generation of folding comprehensive fitness. The larger the comprehensive fitness value is, the more balanced the current optimization assistance scheme is in terms of balance and efficiency, and the closer it is to the expected optimal solution. Therefore, in the optimization search process, schemes with larger fitness values ​​should be given priority, and new optimization schemes should be generated based on them to continuously improve the fitness until the global optimal solution is found.

[0078] In summary, the folding torque optimization method based on load distribution provided in the embodiment of the present application has the following technical effects:

[0079] Through the force monitoring sensor array, the folding resistance of multiple folding structures of the target stretcher during the folding process is monitored and collected in real time to obtain multiple folding resistance data, and the folding force of multiple folding structures is monitored to obtain multiple folding force data, which lays a data support for the precise control of the folding process. Based on multiple folding resistance data and multiple folding force data, the real-time force information matrix of the target stretcher is constructed, and the scattered force data are integrated into a structured data representation, which provides convenience for subsequent data analysis and processing. According to the historical force information matrix in the folding process, the force fluctuation analysis of multiple folding structures is carried out to obtain multiple force fluctuation parameters. According to the multiple force fluctuation parameters, the folding efficiency information of multiple folding structures is set to avoid sudden force changes and efficiency out of control during the folding process, and ensure the stability and safety of the folding process. According to the real-time force information matrix and folding efficiency information, the folding assist torque of multiple folding structures of the assist controller array is optimized to obtain an optimized folding assist force matrix column, wherein the optimization is carried out to improve the force balance of multiple folding structures and meet the folding efficiency information. The optimized folding assist force matrix column includes multiple optimized folding assist torques of multiple folding structures, which maximizes the folding efficiency requirements under the premise of ensuring force balance. According to the optimized folding assist force matrix, multiple folding structures are controlled by assist folding through an assist controller array. The precise control of the assist controller array ensures a smooth folding process, thereby achieving the technical effect of improving the force balance of each folding structure during the folding process of the stretcher and dynamically optimizing the folding assist according to the actual force conditions to meet the set folding efficiency.

[0080] Embodiment 2 is based on the same inventive concept as the folding torque optimization method based on load distribution in the above embodiment. Figure 2 As shown, an embodiment of the present application provides a folding torque optimization system based on load distribution, which is applied to a stretcher folding control device, the device including a force monitoring sensor array and a power assist controller array, and the system includes:

[0081] The force data acquisition module 11 is used to monitor and acquire the folding resistance of multiple folding structures of the target stretcher in real time during the folding process through the force monitoring sensor array to obtain multiple folding resistance data, and to monitor the folding force exerted on the multiple folding structures to obtain multiple folding force data;

[0082] A force matrix construction module 12, configured to construct a real-time force information matrix of the target stretcher based on the plurality of folding resistance data and the plurality of folding force data;

[0083] A force fluctuation analysis module 13 is used to perform force fluctuation analysis on the multiple folding structures according to the historical force information matrix during the folding process, obtain multiple force fluctuation parameters, and set folding efficiency information of the multiple folding structures according to the multiple force fluctuation parameters;

[0084] The power-assistance optimization calculation module 14 is used to optimize the folding power-assistance moment of the plurality of folding structures of the power-assistance controller array according to the real-time force information matrix and the folding efficiency information, and obtain an optimized folding power-assistance force matrix column, wherein the optimization is performed to improve the force balance of the plurality of folding structures and to satisfy the folding efficiency information, and the optimized folding power-assistance force matrix column includes a plurality of optimized folding power-assistance moments of the plurality of folding structures;

[0085] The folding control execution module 15 is used to perform power-assisted folding control on the multiple folding structures through the power-assisted controller array according to the optimized folding power-assisted force matrix.

[0086] Furthermore, the force data acquisition module 11 includes the following execution steps:

[0087] The force monitoring sensor array is used to monitor and collect the friction force and the direction of the friction force on the multiple folding structures of the target stretcher during the folding process in real time as multiple friction force data, and the multiple folding resistance data are combined with the gravity data of the multiple folding structures;

[0088] The folding forces and directions of the folding forces applied to the multiple folding structures are monitored as multiple folding force data.

[0089] Furthermore, the force matrix construction module 12 includes the following execution steps:

[0090] Using the plurality of folding resistance data and the plurality of folding force data as a plurality of real-time force information of the plurality of folding structures;

[0091] The real-time force information matrix of the target stretcher is constructed by combining the position information of the multiple folding structures and the multiple real-time force information.

[0092] Furthermore, the force fluctuation analysis module 13 includes the following execution steps:

[0093] Obtain multiple historical force information matrices at multiple historical moments of monitoring and construction during the folding process;

[0094] Calculating multiple force information change amplitude information of multiple folding structures as multiple force fluctuation parameters according to the multiple historical force information matrices and the real-time force information matrix;

[0095] According to the multiple force fluctuation parameters, an average force fluctuation parameter is calculated, and according to the average force fluctuation parameter and the preset force fluctuation parameter, the preset folding efficiency is adjusted and calculated to set the folding efficiency information.

[0096] Furthermore, the optimization calculation module 14 includes the following execution steps:

[0097] According to the current multiple folding angles of the multiple folding structures, obtaining the folding assist torque space of the multiple assist controllers in the assist controller array;

[0098] In the folding assist torque space, randomly generating a first folding assist torque matrix;

[0099] According to the first folding assist torque matrix and in combination with the real-time force information matrix, force balance analysis of the multiple folding structures is performed to obtain a first folding balance fitness;

[0100] According to the first folding assist torque matrix, combined with the real-time force information matrix, a folding efficiency analysis is performed to obtain first folding efficiency information, combined with the folding efficiency information, a first folding efficiency fitness is calculated, and combined with the first folding equilibrium fitness, a first folding fitness is calculated;

[0101] Continue to optimize the folding assist torques of the multiple folding structures in the folding assist torque space until convergence, and output the folding assist torque matrix with the maximum folding fitness as the optimized folding assist force matrix column.

[0102] Furthermore, the optimization assistance calculation module 14 also includes the following execution steps:

[0103] Processing and acquiring multiple structural folding force information of the multiple folding structures according to the first folding assist torque matrix and the real-time force information matrix;

[0104] According to the folding force information of the multiple structures, force balance analysis and calculation of the multiple folding structures are performed to obtain first force balance information as the first folding balance fitness.

[0105] Furthermore, the optimization assistance calculation module 14 also includes the following execution steps:

[0106] According to the stretcher folding record data, multiple sample structure folding force information sets of the multiple folding structures are collected, and according to the folding completion time of the multiple folding structures under different sample structure folding force information, multiple sample folding efficiency information sets are obtained by marking;

[0107] Using the plurality of sample structure folding force information sets and the plurality of sample folding efficiency information sets to train a folding efficiency analyzer;

[0108] Using the folding efficiency analyzer, performing folding efficiency analysis on the folding force information of the multiple structures, obtaining multiple folding efficiency information, and calculating and obtaining average folding efficiency information;

[0109] Calculating a first folding efficiency fitness according to a deviation amplitude of the average folding efficiency information from the folding efficiency information;

[0110] The first folding equilibrium fitness and the first folding efficiency fitness are weightedly calculated to obtain a first folding fitness.

[0111] Any step of the method described above can be stored as a computer instruction or program in an unlimited computer memory, and can be called and recognized by an unlimited computer processor to implement any method in the embodiments of the present application, without any unnecessary restrictions.

[0112] Furthermore, the first or second mentioned above may not only represent an order relationship, but may also represent a specific concept, and / or refer to the selection of multiple elements individually or in whole. Obviously, those skilled in the art may make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application intends to include these changes and variations.

Claims

1. A folding torque optimization method based on load distribution, characterized in that: The method is applied to a stretcher folding control device, the device comprising a force monitoring sensor array and a power assist controller array, and the method comprises: By using the force monitoring sensor array, the folding resistance of multiple folding structures of the target stretcher during the folding process is monitored in real time to obtain multiple folding resistance data, and the folding force exerted on the multiple folding structures is monitored to obtain multiple folding force data; Based on the multiple folding resistance data and the multiple folding force data, construct a real-time force information matrix of the target stretcher; Perform force fluctuation analysis on the multiple folding structures according to the historical force information matrix during the folding process to obtain multiple force fluctuation parameters, and set folding efficiency information of the multiple folding structures according to the multiple force fluctuation parameters; According to the real-time force information matrix and the folding efficiency information, the power-assisting controller array is optimized for the folding assisting torques of the multiple folding structures to obtain an optimized folding assisting force matrix column, wherein the optimization is performed to improve the force balance of the multiple folding structures and to satisfy the folding efficiency information, and the optimized folding assisting force matrix column includes multiple optimized folding assisting torques of the multiple folding structures; According to the optimized folding assist force matrix column, the assist controller array is used to perform assist folding control on the multiple folding structures.

2. The folding torque optimization method based on load distribution according to claim 1 is characterized in that: The force monitoring sensor array is used to monitor and collect the folding resistance of multiple folding structures of the target stretcher in real time during the folding process to obtain multiple folding resistance data, and the folding force exerted on the multiple folding structures is monitored to obtain multiple folding force data, including: The force monitoring sensor array is used to monitor and collect the friction force and the direction of the friction force on the multiple folding structures of the target stretcher during the folding process in real time as multiple friction force data, and the multiple folding resistance data are combined with the gravity data of the multiple folding structures; The folding forces and directions of the folding forces applied to the multiple folding structures are monitored as multiple folding force data.

3. The folding torque optimization method based on load distribution according to claim 1 is characterized in that: Based on the multiple folding resistance data and the multiple folding force data, a real-time force information matrix of the target stretcher is constructed, including: Using the plurality of folding resistance data and the plurality of folding force data as a plurality of real-time force information of the plurality of folding structures; The real-time force information matrix of the target stretcher is constructed by combining the position information of the multiple folding structures and the multiple real-time force information.

4. The folding torque optimization method based on load distribution according to claim 1 is characterized in that: According to the historical force information matrix during the folding process, force fluctuation analysis of the multiple folding structures is performed to obtain multiple force fluctuation parameters, including: Obtain multiple historical force information matrices at multiple historical moments of monitoring and construction during the folding process; Calculating multiple force information change amplitude information of multiple folding structures as multiple force fluctuation parameters according to the multiple historical force information matrices and the real-time force information matrix; According to the multiple force fluctuation parameters, an average force fluctuation parameter is calculated, and according to the average force fluctuation parameter and the preset force fluctuation parameter, the preset folding efficiency is adjusted and calculated to set the folding efficiency information.

5. The folding torque optimization method based on load distribution according to claim 1 is characterized in that: According to the real-time force information matrix and the folding efficiency information, the folding assist torque of the plurality of folding structures is optimized for the assist controller array to obtain an optimized folding assist force matrix column, including: According to the current multiple folding angles of the multiple folding structures, obtaining the folding assist torque space of the multiple assist controllers in the assist controller array; In the folding assist torque space, randomly generating a first folding assist torque matrix; According to the first folding assist torque matrix and in combination with the real-time force information matrix, force balance analysis of the multiple folding structures is performed to obtain a first folding balance fitness; According to the first folding assist torque matrix, combined with the real-time force information matrix, a folding efficiency analysis is performed to obtain first folding efficiency information, combined with the folding efficiency information, a first folding efficiency fitness is calculated, and combined with the first folding equilibrium fitness, a first folding fitness is calculated; Continue to optimize the folding assist torques of the multiple folding structures in the folding assist torque space until convergence, and output the folding assist torque matrix with the maximum folding fitness as the optimized folding assist force matrix column.

6. The folding torque optimization method based on load distribution according to claim 5 is characterized in that: According to the first folding assist torque matrix and in combination with the real-time force information matrix, force balance analysis of the multiple folding structures is performed to obtain a first folding balance fitness, including: Processing and acquiring multiple structural folding force information of the multiple folding structures according to the first folding assist torque matrix and the real-time force information matrix; According to the folding force information of the multiple structures, force balance analysis and calculation of the multiple folding structures are performed to obtain first force balance information as the first folding balance fitness.

7. The folding torque optimization method based on load distribution according to claim 6 is characterized in that: According to the first folding assist torque matrix, combined with the real-time force information matrix, a folding efficiency analysis is performed to obtain first folding efficiency information, combined with the folding efficiency information, a first folding efficiency fitness is calculated, and combined with the first folding equilibrium fitness, a first folding fitness is calculated, including: According to the stretcher folding record data, multiple sample structure folding force information sets of the multiple folding structures are collected, and according to the folding completion time of the multiple folding structures under different sample structure folding force information, multiple sample folding efficiency information sets are obtained by marking; Using the plurality of sample structure folding force information sets and the plurality of sample folding efficiency information sets to train a folding efficiency analyzer; Using the folding efficiency analyzer, performing folding efficiency analysis on the folding force information of the multiple structures, obtaining multiple folding efficiency information, and calculating and obtaining average folding efficiency information; Calculating a first folding efficiency fitness according to a deviation amplitude of the average folding efficiency information from the folding efficiency information; The first folding equilibrium fitness and the first folding efficiency fitness are weightedly calculated to obtain a first folding fitness.

8. The folding torque optimization system based on load distribution is characterized by: The system is used to implement the folding moment optimization method based on load distribution according to any one of claims 1 to 7, wherein the system is applied to a stretcher folding control device, the device comprising a force monitoring sensor array and a power assist controller array, and the system comprises: A force data acquisition module, used to monitor and acquire the folding resistance of multiple folding structures of the target stretcher in real time during the folding process through the force monitoring sensor array to obtain multiple folding resistance data, and to monitor the folding forces exerted on the multiple folding structures to obtain multiple folding force data; A force matrix construction module, used for constructing a real-time force information matrix of the target stretcher based on the multiple folding resistance data and the multiple folding force data; A force fluctuation analysis module, used to perform force fluctuation analysis on the multiple folding structures according to a historical force information matrix during the folding process, obtain multiple force fluctuation parameters, and set folding efficiency information of the multiple folding structures according to the multiple force fluctuation parameters; A power-assistance optimization calculation module, used for optimizing the folding power-assistance moment of the plurality of folding structures of the power-assistance controller array according to the real-time force information matrix and the folding efficiency information, and obtaining an optimized folding power-assistance force matrix column, wherein the optimization is performed to improve the force balance of the plurality of folding structures and to satisfy the folding efficiency information, and the optimized folding power-assistance force matrix column includes a plurality of optimized folding power-assistance moments of the plurality of folding structures; A folding control execution module is used to perform power-assisted folding control on the multiple folding structures through the power-assisted controller array according to the optimized folding power-assisted force matrix column.

Images