An intelligent nursing control method and system for people with limited mobility

Abstract

The present invention discloses an intelligent nursing control method and system for people with limited mobility, which forms a full-process solution by integrating core functional modules and intelligent control logic. When converting from a bed to a chair, the central control unit receives instructions, unlocks the bed's accommodating space, adjusts the user's posture, and guides the docking through a hybrid path planning algorithm; when using the toilet, the posture and the position of the toilet body are adjusted, and it automatically cleans, dries, packs, and resets after completion; the turning assistance drives turning according to instructions or body pressure signals. The present invention achieves seamless scene switching through systematic control, reduces safety risks, and improves convenience and comfort; it can also cope with changes in the bed's position, allowing the wheelchair and bed to be reassembled more smoothly, enhancing the flexibility and practicality of the device, and meeting the daily care needs of people with limited mobility.

Description

Technical Field

[0001] The present invention belongs to the field of nursing technology, and in particular relates to an intelligent nursing control method and system for people with limited mobility. Background Art

[0002] Prior art care equipment for people with limited mobility has shown a trend of functional differentiation. For example, Chinese patent publication number CN222172491U discloses a wheelchair bed and self-care system. This system utilizes a detachable wheelchair unit and bed body to achieve bed-chair conversion, and is equipped with auxiliary functions such as backrest adjustment and a turning mechanism. However, it lacks deep integration with toilets and intelligent linkage control. Chinese patent publication number CN220352992U discloses a toilet with automatic packing, cleaning, and drying functions, focusing on automated waste disposal but failing to integrate with mobile carrying equipment such as a wheelchair bed.

[0003] The above-mentioned existing technologies have the following limitations: First, the functions of the equipment are fragmented. Wheelchair beds, toilets and other devices mostly operate independently and lack structural integration, which leads to the fact that people with limited mobility need to frequently rely on manual transfer or operation in scenarios such as movement, toileting, and body position adjustment, and have poor autonomy; second, the control logic is isolated, and the control instructions and sensor signals of each device are not uniformly managed, and the full process of "posture adjustment-toilet start-cleaning and packing-reset" cannot be automatically linked, and the operation is cumbersome and inefficient; third, the scene adaptability is insufficient. The existing technology does not fully consider the continuity needs of people with limited mobility when switching between scenes such as beds, chairs, and toilets, resulting in safety hazards (such as falls during transfers) and poor experience during the nursing process.

[0004] Furthermore, the combined care device for wheelchair beds in the prior art does not take into account the technical scenario that after the user detaches the wheelchair, the corresponding combined bed body needs to be charged or cleaned, that is, the position of the combined bed body changes, which makes the wheelchair bed difficult to reassemble.

[0005] Therefore, there is an urgent need for a technical solution based on the existing equipment functions, which can realize multi-scenario self-service care through deep hardware integration and coordinated optimization of control logic, so as to solve the problems of scattered equipment, insufficient linkage and low autonomy in existing technologies. Summary of the Invention

[0006] In view of the technical problems in the prior art, the present invention provides an intelligent nursing control method for people with limited mobility, comprising the following steps:

[0007] S1: Bed and chair conversion control process:

[0008] The central control unit receives the bed-chair conversion instruction and outputs an unlocking instruction to the bed body matching unit so that the accommodation space of the bed body matching unit is in an open state;

[0009] Outputting a posture adjustment instruction to the mobile carrying unit, and adjusting the user from a lying position to a sitting position through the posture adjustment execution module;

[0010] According to the signal of the positioning sensor module, the mobile carrying unit is controlled to separate from the bed matching unit or enter the accommodation space, and is adjusted to the corresponding posture after the conversion is completed;

[0011] When the mobile carrying unit enters the accommodation space, the hybrid path planning algorithm is used to guide the mobile carrying unit and the bed matching unit to complete docking;

[0012] S2: Toilet control process:

[0013] The central control unit receives the toilet demand signal and outputs posture adjustment instructions to the mobile carrying unit to adjust the back support and leg support to the toilet-adaptive angle;

[0014] Synchronously output a position adjustment instruction to the built-in toilet unit, and move the toilet body from the storage position to the use position through the position adjustment execution module;

[0015] After receiving the toilet completion signal, the cleaning execution module and the drying execution module are activated in sequence to clean and dry; after the cleaning and drying are completed, the packing execution module is activated to pack the excrement, and then the toilet body is controlled to reset to the storage position;

[0016] S3: Turning over auxiliary control process:

[0017] The central control unit receives the turning instruction or outputs the turning drive instruction to the bed coordination unit according to the body pressure distribution signal of the pressure sensing module;

[0018] The turning execution module assists in pushing one side of the user, and the posture adjustment execution module is used to fine-tune the turning action. After completion, the pushing component is reset.

[0019] Furthermore, in S1, when the mobile carrying unit enters the accommodation space, the mobile carrying unit and the bed matching unit are guided to complete docking based on the hybrid path planning algorithm; specifically:

[0020] S11: Initialize the environment and obtain the current position of the mobile carrying unit and the updated position of the bed matching unit;

[0021] S12: Based on the current position of the mobile carrying unit and the updated position of the bed matching unit, an initial path from the mobile carrying unit to the bed matching unit is generated by the improved A* algorithm.

[0022] S13: Based on the dynamic window method, complete the speed configuration of the mobile bearing unit;

[0023] S14: Complete the docking of the mobile carrying unit and the bed matching unit based on the adaptive PID controller.

[0024] Furthermore, S11 is specifically:

[0025] Initialize the environment: Build the environment grid map matrix , Indicates the dimension of the matrix. The elements of 0 in the environment grid map matrix represent barrier-free passable areas, and the elements of 1 in the environment grid map matrix represent barrier-inaccessible areas.

[0026] Get the current position of the mobile carrier unit in the environment grid map matrix , update the position of the bed coordination unit in the environment grid map matrix through infrared signals and ultrasonic signals, and obtain the updated position ;

[0027] in, , , The horizontal coordinate, vertical coordinate and direction of the current position of the mobile carrier unit are represented respectively; The horizontal and vertical coordinates represent the updated position of the bed coordination unit.

[0028] Furthermore, the position of the bed coordination unit in the environmental grid map matrix is ​​updated through infrared signals and ultrasonic signals to obtain the updated position The specific process is:

[0029] Acquire the distance between the mobile carrying unit and the bed matching unit based on infrared signals , expressed as:

[0030] ;

[0031] in, Indicates infrared transmission power; Indicates the received power; represents the path loss exponent; represents the environmental attenuation factor;

[0032] Obtain the distance between the mobile carrying unit and the bed matching unit based on ultrasonic signals For correction, it is expressed as:

[0033] ;

[0034] in, represents the speed of sound, Indicates the time of capturing the ultrasonic signal;

[0035] Get the fusion distance , expressed as:

[0036] ;

[0037] ;

[0038] in, is the signal-to-noise ratio of the infrared signal, is the signal-to-noise ratio of the ultrasonic signal, is the preset dynamic weight;

[0039] Get updated location , expressed as:

[0040] ;

[0041] in, Indicates the direction of the infrared signal relative to the mobile carrier unit azimuth.

[0042] Furthermore, S12 is specifically:

[0043] Get the current position of the mobile carrier unit and the updated position of the bed matching unit to generate the initial path:

[0044] Calculate each node on the initial path Curvature ;

[0045] The priority of each node on the initial path is evaluated by the improved A* algorithm, which is expressed as:

[0046] ;

[0047]

[0048] in, Indicates the node The lower the score, the higher the priority of the corresponding node. represents the dynamic weight, represents the Euclidean distance, Indicates the preset curvature threshold; represents the maximum evaluation function; Representation node The proportion of surrounding obstacle grids; Indicates the preset adjustment parameters; represents a natural constant; if , then remove the corresponding node;

[0049] based on Re-obtain the initial path;

[0050] The retrieved initial path is subjected to redundant node elimination and Bezier curve smooth fitting optimization to obtain the final initial path.

[0051] Furthermore, S13 is specifically:

[0052] The speed of the mobile carrier unit is configured based on the dynamic window, which is expressed as:

[0053] ;

[0054] in, represents the dynamic speed window; Indicates the configuration speed of the mobile carrier unit; Indicates the linear speed of the mobile carrier unit; Indicates the angular velocity of the mobile carrier unit; Indicates the distance to the nearest obstacle measured by ultrasonic real-time measurement; Indicates the maximum braking deceleration of the mobile carrying unit; Indicates the maximum linear speed of the mobile carrier unit; Maximum angular velocity of the mobile carrier unit;

[0055] The configuration speed of the mobile carrying unit is scored by the scoring function, which is expressed as:

[0056] ;

[0057] ;

[0058] in, A rating indicating the speed of configuration of the mobile carrier unit, Indicates the angular deviation between the current orientation of the mobile carrier unit and the target path; represents the heading consistency score; Indicates a security item; represents the motion efficiency term; Indicates the preset weight coefficient; represents the steepness coefficient; Indicates the preset threshold of the nearest obstacle distance measured by ultrasonic real-time measurement; Indicates the preset safety factor;

[0059] An optimal configuration speed of the mobile carrying unit is obtained based on the score, and the mobile carrying unit is driven according to the optimal configuration speed of the mobile carrying unit.

[0060] Furthermore, S14 is specifically as follows:

[0061] When the distance between the mobile carrying unit and the bed matching unit is less than a preset threshold, it is determined to be docked;

[0062] During the docking process, the speed and angular velocity of the mobile carrier unit are controlled by an adaptive PID control algorithm; it is expressed as:

[0063] ;

[0064] in, Indicates distance error; Indicates the angular deviation between the axis of the mobile carrying unit and the axis of the bed matching unit; Indicates dynamic proportional gain; represents the integral gain; represents the differential gain; Indicates angle controlled fixed gain; Indicates time;

[0065] Adaptively adjust the dynamic proportional gain, expressed as:

[0066] ;

[0067] in, , represents the absolute distance error; Indicates the basic proportional gain; represents the attenuation coefficient;

[0068] Until the mobile carrying unit and the bed matching unit reach the safety locking condition and complete the docking;

[0069] The safety lockout condition is expressed as:

[0070] ;

[0071] in, Indicates taking the absolute value, Indicates radians, 、 Both indicate preset thresholds.

[0072] Furthermore, the determination conditions for generating a toilet demand signal include:

[0073] The voice recognition module of the interactive unit recognizes the toilet voice command; and / or the excrement sensing module of the built-in toilet unit detects an excrement signal;

[0074] The execution process of the packaging execution module includes: the central control unit outputs a tightening command, and the bag tightening component tightens the storage bag that receives the excrement; when the limit sensor component detects the tightening signal, the central control unit outputs a fusing command, and the fusing component melts and seals the storage bag; after sealing is completed, the packaged storage bag is moved to the storage area.

[0075] Furthermore, in the bed-chair conversion control process, when the mobile carrying unit enters the accommodating space of the bed body matching unit: the central control unit adjusts the user from a sitting position to a lying position through the posture adjustment execution module; controls the bed body matching unit to close the accommodating space to form a complete bed surface support.

[0076] An intelligent nursing control system for people with limited mobility, used to implement the above-mentioned intelligent nursing control method for people with limited mobility, comprising:

[0077] Mobile carrying unit, bed matching unit, built-in toilet unit and central control unit;

[0078] The mobile carrying unit includes a main frame for carrying the user, a mobile execution module provided at the bottom of the main frame, a positioning sensor module for detecting position information, and a posture adjustment execution module for adjusting the user's posture, wherein the posture adjustment execution module includes a back support adjustment component and a leg support adjustment component;

[0079] The bed body matching unit is provided with a receiving space adapted to the mobile bearing unit, a turning execution module for assisting the user to turn over, and a pressure sensing module for detecting the user's body position;

[0080] The built-in toilet unit includes a toilet body arranged at the bottom of the main frame, a position adjustment execution module for driving the toilet body to rise and fall and translate, a cleaning execution module for cleaning the user, a drying execution module for drying, and a packaging execution module for packaging excrement;

[0081] The central control unit is electrically connected to the mobile carrying unit, the bed matching unit and the built-in toilet unit respectively, and is used to receive sensor signals from each unit and output control instructions to achieve coordinated work of each unit.

[0082] Furthermore, the system also includes an interaction unit, which includes one or more of a voice recognition module, an infrared remote control module, and a manual control module, and is used to receive user instructions and transmit them to the central control unit.

[0083] Furthermore, the packaging execution module includes a bag tightening component for constraining the storage bag opening, a fuse component for melting the storage bag, and a limit sensor component for detecting the tightening position. The central control unit receives the signal of the limit sensor component and controls the action of the fuse component.

[0084] Furthermore, the posture adjustment execution module also includes an angle sensing component for detecting the adjustment angles of the back support and the leg support and feeding back the angles to the central control unit.

[0085] The positive progress effect of the present invention is:

[0086] The present invention integrates the core functional modules of nursing equipment with intelligent control logic to form a full-process solution covering body position adjustment, movement, toileting, and subsequent processing. This breaks the limitations of single-function equipment, realizes automated linkage of various links, reduces manual intervention, and enhances the nursing autonomy of people with limited mobility. Furthermore, based on a systematic control method, seamless switching and precise adaptation of nursing scenarios are achieved. Through automated operations, safety risks in processes such as body position conversion and toileting are reduced, while the convenience and comfort of the nursing process are improved to meet the daily care needs of people with limited mobility. Furthermore, the present invention provides an initialization environment to obtain the corresponding position, uses an improved A* algorithm to generate the initial path, combines the dynamic window method to configure the speed, and then completes the docking through an adaptive PID controller. This effectively handles the situation where the combined bed changes position due to charging, cleaning, etc., allowing the recombination of the wheelchair and bed to be smoother, improving the flexibility and practicality of the nursing device, and bringing convenience to users and caregivers. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] Figure 1 This is an overall flow chart of an intelligent nursing control method for people with limited mobility according to the present invention. DETAILED DESCRIPTION

[0088] The following describes the embodiments of the present invention through specific examples. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention.

[0089] Reference Figure 1 , an intelligent nursing control method for people with limited mobility, comprising the following steps:

[0090] S1: Bed and chair conversion control process:

[0091] The central control unit receives the bed-chair conversion instruction and outputs an unlocking instruction to the bed body matching unit so that the accommodation space of the bed body matching unit is in an open state;

[0092] Outputting a posture adjustment instruction to the mobile carrying unit, and adjusting the user from a lying position to a sitting position through the posture adjustment execution module;

[0093] According to the signal of the positioning sensor module, the mobile carrying unit is controlled to separate from the bed matching unit or enter the accommodation space, and is adjusted to the corresponding posture after the conversion is completed;

[0094] When the mobile carrying unit enters the accommodation space, the hybrid path planning algorithm is used to guide the mobile carrying unit and the bed matching unit to complete docking;

[0095] S2: Toilet control process:

[0096] The central control unit receives the toilet demand signal and outputs posture adjustment instructions to the mobile carrying unit to adjust the back support and leg support to the toilet-adaptive angle;

[0097] Synchronously output a position adjustment instruction to the built-in toilet unit, and move the toilet body from the storage position to the use position through the position adjustment execution module;

[0098] After receiving the toilet completion signal, the cleaning execution module and the drying execution module are activated in sequence to clean and dry; after the cleaning and drying are completed, the packing execution module is activated to pack the excrement, and then the toilet body is controlled to reset to the storage position;

[0099] S3: Turning over auxiliary control process:

[0100] The central control unit receives the turning instruction or outputs the turning drive instruction to the bed coordination unit according to the body pressure distribution signal of the pressure sensing module;

[0101] The turning execution module assists in pushing one side of the user, and the posture adjustment execution module is used to fine-tune the turning action. After completion, the pushing component is reset.

[0102] Furthermore, in S1, when the mobile carrying unit enters the accommodation space, the mobile carrying unit and the bed matching unit are guided to complete docking based on the hybrid path planning algorithm; specifically:

[0103] S11: Initialize the environment and obtain the current position of the mobile carrying unit and the updated position of the bed matching unit;

[0104] S12: Based on the current position of the mobile carrying unit and the updated position of the bed matching unit, an initial path from the mobile carrying unit to the bed matching unit is generated by the improved A* algorithm.

[0105] S13: Based on the dynamic window method, complete the speed configuration of the mobile bearing unit;

[0106] S14: Complete the docking of the mobile carrying unit and the bed matching unit based on the adaptive PID controller.

[0107] Furthermore, S11 is specifically:

[0108] Initialize the environment: Build the environment grid map matrix , Indicates the dimension of the matrix. The elements of 0 in the environment grid map matrix represent barrier-free passable areas, and the elements of 1 in the environment grid map matrix represent barrier-inaccessible areas.

[0109] Get the current position of the mobile carrier unit in the environment grid map matrix , update the position of the bed coordination unit in the environment grid map matrix through infrared signals and ultrasonic signals, and obtain the updated position ;

[0110] in, , , The horizontal coordinate, vertical coordinate and direction of the current position of the mobile carrier unit are represented respectively; The horizontal and vertical coordinates represent the updated position of the bed coordination unit.

[0111] Furthermore, the position of the bed coordination unit in the environmental grid map matrix is ​​updated through infrared signals and ultrasonic signals to obtain the updated position The specific process is:

[0112] Acquire the distance between the mobile carrying unit and the bed matching unit based on infrared signals , expressed as:

[0113] ;

[0114] in, Indicates infrared transmission power; Indicates the received power; represents the path loss exponent; represents the environmental attenuation factor;

[0115] Obtain the distance between the mobile carrying unit and the bed matching unit based on ultrasonic signals For correction, it is expressed as:

[0116] ;

[0117] in, represents the speed of sound, Indicates the time of capturing the ultrasonic signal;

[0118] Get the fusion distance , expressed as:

[0119] ;

[0120] ;

[0121] in, is the signal-to-noise ratio of the infrared signal, is the signal-to-noise ratio of the ultrasonic signal, is the preset dynamic weight;

[0122] Get updated location , expressed as:

[0123] ;

[0124] in, Indicates the direction of the infrared signal relative to the mobile carrier unit azimuth.

[0125] Furthermore, S12 is specifically:

[0126] Get the current position of the mobile carrier unit and the updated position of the bed matching unit to generate the initial path:

[0127] Calculate each node on the initial path Curvature ;

[0128] The priority of each node on the initial path is evaluated by the improved A* algorithm, which is expressed as:

[0129] ;

[0130]

[0131] in, Indicates the node The lower the score, the higher the priority of the corresponding node. represents the dynamic weight, represents the Euclidean distance, Indicates the preset curvature threshold; represents the maximum evaluation function; Representation node The proportion of surrounding obstacle grids; Indicates the preset adjustment parameters; represents a natural constant; if , then remove the corresponding node;

[0132] based on Re-obtain the initial path;

[0133] The retrieved initial path is subjected to redundant node elimination and Bezier curve smooth fitting optimization to obtain the final initial path.

[0134] Furthermore, S13 is specifically:

[0135] The speed of the mobile carrier unit is configured based on the dynamic window, which is expressed as:

[0136] ;

[0137] in, represents the dynamic speed window; Indicates the configuration speed of the mobile carrier unit; Indicates the linear speed of the mobile carrier unit; Indicates the angular velocity of the mobile carrier unit; Indicates the distance to the nearest obstacle measured by ultrasonic real-time measurement; Indicates the maximum braking deceleration of the mobile carrying unit; Indicates the maximum linear speed of the mobile carrier unit; Maximum angular velocity of the mobile carrier unit;

[0138] The configuration speed of the mobile carrying unit is scored by the scoring function, which is expressed as:

[0139] ;

[0140] ;

[0141] in, A rating indicating the speed of configuration of the mobile carrier unit, Indicates the angular deviation between the current orientation of the mobile carrier unit and the target path; represents the heading consistency score; Indicates a security item; represents the motion efficiency term; Indicates the preset weight coefficient; represents the steepness coefficient; Indicates the preset threshold of the nearest obstacle distance measured by ultrasonic real-time measurement; Indicates the preset safety factor;

[0142] An optimal configuration speed of the mobile carrying unit is obtained based on the score, and the mobile carrying unit is driven according to the optimal configuration speed of the mobile carrying unit.

[0143] Furthermore, S14 is specifically as follows:

[0144] When the distance between the mobile carrying unit and the bed matching unit is less than a preset threshold, it is determined to be docked;

[0145] During the docking process, the speed and angular velocity of the mobile carrier unit are controlled by an adaptive PID control algorithm; it is expressed as:

[0146] ;

[0147] in, Indicates distance error; Indicates the angular deviation between the axis of the mobile carrying unit and the axis of the bed matching unit; Indicates dynamic proportional gain; represents the integral gain; represents the differential gain; Indicates angle controlled fixed gain; Indicates time;

[0148] Adaptively adjust the dynamic proportional gain, expressed as:

[0149] ;

[0150] in, , represents the absolute distance error; Indicates the basic proportional gain; represents the attenuation coefficient;

[0151] Until the mobile carrying unit and the bed matching unit reach the safety locking condition and complete the docking;

[0152] The safety lockout condition is expressed as:

[0153] ;

[0154] in, Indicates taking the absolute value, Indicates radians, 、 Both indicate preset thresholds.

[0155] Furthermore, the determination conditions for generating a toilet demand signal include:

[0156] The voice recognition module of the interactive unit recognizes the toilet voice command; and / or the excrement sensing module of the built-in toilet unit detects an excrement signal;

[0157] The execution process of the packaging execution module includes: the central control unit outputs a tightening command, and the bag tightening component tightens the storage bag that receives the excrement; when the limit sensor component detects the tightening signal, the central control unit outputs a fusing command, and the fusing component melts and seals the storage bag; after sealing is completed, the packaged storage bag is moved to the storage area.

[0158] Furthermore, in the bed-chair conversion control process, when the mobile carrying unit enters the accommodating space of the bed body matching unit: the central control unit adjusts the user from a sitting position to a lying position through the posture adjustment execution module; controls the bed body matching unit to close the accommodating space to form a complete bed surface support.

[0159] An intelligent nursing control system for people with limited mobility, used to implement the above-mentioned intelligent nursing control method for people with limited mobility, comprising:

[0160] Mobile carrying unit, bed matching unit, built-in toilet unit and central control unit;

[0161] The mobile carrying unit includes a main frame for carrying the user, a mobile execution module provided at the bottom of the main frame, a positioning sensor module for detecting position information, and a posture adjustment execution module for adjusting the user's posture, wherein the posture adjustment execution module includes a back support adjustment component and a leg support adjustment component;

[0162] The bed body matching unit is provided with a receiving space adapted to the mobile bearing unit, a turning execution module for assisting the user to turn over, and a pressure sensing module for detecting the user's body position;

[0163] The built-in toilet unit includes a toilet body arranged at the bottom of the main frame, a position adjustment execution module for driving the toilet body to rise and fall and translate, a cleaning execution module for cleaning the user, a drying execution module for drying, and a packaging execution module for packaging excrement;

[0164] The central control unit is electrically connected to the mobile carrying unit, the bed matching unit and the built-in toilet unit respectively, and is used to receive sensor signals from each unit and output control instructions to achieve coordinated work of each unit.

[0165] Furthermore, the system also includes an interaction unit, which includes one or more of a voice recognition module, an infrared remote control module, and a manual control module, and is used to receive user instructions and transmit them to the central control unit.

[0166] Furthermore, the packaging execution module includes a bag tightening component for constraining the storage bag opening, a fuse component for melting the storage bag, and a limit sensor component for detecting the tightening position. The central control unit receives the signal of the limit sensor component and controls the action of the fuse component.

[0167] Furthermore, the posture adjustment execution module also includes an angle sensing component for detecting the adjustment angles of the back support and the leg support and feeding back the angles to the central control unit.

[0168] The present invention has been described in detail above with reference to the embodiments of the accompanying drawings. A person skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention. The scope of protection of the present invention shall be determined by the scope defined by the appended claims.

Claims

1. An intelligent nursing control method for people with limited mobility, characterized in that: The following steps are involved: S1: Bed and chair conversion control process: The central control unit receives the bed-chair conversion instruction and outputs an unlocking instruction to the bed body matching unit so that the accommodation space of the bed body matching unit is in an open state; Outputting a posture adjustment instruction to the mobile carrying unit, and adjusting the user from a lying position to a sitting position through the posture adjustment execution module; According to the signal of the positioning sensor module, the mobile carrying unit is controlled to separate from the bed matching unit or enter the accommodation space, and is adjusted to the corresponding posture after the conversion is completed; When the mobile carrying unit enters the accommodation space, the hybrid path planning algorithm is used to guide the mobile carrying unit and the bed matching unit to complete docking; In S1, when the mobile carrying unit enters the accommodation space, the hybrid path planning algorithm is used to guide the mobile carrying unit and the bed matching unit to complete docking; Specifically: S11: Initialize the environment and obtain the current position of the mobile carrying unit and the updated position of the bed matching unit; S12: Based on the current position of the mobile carrying unit and the updated position of the bed matching unit, an initial path from the mobile carrying unit to the bed matching unit is generated by the improved A* algorithm. S13: Based on the dynamic window method, complete the speed configuration of the mobile bearing unit; S14: completing the docking of the mobile carrying unit and the bed matching unit based on the adaptive PID controller; S11 is specifically: Initialize the environment: Build the environment grid map matrix , Indicates the dimension of the matrix. The elements of 0 in the environment grid map matrix represent barrier-free passable areas, and the elements of 1 in the environment grid map matrix represent barrier-inaccessible areas. Get the current position of the mobile carrier unit in the environment grid map matrix , update the position of the bed coordination unit in the environment grid map matrix through infrared signals and ultrasonic signals, and obtain the updated position ; in, , , The horizontal coordinate, vertical coordinate and direction of the current position of the mobile carrier unit are represented respectively; The horizontal and vertical coordinates representing the updated position of the bed matching unit; S13 is specifically: The speed of the mobile carrier unit is configured based on the dynamic window, which is expressed as: ； in, represents the dynamic speed window; Indicates the configuration speed of the mobile carrier unit; Indicates the linear speed of the mobile carrier unit; Indicates the angular velocity of the mobile carrier unit; Indicates the distance to the nearest obstacle measured by ultrasonic real-time measurement; Indicates the maximum braking deceleration of the mobile carrying unit; Indicates the maximum linear speed of the mobile carrier unit; Maximum angular velocity of the mobile carrier unit; The configuration speed of the mobile carrying unit is scored by the scoring function, which is expressed as: ； ； in, A rating indicating the speed of configuration of the mobile carrier unit, Indicates the angular deviation between the current orientation of the mobile carrier unit and the target path; represents the heading consistency score; Indicates a security item; represents the motion efficiency term; Indicates the preset weight coefficient; represents the steepness coefficient; Indicates the preset threshold of the nearest obstacle distance measured by ultrasonic real-time measurement; Indicates the preset safety factor; An optimal configuration speed of the mobile carrying unit is obtained based on the score, and the mobile carrying unit is driven according to the optimal configuration speed of the mobile carrying unit.

2. The intelligent nursing control method for people with limited mobility according to claim 1, characterized in that: The method further comprises: S2: Toilet control process: The central control unit receives the toilet demand signal and outputs posture adjustment instructions to the mobile carrying unit to adjust the back support and leg support to the toilet-adaptive angle; Synchronously output a position adjustment instruction to the built-in toilet unit, and move the toilet body from the storage position to the use position through the position adjustment execution module; After receiving the toilet completion signal, the cleaning execution module and the drying execution module are started in sequence to perform cleaning and drying; after cleaning and drying are completed, the packing execution module is started to pack the excrement, and then the toilet body is controlled to reset to the storage position.

3. The intelligent nursing control method for people with limited mobility according to claim 2, characterized in that: The method further comprises: S3: Turning over auxiliary control process: The central control unit receives the turning instruction or outputs the turning drive instruction to the bed coordination unit according to the body pressure distribution signal of the pressure sensing module; The turning execution module assists in pushing one side of the user, and the posture adjustment execution module is used to fine-tune the turning action. After completion, the pushing component is reset.

4. The intelligent nursing control method for people with limited mobility according to claim 1, characterized in that: Update the position of the bed cooperation unit in the environmental grid map matrix through infrared signals and ultrasonic signals to obtain the updated position The specific process is: Acquire the distance between the mobile carrying unit and the bed matching unit based on infrared signals , expressed as: ； in, Indicates infrared transmission power; Indicates the received power; represents the path loss exponent; represents the environmental attenuation factor; Obtain the distance between the mobile carrying unit and the bed matching unit based on ultrasonic signals For correction, it is expressed as: ； in, represents the speed of sound, Indicates the time of capturing the ultrasonic signal; Get the fusion distance , expressed as: ； ； in, is the signal-to-noise ratio of the infrared signal, is the signal-to-noise ratio of the ultrasonic signal, is the preset dynamic weight; Get updated location , expressed as: ； in, Indicates the direction of the infrared signal relative to the mobile carrier unit azimuth.

5. The intelligent nursing control method for people with limited mobility according to claim 4, characterized in that: S12 is specifically: Get the current position of the mobile carrier unit and the updated position of the bed matching unit to generate the initial path: Calculate each node on the initial path Curvature ; The priority of each node on the initial path is evaluated by the improved A* algorithm, which is expressed as: ； ； in, Indicates the node The lower the score, the higher the priority of the corresponding node. represents the dynamic weight, represents the Euclidean distance, Indicates the preset curvature threshold; represents the maximum evaluation function; Representation node The proportion of surrounding obstacle grids; Indicates the preset adjustment parameters; represents a natural constant; if , then remove the corresponding node; based on Re-obtain the initial path; The retrieved initial path is subjected to redundant node elimination and Bezier curve smooth fitting optimization to obtain the final initial path.

6. The intelligent nursing control method for people with limited mobility according to claim 1, characterized in that: S14 is specifically: When the distance between the mobile carrying unit and the bed matching unit is less than a preset threshold, it is determined to be docked; During the docking process, the speed and angular velocity of the mobile carrier unit are controlled by an adaptive PID control algorithm; it is expressed as: ； in, Indicates distance error; Indicates the angular deviation between the axis of the mobile carrying unit and the axis of the bed matching unit; Indicates dynamic proportional gain; represents the integral gain; represents the differential gain; Indicates angle controlled fixed gain; Indicates time; Adaptively adjust the dynamic proportional gain, expressed as: ； in, , represents the absolute distance error; Indicates the basic proportional gain; represents the attenuation coefficient; Until the mobile carrying unit and the bed matching unit reach the safety locking condition and complete the docking; The safety lockout condition is expressed as: ； in, Indicates taking the absolute value, Indicates radians, 、 Both indicate preset thresholds.

7. The intelligent nursing control method for people with limited mobility according to claim 2, characterized in that: The determination conditions for generating a toilet demand signal include: The voice recognition module of the interactive unit recognizes the toilet voice command; and / or the excrement sensing module of the built-in toilet unit detects an excrement signal; The execution process of the packaging execution module includes: the central control unit outputs a tightening command, and the bag tightening component tightens the storage bag that receives the excrement; when the limit sensor component detects the tightening signal, the central control unit outputs a fusing command, and the fusing component melts and seals the storage bag; after sealing is completed, the packaged storage bag is moved to the storage area.

8. The intelligent nursing control method for people with limited mobility according to claim 3, characterized in that: In the bed-chair conversion control process, when the mobile carrying unit enters the accommodation space of the bed body matching unit: the central control unit adjusts the user from a sitting position to a lying position through the posture adjustment execution module; controls the bed body matching unit to close the accommodation space to form a complete bed surface support.

9. An intelligent nursing control system for people with limited mobility, used to implement the intelligent nursing control method for people with limited mobility as claimed in any one of claims 1 to 8, characterized in that: include: Mobile carrying unit, bed matching unit, built-in toilet unit and central control unit; The mobile carrying unit includes a main frame for carrying the user, a mobile execution module provided at the bottom of the main frame, a positioning sensor module for detecting position information, and a posture adjustment execution module for adjusting the user's posture, wherein the posture adjustment execution module includes a back support adjustment component and a leg support adjustment component; The bed body matching unit is provided with a receiving space adapted to the mobile bearing unit, a turning execution module for assisting the user to turn over, and a pressure sensing module for detecting the user's body position; The built-in toilet unit includes a toilet body arranged at the bottom of the main frame, a position adjustment execution module for driving the toilet body to rise and fall and translate, a cleaning execution module for cleaning the user, a drying execution module for drying, and a packaging execution module for packaging excrement; The central control unit is electrically connected to the mobile carrying unit, the bed matching unit and the built-in toilet unit respectively, and is used to receive sensor signals from each unit and output control instructions to achieve coordinated work of each unit.

Images