Method for detecting the obstructed part of an electric bed capable of retreating when encountering an obstruction

Abstract

The present invention discloses a method for detecting an obstruction location of an electric bed that can be retracted when encountering an obstruction, which belongs to the field of lifting beds and can remind a user of the specific location where the electric bed encounters an obstruction, so that the user can quickly clear the obstacle. The method for detecting an obstruction location of an electric bed that can be retracted when encountering an obstruction of the present invention comprises: a bed frame connected to a lifting mechanism for driving the bed frame to be lifted and lowered; and three sensors arranged on the bed frame; the method for detecting an obstruction location comprises: detecting the vibration of the bed frame by means of sensors; calculating the difference in distance between each sensor and the obstruction location; and calculating the position of the obstruction location on the bed frame by means of the difference in distance.

Description

Technical Field

[0001] The invention relates to the field of lifting beds, and in particular to a method for detecting the obstructed position of an electric bed that can be retracted when encountering an obstruction. Background Art

[0002] The bed frame of the lifting bed has a lifting function and is widely used in home and medical applications. During use, if the bed frame encounters an obstacle, it will affect the normal lifting. Therefore, when an obstacle is encountered during the lifting process, the bed frame can be retracted to prevent the bed frame from continuing to move and causing adverse effects.

[0003] When the user finds an obstacle during the bed frame lifting process, the obstacle needs to be removed to ensure that the bed frame can continue to move without an obstruction alarm. If the obstacle is not obvious or the light is weak, it is not easy for the user to find the obstacle, which will affect the user experience. If the lifting bed is used in the medical industry, if the obstacle cannot be removed in time, it may affect medical activities, and even medical accidents may occur. Therefore, the efficiency of obstacle removal is more important. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and propose a method for detecting the obstruction position of an electric bed that can be retracted when encountering an obstruction, which can remind the user of the specific location where the electric bed encounters an obstruction, so that the user can quickly clear the obstacle.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A method for detecting an obstruction position of an electric bed capable of retracting when encountering an obstruction, the electric bed capable of retracting when encountering an obstruction comprising:

[0007] A bed frame connected to a lifting mechanism for driving the bed frame to lift and lower; and three sensors disposed on the bed frame;

[0008] The obstruction detection method comprises: detecting the vibration of the bed frame by using a sensor; calculating the difference in distance between each sensor and the obstruction; and calculating the position of the obstruction on the bed frame by using the distance difference.

[0009] Based on the above scheme, the calculation of the difference between the distance between each sensor and the obstruction part includes: the three sensors are A, B, and C, and the time point T when each sensor detects vibration is recorded. A 、T B 、T C ; Calculate the time difference between sensors sensing vibration , ; Calculate the difference between the distance between A and the obstruction point and the distance between B and the obstruction point , the difference between the distance between B and the obstruction point and the distance between C and the obstruction point ; Where V is the speed at which vibration propagates within the bed frame.

[0010] On the basis of the above scheme, the method of calculating the position of the obstructed part on the bed frame by the difference in distance includes: setting three sensors and the position information of the obstructed part on the bed frame; establishing a calculation formula according to the position information of the sensors, the position information of the obstructed part, the difference a and the difference b, to calculate the actual position of the obstructed part on the bed frame.

[0011] On the basis of the above scheme, the position information of the three sensors and the obstructed part on the bed frame is set, including: establishing an XY coordinate system with one corner of the bed frame as the origin, the coordinates of the three sensors on the bed frame are A: (X1, Y1), B: (X2, Y2), C: (X3, Y3), and the coordinates of the obstructed part are M: (X4, Y4); among which X1, Y1, X2, Y2, X3, Y3 are known numbers, and X4 and Y4 are unknown numbers.

[0012] On the basis of the above scheme, the calculation formula includes formula 1 and formula 2, and the values ​​of X4 and Y4 are calculated by formula 1 and formula 2 to obtain the coordinates of the obstructed part on the bed frame;

[0013] Formula 1: ;

[0014] Formula 2: .

[0015] Based on the above solution, the three sensors are all acceleration sensors or angular velocity sensors.

[0016] On the basis of the above solution, each sensor is fixedly mounted on the bed frame.

[0017] On the basis of the above scheme, a plurality of sensors are arranged on the bed frame, and information data of three sensors with the largest signal changes among the plurality of sensors are selected to calculate the specific position of the obstructed part.

[0018] On the basis of the above scheme, the electric bed that can retract when encountering obstacles also includes: a display unit for displaying status information of the electric bed; and an operating unit for operating the lifting and lowering activities of the bed frame; and a control unit for controlling the motor that drives the bed frame to be lifted and lowered; the control unit is connected to the sensor and the operating unit signal, and controls the lifting and lowering of the bed frame according to the signal of the sensor and the operating unit.

[0019] Based on the above solution, the method of controlling the lifting of the bed frame according to the signals of the sensor and the operating unit includes:

[0020] S10, reading a signal from the operating unit, and controlling the bed frame to rise or fall according to the signal from the operating unit;

[0021] S20, reading the sensor signal and determining whether the sensor signal is an obstruction signal;

[0022] S30, if the bed frame encounters an obstacle, the control unit drives the control unit to reversely drive the motor according to the movement direction before encountering the obstacle. If the bed frame does not encounter an obstacle, repeat step S20.

[0023] Beneficial effects of the present invention:

[0024] The present invention discloses a method for detecting the obstructed part of an electric bed that can be retracted when encountering an obstruction. The bed frame of the electric bed that can be retracted when encountering an obstruction can be raised and lowered to meet the needs of users. When a foreign object is encountered during the lifting process of the bed frame, the bed frame can be driven to retract to prevent the bed frame from continuing to move and being damaged by the foreign object. The electric bed of the present invention is equipped with a system that can measure the specific position of the obstructed part. When an obstruction occurs, the user can quickly find the foreign object that causes the bed frame to encounter an obstruction according to the system prompt, so as to facilitate user use. For a bed body enclosed by an outer cover, more accurate information can be provided to maintenance personnel for troubleshooting. When the electric bed is used in the medical industry, it can be convenient for medical staff to deal with it in a timely manner to avoid delays in the medical process and medical accidents.

[0025] The sensors arranged on the electric bed can detect the vibration of the bed frame after encountering an obstacle. The position of each sensor on the bed frame is different, and therefore the distance from the obstructed part is also different. According to the detection information of the sensor, the difference between the distances between the two sensors and the obstructed part can be calculated. After calculating multiple differences, the specific position information of the obstructed part can be calculated according to the differences, so that the user can be prompted to the obstruction position, and the obstacle can be found according to the obstruction position of the bed frame. Moreover, in the scheme disclosed in the present invention, sensors only need to be arranged at a few positions on the bed frame, and the cost of construction and maintenance is low. The sensor is small in size and does not occupy much space on the bed frame, so it will not affect the lifting and lowering activities of the bed frame.

[0026] Furthermore, the calculation of the difference between the distance between each sensor and the obstructed part includes: the three sensors are A, B, and C, and the time point T at which each sensor detects vibration is recorded. A 、T B 、T C ; Calculate the time difference between sensors sensing vibration , ; Calculate the difference between the distance between A and the obstruction point and the distance between B and the obstruction point , the difference between the distance between B and the obstruction point and the distance between C and the obstruction point ; Wherein, V is the propagation speed of vibration in the bed frame. Since the specific position of the obstruction is unknown, the time point when the vibration occurs cannot be obtained through the sensor, but the propagation speed of vibration in a certain object is fixed, so the time required for the vibration to reach each sensor is certain. In this way, the difference in distance between the two sensors and the obstruction can be obtained by multiplying the time difference and the vibration propagation speed. In particular, even if the collision point on the bed frame reaches each sensor at the same time, a and / or b is 0 at this time, the collision point position can also be calculated.

[0027] Furthermore, the calculation of the position of the obstructed part on the bed frame by the difference in distance includes: setting the position information of three sensors and the obstructed part on the bed frame; establishing a calculation formula based on the position information of the sensors, the position information of the obstructed part, the difference a and the difference b, and calculating the actual position of the obstructed part on the bed frame. The bed frame is used as a reference object, and the positions of the three sensors on the bed frame are fixed. Therefore, the position information data of the three sensors on the bed frame are specific values ​​that can be determined, and the difference a and the difference b are also specific values ​​that can be measured. In this way, only the position information of the obstructed part is unclear. By substituting each data into the calculation formula, the information value of the obstructed part can be obtained, thereby finding its specific position on the bed frame.

[0028] Furthermore, the setting of the position information of the three sensors and the obstructed part on the bed frame includes: establishing an XY coordinate system with one corner of the bed frame as the origin, the coordinates of the three sensors on the bed frame are A: (X1, Y1), B: (X2, Y2), C: (X3, Y3), and the coordinate of the obstructed part is M: (X4, Y4); wherein X1, Y1, X2, Y2, X3, Y3 are known numbers, and X4 and Y4 are unknown numbers. After the coordinate system is established with the bed frame as the reference, the position information of each sensor and the obstructed part on the bed frame is a coordinate, i.e., two numerical values. The coordinates of the obstructed part are unclear, so there are only two unknown numbers, and the rest are known. The coordinates of the obstructed part can be easily obtained by calculating through the formula.

[0029] Furthermore, the three sensors are all acceleration sensors or angular velocity sensors. When the bed frame vibrates, the vibration will cause the bed frame to float in the vertical direction, resulting in movement changes of the bed frame, such as changes in acceleration and angular velocity. The acceleration sensor and angular velocity sensor can detect the movement changes of their own installation positions. When the sensor detects that the movement change of the bed frame exceeds a certain threshold, it can be known that the bed frame has encountered an obstacle.

[0030] Furthermore, each sensor is fixedly mounted on the bed frame. The sensor can move with the bed frame, and will not cause abnormal data due to relative displacement or angular velocity change between the sensor and the bed frame, thereby avoiding the occurrence of false alarms due to obstacles.

[0031] Furthermore, the bed frame is provided with a plurality of sensors, and the information data of the three sensors with the largest signal changes among the plurality of sensors are selected to calculate the specific position of the obstructed part. When the bed frame encounters an obstruction, at least three sensors can detect the vibration and generate signals. When calculating the specific position of the obstructed part, there are more data to be selected, and the result obtained during the calculation will be more accurate. Moreover, after providing a plurality of sensors, the detection capability of the movement state of the bed frame can be improved. Even if a smaller obstacle blocks the bed frame, at least three sensors can detect the vibration and calculate the specific position of the obstructed part.

[0032] Furthermore, the electric bed that can be retracted when encountering obstacles also includes: a display unit for displaying the status information of the electric bed, especially the information of the obstacle area; and an operating unit for operating the lifting and lowering of the bed frame; and a control unit for controlling the motor that drives the lifting and lowering of the bed frame; the control unit is connected to the sensor and the operating unit signal, and controls the lifting and lowering of the bed frame according to the signal of the sensor and the operating unit. The control unit can read the signal of the operating unit and the sensor, and can obtain the current status information of the electric bed and the adjustment demand of the bed frame position to control the lifting and lowering of the bed frame. Once an obstacle occurs, it can respond in time to keep the bed frame away from obstacles.

[0033] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention will be further described below in conjunction with the accompanying drawings:

[0035] Figure 1 It is a structural schematic diagram of an electric bed in an embodiment of the present invention;

[0036] Figure 2 It is a structural schematic diagram of a bed frame in an embodiment of the present invention;

[0037] Figure 3 Schematic diagram of the coordinates of the sensor and the obstructed part on the bed frame in an embodiment of the present invention;

[0038] Figure 4 Schematic diagram of the operating system of the electric bed in an embodiment of the present invention.

[0039] Reference numerals:

[0040] Bed frame 100 and sensor 200 . DETAILED DESCRIPTION

[0041] The technical solutions of the embodiments of the present invention are explained and described below in conjunction with the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the protection scope of the present invention.

[0042] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0043] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more, unless otherwise clearly specified.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0046] Reference Figures 1 to 3The embodiment of the present invention discloses a method for detecting an obstruction position of an electric bed that can be retracted when encountering an obstruction. The electric bed that can be retracted when encountering an obstruction comprises:

[0047] The bed frame 100 is connected to a lifting mechanism for driving the bed frame 100 to move up and down; and

[0048] Three sensors 200 are provided on the bed frame 100;

[0049] The methods for detecting the obstructed parts include:

[0050] Detecting vibration of the bed frame 100 through the sensor 200;

[0051] Calculate the difference between the distance between each sensor 200 and the obstruction location;

[0052] The position of the obstructed portion on the bed frame 100 is calculated by the difference in distances.

[0053] The bed frame 100 of the electric bed that can be retracted when encountering an obstruction disclosed in the present invention can perform lifting and lowering movements to meet the use needs of users. When the bed frame 100 encounters foreign objects during the lifting process, the bed frame 100 can be driven to retract to prevent the bed frame 100 from continuing to move and causing damage to the bed frame 100 due to the foreign objects. In order to facilitate the use of users, the electric bed is also configured with a system that can measure the specific position of the obstructed part, so that when an obstruction occurs, the user can quickly find the foreign object that causes the bed frame 100 to encounter an obstruction according to the system prompts. When the electric bed is used in the medical industry, it can be convenient for medical staff to deal with it in time to avoid delays in the medical process and medical accidents.

[0054] In the present invention, the sensor 200 arranged on the electric bed can detect the vibration of the bed frame 100 after encountering an obstacle. The position of each sensor 200 on the bed frame 100 is different, so the distance from the obstructed part is also different. According to the detection information of the sensor 200, the difference between the distances between the two sensors 200 and the obstructed part can be calculated. After calculating multiple differences, the specific position information of the obstructed part can be calculated according to the differences, so that the user can be prompted to the obstruction position, and the obstacle can be found according to the obstruction position of the bed frame 100; and, in the scheme disclosed in the present invention, only a few positions on the bed frame 100 need to be set with sensors 200, and the cost and maintenance cost are low. The sensor 200 is small in size and does not occupy much space on the bed frame 100, so it will not affect the lifting and lowering activities of the bed frame 100.

[0055] In the above disclosed method for measuring the specific position of the obstructed part, the difference between the distance between each sensor 200 and the obstructed part is used for calculation. Since the specific position of the obstructed part is unknown, the time point when the vibration occurs and the specific position information of the obstructed part cannot be obtained by the sensor, and the distance between each sensor 200 and the obstructed part cannot be directly measured. However, when the bed frame 100 encounters an obstacle during the lifting process, the collision with the obstacle will cause vibration on the bed frame 100. The vibration is transmitted on the bed frame 100 in the form of a mechanical wave. The propagation speed of the vibration in a certain object is fixed. The sensor 200 can sense the vibration on the bed frame 100 and obtain the time point when the vibration is sensed. In this way, the difference in the distance between the two sensors and the obstructed part can be obtained by multiplying the time difference and the vibration propagation speed. And each sensor 200 is set at a different position of the bed frame 100, and the time required for the vibration to be transmitted to each sensor 200 will also be different.

[0056] According to the above principle, the three sensors 200 are respectively denoted as A, B, and C, and the time points at which the three sensors 200 record vibrations are T A 、T B 、T C , the time difference between the sensors 200 sensing the vibration , , , then the difference between the distance between sensor 200A and the obstructed part and the distance between sensor 200B and the obstructed part is , the difference between the distance between sensor 200B and the obstruction site and the distance between sensor 200C and the obstruction site , then the difference between the distance between sensor 200A and the obstructed part and the distance between sensor 200C and the obstructed part is , where V is the propagation speed of vibration in the bed frame 100, T A 、T B 、T C They are all measured real numbers, so the differences a, b, and c are all known real numbers. Figure 3 In the figure, the length of the dotted line between M and A is the distance between M and A, the length of the dotted line between M and B is the distance between M and B, and the length of the dotted line between M and C is the distance between M and C. The lengths of the three dotted lines are all unknown, but the length differences between the three dotted lines can be calculated to get specific values. In particular, even if the collision point on the bed frame reaches each sensor at the same time, the collision point position can be calculated.

[0057] If the difference between the distance between the obstructed part and the two sensors 200 is a constant, then an equation can be listed based on this constant to obtain a curve. The obstructed part can be at any point of this curve. By using three sensors 200, three curves with intersections can be obtained, and the intersection position is the specific position of the obstructed part.

[0058] Calculating the position of the obstructed portion on the bed frame 100 by using the difference in distances includes:

[0059] Setting the position information of the three sensors 200 and the obstructed parts on the bed frame 100;

[0060] According to the position information of the sensor 200 , the position information of the obstructed part, the difference a, the difference b, and the difference c, a calculation formula is established to calculate the actual position of the obstructed part on the bed frame 100 .

[0061] The bed frame 100 is used as a reference object, and the positions of the three sensors 200 on the bed frame 100 are fixed. Therefore, the position information data of the three sensors 200 on the bed frame 100 are specific values ​​that can be determined, and the difference a, difference b, and difference c have also been calculated in the above manner. In this way, only the position information of the obstructed part is unclear. By substituting each data into the calculation formula, the information value of the obstructed part can be obtained, thereby finding its specific position on the bed frame 100.

[0062] Specifically, the position information of the three sensors 200 and the obstructed part on the bed frame 100 is set, including: establishing an XY coordinate system with one corner of the bed frame 100 as the origin, the coordinates of sensor 200A, sensor 200B, and sensor 200C on the bed frame 100 are A: (X1, Y1), B: (X2, Y2), C: (X3, Y3), and the coordinate of the obstructed part is M: (X4, Y4); among which X1, Y1, X2, Y2, X3, and Y3 are known numbers, and X4 and Y4 are unknown numbers.

[0063] After the coordinate system is established based on the bed frame 100, the position information of each sensor 200 and the obstructed part on the bed frame 100 is a coordinate, that is, two numerical values. The coordinates of the obstructed part are unclear, so there are only two unknowns, and the rest are known. The coordinates of the obstructed part can be easily obtained by calculating through the formula.

[0064] In the above, the calculation formula includes Formula 1 and Formula 2. Formula 1 and Formula 2 correspond to a curve respectively. The values ​​of X4 and Y4 can be calculated by Formula 1 and Formula 2 to obtain the coordinates of the obstructed part on the bed frame 100.

[0065] Formula 1: ;

[0066] Formula 2: .

[0067] There are multiple solutions for the calculated values ​​of X4 and Y4. Select the solution with X4 ≥ 0 and Y4 ≥ 0, which is the coordinate of the obstruction point M. Since only two formulas are needed to obtain the solutions of X4 and Y4, only two values ​​of a, b, and c need to be selected for calculation. Of course, when the value c is selected, the formula also needs to be modified accordingly:

[0068] ;

[0069] The principles of the above formulas are the same. The distance between each sensor 200 and the obstruction position is calculated. The difference between the distances between the two sensors 200 and the obstruction position is a constant, so that the above two calculation formulas can be obtained. Software with calculation function can be implanted in the system of the electric bed, so that the measurement results can be easily obtained.

[0070] Reference Figure 2 Based on the above embodiment, in another embodiment of the present invention, specifically, the three sensors 200 are all acceleration sensors or angular velocity sensors.

[0071] The acceleration sensor and the angular velocity sensor can detect the movement changes of their own installation positions. When the bed frame 100 vibrates, the vibration will cause the bed frame 100 to float in the vertical direction, resulting in movement changes of the bed frame 100, such as changes in acceleration and angular velocity. When the acceleration sensor and the angular velocity sensor detect the movement changes of the bed frame 100, it can be known that the bed frame 100 has encountered an obstacle.

[0072] The acceleration sensor and the angular velocity sensor monitor the obstruction of the bed frame 100 by detecting the motion state of the bed frame 100 , and therefore have no requirements for light and can be applied to various occasions.

[0073] Preferably, each sensor 200 is arranged at the edge of the bed frame 100. When the bed frame 100 encounters resistance during the lifting process, the edge of the bed frame 100 has the largest movement change. The sensor 200 is arranged at the edge of the bed frame 100, which can improve the sensitivity of detection. At the same time, the connection between the sensor 200 and the bed frame 100 is a fixed connection. The fixed connection prevents the sensor 200 from having relative displacement or angular velocity changes with the bed frame 100, which may cause abnormal data, and avoids the situation of false alarms when encountering resistance. Of course, the sensor 200 can also be arranged at other positions of the bed frame 100.

[0074] In addition, among the three sensors 200, two sensors 200 are arranged on the center line of the bed frame 100 in the length direction or on the side of the center line, and the other sensor 200 is arranged on the center line of the bed frame 100 in the width direction or on the side of the center line. After being arranged in this way, each sensor 200 is spaced apart from each other by a certain distance, thereby reducing the signal change amount of each sensor 200 and the similarity thereof, and improving the accuracy of the measurement result.

[0075] Based on the above embodiments, in another embodiment of the present invention, after the electric bed has been used for a long time, its internal parts will age, which will cause the bed frame 100 to shake during the normal lifting process, but this does not mean that the bed frame 100 has encountered an obstacle. However, the shaking of the bed frame will still cause inconsistent detection data between multiple sensors 200. Therefore, there will be a difference range when judging whether there is an obstacle. When the data detected by the sensor 200 is slightly different, it is not considered that the bed frame 100 has encountered an obstacle.

[0076] And when the bed frame 100 starts the lifting action, the sensor 200 will also detect a change in acceleration, but this does not mean that the bed frame 100 encounters an obstacle. Therefore, within T1 time after the motor starts, the electric bed's resistance detection system will ignore the signal change detected by the sensor to avoid false alarms. Similarly, during the stopping process, there are also large changes in acceleration. Therefore, within T2 time after the motor starts to stop, the electric bed's resistance detection system will ignore the sensor signal change. T1 and T2 are preset times and can be set according to usage.

[0077] Materials with poor rigidity can absorb certain vibrations, which may affect the sensor's detection of vibrations, causing the bed frame to encounter obstruction but not sound an alarm. Based on the above embodiment, in another embodiment of the present invention, a plurality of sensors are provided on the bed frame.

[0078] Multiple sensors are also set at the edge of the bed frame. When the bed frame encounters obstruction during the lifting process, at least three of the multiple sensors can detect vibration and generate signals. When calculating the position of the obstruction, the signal values ​​of the three sensors with the largest signal changes are selected to calculate the specific position of the obstruction. In this way, when calculating the specific position of the obstruction, there are more data to choose from, and the result obtained during the calculation will be more accurate. After setting up multiple sensors, the ability to detect the movement state of the bed frame can be improved. Even if a smaller obstacle blocks the bed frame, at least three sensors can detect vibration and calculate the specific position of the obstruction.

[0079] Reference Figure 4 Based on the above embodiment, in another embodiment of the present invention, specifically:

[0080] The control system of the electric bed that can be retracted when encountering obstacles includes:

[0081] A display unit, used to display status information of the electric bed, especially information about the obstruction area;

[0082] An operating unit, used to operate the lifting and lowering activities of the bed frame;

[0083] The control unit is used to control the motor that drives the bed frame to rise and fall.

[0084] The display unit can display the movement state and position information of the bed frame 100 when it rises and falls, alarm when the bed frame 100 encounters an obstacle, and display the position where the bed frame 100 encounters an obstacle.

[0085] The operating unit is a hand controller, which is used to input a control signal for rising or falling. After the electric bed receives the signal, it can control the operation of the motor in the electric bed and control the movement of the bed frame 100.

[0086] The control unit is a control chip or control program built into the electric bed, which is connected to the sensor 200 and the operation unit signal, can read the signal of the sensor 200 and the operation unit, and control the motor according to the signal, control the movement state of the bed frame 100, so as to react in time when the bed frame 100 encounters an obstacle, so that the bed frame 100 is away from the obstacle. It also includes an obstacle measurement unit for calculating the position of the obstacle.

[0087] The control unit mentioned above can control the lifting and lowering of the bed frame 100 according to the signals of the sensor 200 and the operating unit. The specific operation steps include:

[0088] S10, reading a signal from the operating unit, and controlling the bed frame to rise or fall according to the signal from the operating unit;

[0089] S20, reading the sensor signal and determining whether the sensor signal is an obstruction signal;

[0090] S30, if the bed frame encounters an obstacle, the control unit determines the movement direction of the bed frame before encountering the obstacle and drives the control unit to reversely drive the motor; if the bed frame does not encounter an obstacle, repeat step S20.

[0091] When using an electric bed, the operator uses the operating unit to input the operation requirements of rising or falling. After the control unit obtains the signal from the operating unit, it drives the motor to run. The sensor 200 starts to detect the movement of the bed frame 100. The control unit continuously reads the signal from the sensor 200. When the bed frame 100 encounters an obstacle during movement, the sensor 200 outputs an abnormal signal. After obtaining the signal, the control unit immediately drives the motor to rotate in the opposite direction to move the bed frame 100 away from the obstacle. During this process, the control unit also transmits the signal data measured by the sensor 200 to the resistance measurement unit, calculates the specific position of the resistance part, and converts the measurement data into the regional position on the bed frame 100 and displays it on the display unit.

[0092] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A method for detecting the obstruction position of an electric bed that can be retracted when encountering an obstruction, characterized in that: The electric bed capable of retreating when encountering an obstacle comprises: A bed frame connected to a lifting mechanism for driving the bed frame to rise and fall; and three sensors, arranged on the bed frame; The method for detecting the obstructed part comprises: Detect bed frame vibrations through sensors; Calculate the difference between the distance between each sensor and the obstruction location; The position of the obstructed part on the bed frame is calculated by the difference in distance; the calculation of the difference in distance between each sensor and the obstructed part includes: The three sensors are A, B, and C. The time point T at which each sensor detects vibration is recorded. A , T B , T C ; Calculate the time difference T between sensors sensing vibration ΔAB =|T A -T B |、T ΔBC =|T B -T C |; Calculate the difference between the distance between A and the obstruction point and the distance between B and the obstruction point, a=VT ΔAB , the difference between the distance between B and the obstruction point and the distance between C and the obstruction point b = VT ΔBC ; Wherein, V is the propagation speed of vibration in the bed frame; the position of the obstructed part on the bed frame is calculated by the difference of the distances, include: Set the position information of three sensors and the obstructed parts on the bed frame; According to the position information of the sensors, the position information of the obstructed part, the difference a and the difference b, a calculation formula is established to calculate the actual position of the obstructed part on the bed frame; the setting of the position information of the three sensors and the obstructed part on the bed frame includes: An XY coordinate system is established with one corner of the bed frame as the origin. The coordinates of the three sensors on the bed frame are A: (X1, Y1), B: (X2, Y2), C: (X3, Y3), the coordinates of the obstructed part M: (X4, Y4); Among them, X1, Y1, X2, Y2, X3, Y3 are known numbers, and X4 and Y4 are unknown numbers.

2. The method for detecting the obstruction position of the electric bed that can be retracted when encountering an obstruction according to claim 1, characterized in that: The calculation formula includes formula 1 and formula 2, and the values ​​of X4 and Y4 are calculated by formula 1 and formula 2 to obtain the coordinates of the obstructed part on the bed frame; Formula 1: Formula 2:

3. The method for detecting the obstruction position of an electric bed capable of retracting when encountering an obstruction according to any one of claims 1 to 2, characterized in that: The three sensors are all acceleration sensors or angular velocity sensors.

4. The method for detecting the obstruction position of an electric bed capable of retracting when encountering an obstruction according to any one of claims 1 to 2, characterized in that: Each sensor is fixedly mounted on the bed frame.

5. The method for detecting the obstruction position of an electric bed capable of retracting when encountering an obstruction according to any one of claims 1 to 2, characterized in that: The bed frame is provided with a plurality of sensors, and information data of three sensors with the largest signal changes among the plurality of sensors are selected to calculate the specific position of the obstructed part.

6. The method for detecting the obstruction position of an electric bed capable of retracting when encountering an obstruction according to any one of claims 1 to 2, characterized in that: The electric bed capable of retreating when encountering an obstacle further comprises: A display unit is used to display status information of the electric bed; and An operating unit for operating the lifting and lowering movement of the bed frame; and A control unit, used to control the motor that drives the bed frame to rise and fall; The control unit is connected with the sensor and the operating unit signals, and controls the lifting and lowering of the bed frame according to the signals of the sensor and the operating unit.

7. The method for detecting the obstruction position of the electric bed capable of retracting when encountering an obstruction according to claim 6, characterized in that: The method of controlling the lifting of the bed frame according to the signals from the sensor and the operating unit comprises: S10, reading a signal from the operating unit, and controlling the bed frame to rise or fall according to the signal from the operating unit; S20, reading the sensor signal and determining whether the sensor signal is an obstruction signal; S30, if the bed frame encounters an obstacle, the control unit drives the control unit to reversely drive the motor according to the movement direction before encountering the obstacle. If the bed frame does not encounter an obstacle, repeat step S20.

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