Intelligent hospital bed with automatic turning over, body position adjustment, and defecation and urination system

Abstract

The present invention provides an intelligent bed with automatic turning over, body position adjustment, and defecation and urination system, including: multiple sensors, controllers, and actuators, wherein the multiple sensors are used to monitor the patient's activity data and determine whether the patient has an activity intention or defecation and urination needs; the controller is used to generate an activity instruction based on the patient's current bed position when it is determined that the patient has an activity intention or defecation and urination needs, and control the target support component of the bed to automatically adjust; the actuator is used to execute the turning over instruction and complete the adjustment of the target support component. In this way, the patient's automatic turning over or intelligent adjustment of the bed position can be achieved, the patient can be assisted to complete defecation and urination, and the nursing pressure of patients who cannot move or are not suitable for autonomous movement can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent hospital bed control, and in particular to an intelligent hospital bed with automatic turning over, body position adjustment, and defecation and urination system. Background Art

[0002] Birth, aging, illness and death are natural laws and are processes that everyone must go through. Getting sick is inevitable in daily life. Diseases may make it difficult to move (for example, lumbar sprain, fracture, etc.) or impossible to move (for example, paralysis). For diseases that make it difficult for patients to move or unable to move independently, medical staff and their families need to invest a lot of time and energy to assist patients in completing posture changes or urination and defecation, etc. However, for patients who need to stay in bed for a long time, it is inevitable that there will be problems such as failure to help patients turn over in time or failure to assist with urination and defecation in time, which may easily make patients uncomfortable in lying position, and even worse, it may cause bedsores. Moreover, for patients who cannot take care of themselves, untimely excretion of urination and defecation will cause cleaning difficulties and excessive nursing pressure.

[0003] Therefore, the present invention proposes an intelligent hospital bed with automatic turning over, body position adjustment, and defecation and urination system. Summary of the invention

[0004] The present invention provides an intelligent hospital bed with automatic turning over, body position adjustment and defecation and urination system to solve the above problems.

[0005] The present invention provides an intelligent hospital bed with automatic turning over, body position adjustment, and defecation and urination system, including: a plurality of sensors, a controller, and an actuator, wherein:

[0006] A variety of sensors are used to monitor the patient's activity data and determine whether the patient has the intention to move or the need to urinate or defecate;

[0007] A controller, for generating an activity instruction based on the patient's current bed position when it is determined that the patient has an intention to move or needs to defecate or urinate, and controlling the target support component of the bed to automatically adjust;

[0008] The actuator is used to execute the turning command and complete the adjustment of the target support component.

[0009] Preferably, in an intelligent hospital bed with automatic turning over, body position adjustment, and defecation and urination system, a plurality of sensors are controlled by an intelligent acquisition module, wherein the intelligent acquisition module includes:

[0010] A data collection unit, used to control various sensors to collect activity data corresponding to the patient, including motion data, voice activity data and health data;

[0011] A data comparison unit, used to compare the patient's current motion data with the previous motion data to determine whether the patient has an activity intention;

[0012] Alternatively, based on the patient's voice activity data, determining whether the patient needs to urinate or defecate;

[0013] At the same time, the patient's health data is compared with the corresponding preset threshold to determine whether the patient has any health abnormalities. If so, an abnormality notification is sent to the remote monitoring terminal.

[0014] Preferably, in an intelligent bed with automatic turning over, body position adjustment, and defecation and urination system, the controller includes:

[0015] The body position determination unit is used to detect the patient's current lying position when the patient has an intention to move or needs to urinate or defecate, and determine the posture positioning area where the patient's head and buttocks are located;

[0016] A lying posture determination unit is used to determine whether the patient's posture positioning areas are all within their corresponding default areas. If so, it is determined that the patient can be turned over;

[0017] Otherwise, determining the patient's current lying posture data based on the relative position relationship between the head posture positioning area and the hip posture positioning area;

[0018] A calibration determination unit, used to determine the lying position to be adjusted based on the patient's activity intention or defecation and urination needs, and to determine the target support component and its corresponding adjustment parameter change plan based on the current lying position data and with reference to the adjustment lying position data;

[0019] The instruction generation unit is used to generate an activity instruction based on the target support component and its corresponding adjustment parameter change plan, and send it to the actuator.

[0020] Preferably, in an intelligent hospital bed with automatic turning over, body position adjustment, and defecation and urination system, the lying posture determination unit includes:

[0021] A lying posture processing subunit is used to obtain a first effective bed contact area corresponding to the head posture positioning area and a second effective bed contact area corresponding to the hip posture positioning area, respectively obtain the area centers corresponding to the first effective bed contact area and the second effective bed contact area, and obtain a lying posture curve;

[0022] Taking the current plane of the bed as the reference plane, determining the relative inclination angle and relative position of the lying posture curve on the reference plane, and determining the lying state of the patient on the bed based on the relative inclination angle and relative position;

[0023] The head posture localization area was compared with the patient's supine head area to obtain the head contact ratio;

[0024] The hip posture positioning area was compared with the patient's supine hip area to obtain the hip contact ratio;

[0025] Determine the patient's trunk posture based on the head contact ratio and the hip contact ratio;

[0026] The current lying posture data is generated according to the lying posture state, trunk posture and the patient's limbs perception data.

[0027] Preferably, in an intelligent bed with automatic turning over and body position adjustment and defecation and urination system, the calibration determination unit includes:

[0028] The posture adjustment determination subunit is used to mark the patient's bed position based on the previous motion data to obtain the initial bed position, and to mark the patient's bed position based on the current motion data to obtain the intended bed position;

[0029] Based on the correspondence between body parts, determining the correspondence between various parts of the initial bed position and the intended bed position, and generating a plurality of activity intention vectors based on the correspondence;

[0030] Determining whether the trend directions of the plurality of activity intention vectors are consistent, and if consistent, taking the trend direction as the patient movement direction;

[0031] Otherwise, all the patient's head movement intention vectors are decomposed in direction, and based on the direction decomposition results, the patient's current bed position and the lying posture corresponding to the previous activity data are combined to determine the lying posture to be adjusted corresponding to the patient's intention;

[0032] The voice lying posture adjustment subunit is used to perform keyword recognition on the voice command issued by the patient, determine the type of the voice command, and determine the lying posture of the patient to be adjusted based on the type of the voice command;

[0033] The voice command types include turning over voice commands and urination and defecation voice commands.

[0034] Preferably, in an intelligent hospital bed with automatic turning over, body position adjustment, and defecation and urination system, the voice lying position adjustment subunit includes:

[0035] The turning control subunit is used for sensing the overall pressure distribution of the patient on the bed based on the built-in pressure sensor when the user's voice command is a turning voice command, obtaining the pressure distribution gradient, and determining the distribution position of various parts of the patient's body based on the pressure distribution gradient and combined with the current lying posture data;

[0036] At the same time, the patient's current bed position is determined based on the position of the pressure sensor, and the turning direction is determined based on the current bed position. In combination with the distribution positions of various parts of the patient's body and the patient's applicable sleeping position database, the best turning sleeping position is determined, and the best turning sleeping position is used as the sleeping position to be adjusted;

[0037] When the user's voice command is a defecation or urination voice command, a preset defecation or urination posture is obtained as the sleeping posture to be adjusted.

[0038] Preferably, in an intelligent bed with automatic turning over and body position adjustment and defecation and urination system, the calibration determination unit includes:

[0039] The support adjustment planning subunit is used to virtually simulate the conversion process between the current position corresponding to the patient's current lying position and the lying position to be adjusted based on a preset three-dimensional model;

[0040] According to the simulation process and in combination with the patient's current bed position, the target support component of the bed is determined;

[0041] Obtain the patient's weight parameters and pressure distribution characteristics of the current lying position, and determine the patient's bed gravity distribution according to the patient's weight parameters and pressure distribution characteristics;

[0042] Based on the gravity distribution characteristics of the bed and the preset pressure distribution characteristics of the lying posture to be treated, the adjustment pressure transformation corresponding to each target support component is determined;

[0043] At the same time, based on the patient's health data, the patient's physical health is evaluated to determine the patient's physical fitness and whether the patient has any special injuries;

[0044] If it does not exist, the adjustment speed of the target support component is determined based on the patient's physical fitness and with reference to the preset speed reference table;

[0045] If it exists, according to the special injured part locking protection mechanism, after the characteristic injured part and its joint-related parts are supported and fixed, the preset slow adjustment speed is used as the adjustment speed of the target support component;

[0046] The adjustment scheme generating subunit is used to determine the driving force change of each target support component according to the adjustment speed and the adjustment pressure change corresponding to each target support component, and generate the adjustment parameter change scheme of the target support component.

[0047] Preferably, in an intelligent bed with automatic turning over, body position adjustment, and defecation and urination system, the actuator includes:

[0048] A receiving and parsing unit, used for receiving and parsing the activity instruction, and determining the adjustment parameter change sub-scheme corresponding to each target support component;

[0049] The instruction execution unit is used to change the sub-scheme according to the adjustment parameters to complete the activities of the target support component.

[0050] The posture verification unit is used to compare the adjusted posture with the lying posture to be adjusted, and to fine-tune the patient's posture based on the comparison result.

[0051] Preferably, in an intelligent bed with automatic turning over, body position adjustment, and defecation and urination system, the posture verification unit includes:

[0052] The defecation and urination posture adjustment subunit is used to detect the patient's bed position when the patient has a defecation and urination need, and to determine whether the patient's buttocks are in the preset opening and closing area after the adjustment is completed. If so, it is determined that the position adjustment is completed, and the preset opening and closing area is controlled to open;

[0053] Otherwise, obtain the position error between the current hip position and the preset opening and closing area, determine the hip displacement error based on the position error, and determine the patient's trunk displacement based on the body linkage and the hip displacement error, and control the bed board to perform lateral adjustment based on the trunk displacement. After determining that the patient's hips have reached the preset opening and closing area, end the lateral adjustment and control the preset opening and closing area to open.

[0054] Preferably, in an intelligent hospital bed with automatic turning over, body position adjustment, and defecation and urination system, it also includes:

[0055] The automatic control module is used to predict the patient's defecation and urination time according to the patient's food and water intake data, and pre-adjust the patient's defecation and urination posture based on the prediction results, including:

[0056] The association relationship capturing unit is used to obtain the patient's urine and stool history data for multiple natural days within a preset period and the patient's food and water intake data, and to generate the patient's daily food intake-defecation activity diagram respectively;

[0057] Align and compare multiple daily activity node graphs to determine the correlation between water intake time and water intake amount and patient urination time, as well as the correlation between food intake type and food intake time and patient defecation;

[0058] A defecation and urination time prediction unit, used for predicting the patient's defecation time based on the association relationship 1 and the patient's effective food intake data after the last defecation;

[0059] According to the second correlation, combined with the patient's most recent water intake data, the patient's urination time is predicted;

[0060] The lying posture pre-control unit is used to send defecation and urination activity instructions to the controller when the preset time before the predicted defecation time or urination time is reached, and control the actuator to complete the pre-adjustment of the patient's lying posture for defecation and urination.

[0061] Compared with the prior art, the present invention has at least the following beneficial effects:

[0062] The present invention monitors the patient's activity data through a variety of sensors to determine whether the patient has the intention to move or the need to urinate or defecate, thereby realizing the detection of the patient's activity and health data. When it is determined that the patient has the intention to move or the need to urinate or defecate, the present invention generates activity instructions based on the patient's current bed position, controls the target support component of the bed to automatically adjust, and the actuator completes the change or follow the instructions to realize the patient's automatic turning over or intelligent adjustment of the bed position, assist the patient to complete urination and defecation, and reduce the care pressure of patients who cannot move.

[0063] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures specifically pointed out in this application document.

[0064] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0066] Figure 1 This is a schematic diagram of the structure of an intelligent hospital bed with automatic turning over, body position adjustment, and defecation and urination system according to the present invention;

[0067] Figure 2 This is a structural schematic diagram of an intelligent data collection module of an intelligent bed with automatic turning over, body position adjustment, and defecation and urination system according to the present invention;

[0068] Figure 3 This is a schematic diagram of the structure of an intelligent bed controller with automatic turning over, body position adjustment, and defecation and urination system according to the present invention;

[0069] Figure 4 The present invention is a structural schematic diagram of an intelligent bed actuator with automatic turning over, body position adjustment, and defecation and urination systems. DETAILED DESCRIPTION

[0070] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0071] Embodiment 1:

[0072] The present invention provides an intelligent hospital bed with automatic turning over and body position adjustment and defecation and urination system. Figure 1 As shown, it includes: a variety of sensors, controllers and actuators, among which,

[0073] A variety of sensors are used to monitor the patient's activity data and determine whether the patient has the intention to move or the need to urinate or defecate;

[0074] A controller, for generating an activity instruction based on the patient's current bed position when it is determined that the patient has an intention to move or needs to defecate or urinate, and controlling the target support component of the bed to automatically adjust;

[0075] The actuator is used to execute the turning command and complete the adjustment of the target support component.

[0076] The beneficial effects of the above technical solution: the present invention monitors the patient's activity data through a variety of sensors to determine whether the patient has the intention to move or the need to urinate or defecate, thereby realizing the detection of the patient's activity and health data, and when it is determined that the patient has the intention to move or the need to urinate or defecate, it generates activity instructions based on the patient's current bed position, controls the target support component of the bed to automatically adjust, and the actuator completes the change or follow the instructions to realize the patient's automatic turning over or intelligent adjustment of the bed position, assist the patient to complete urination and defecation, and reduce the care pressure of patients who cannot move.

[0077] Embodiment 2:

[0078] Based on Example 1, the multiple sensors are controlled by an intelligent acquisition module, wherein the intelligent acquisition module, such as Figure 2 As shown, including:

[0079] A data collection unit, used to control various sensors to collect corresponding activity data, wherein the activity data includes motion data, voice activity data and health data;

[0080] A data comparison unit, used to compare the patient's current motion data with the previous motion data to determine whether the patient has an activity intention;

[0081] Alternatively, based on the patient's voice activity data, determining whether the patient needs to urinate or defecate;

[0082] At the same time, the patient's health data is compared with the corresponding preset threshold to determine whether the patient has any health abnormalities. If so, an abnormality notification is sent to the remote monitoring terminal.

[0083] In this embodiment, the health data includes but is not limited to the patient's blood pressure, blood oxygen, heart rate and breathing data.

[0084] The beneficial effects of the above technical solution are as follows: the present invention controls a variety of sensors through an intelligent acquisition module to respectively collect corresponding activity data, completes the monitoring of physical activity data and health data, timely discovers the patient's activity intentions and urination and defecation needs, reduces the problem of patient discomfort caused by untimely care, and also reduces the pressure on nursing staff. It can also monitor the patient's health data and issue early warnings for abnormal situations in a timely manner, thereby improving the patient's care safety.

[0085] Embodiment 3:

[0086] Based on Example 1, the controller, such as Figure 3 As shown, including:

[0087] The body position determination unit is used to detect the patient's current lying position when the patient has an intention to move or needs to urinate or defecate, and determine the posture positioning area where the patient's head and buttocks are located;

[0088] A lying posture determination unit is used to determine whether the patient's posture positioning areas are all within their corresponding default areas. If so, it is determined that the patient can be turned over;

[0089] Otherwise, determining the patient's current lying posture data based on the relative position relationship between the head posture positioning area and the hip posture positioning area;

[0090] A calibration determination unit, used to determine the lying position to be adjusted based on the patient's activity intention or defecation and urination needs, and to determine the target support component and its corresponding adjustment parameter change plan based on the current lying position data and with reference to the adjustment lying position data;

[0091] The instruction generation unit is used to generate an activity instruction based on the target support component and its corresponding adjustment parameter change plan, and send it to the actuator.

[0092] In this embodiment, the posture positioning area refers to the area where the patient's head and buttocks are located.

[0093] The default area refers to the distance between the patient's head and buttocks in the correct lying position based on the patient's body length. Based on the patient's head or buttocks, this distance area can be used to determine whether the patient's body is stretched in the current lying position, thereby avoiding injuries to the patient caused by inappropriate adjustments.

[0094] The beneficial effects of the above technical solution: the present invention determines the position of the patient's head and buttocks through the body position determination unit, and then determines the patient's current lying position through the lying position determination unit; based on the current lying position data determined and combined with the patient's actual activity needs, the lying position to be adjusted is determined and then activity instructions are generated, thereby realizing preparations before the patient's lying position adjustment, which is beneficial to improving the accuracy of lying position adjustment and avoiding the problem of harm to the patient caused by inappropriate adjustment.

[0095] Embodiment 4:

[0096] On the basis of Embodiment 3, the lying posture determining unit includes:

[0097] A lying posture processing subunit is used to obtain a first effective bed contact area corresponding to the head posture positioning area and a second effective bed contact area corresponding to the hip posture positioning area, respectively obtain the area centers corresponding to the first effective bed contact area and the second effective bed contact area, and obtain a lying posture curve;

[0098] Taking the current plane of the bed as the reference plane, determining the relative inclination angle and relative position of the lying posture curve on the reference plane, and determining the lying state of the patient on the bed based on the relative inclination angle and relative position;

[0099] The head posture localization area was compared with the patient's supine head area to obtain the head contact ratio;

[0100] The hip posture positioning area was compared with the patient's supine hip area to obtain the hip contact ratio;

[0101] Determine the patient's trunk posture based on the head contact ratio and the hip contact ratio;

[0102] The current lying posture data is generated according to the lying posture state, trunk posture and the patient's limbs perception data.

[0103] In this embodiment, the supine posture curve refers to a curve connecting the center of the region to indicate the overall posture of the patient's trunk.

[0104] In this embodiment, the bed-recumbent state refers to the patient's tilt state and position on the bed.

[0105] In this embodiment, the trunk posture refers to the bending posture of the patient's trunk.

[0106] In this embodiment, the limb sensing data refers to the patient's limb position data sensed by the sensor.

[0107] The beneficial effects of the above technical solution: the present invention locates the position of the patient on the bed based on the position of the patient's head and buttocks through the lying position processing subunit, and then determines the patient's bed state by processing the data corresponding to the posture positioning area, and obtains the current lying position data in combination with the trunk posture and limb perception data, and locates various parts of the patient, which is beneficial to locate the patient's special injured parts and provide a basis for the reinforcement of the special injured parts. At the same time, it is beneficial to improve the accuracy of the patient's lying position adjustment, avoid secondary damage to the patient's injured parts during the lying position adjustment process, and improve the safety of the lying position adjustment.

[0108] Embodiment 5:

[0109] On the basis of Embodiment 3, the calibration determination unit includes:

[0110] The posture adjustment determination subunit is used to mark the patient's bed position based on the previous motion data to obtain the initial bed position, and to mark the patient's bed position based on the current motion data to obtain the intended bed position;

[0111] Based on the correspondence between body parts, determining the correspondence between various parts of the initial bed position and the intended bed position, and generating a plurality of activity intention vectors based on the correspondence;

[0112] Determining whether the trend directions of the plurality of activity intention vectors are consistent, and if consistent, taking the trend direction as the patient movement direction;

[0113] Otherwise, all the patient's head movement intention vectors are decomposed in direction, and based on the direction decomposition results, the patient's current bed position and the lying posture corresponding to the previous activity data are combined to determine the lying posture to be adjusted corresponding to the patient's intention;

[0114] The voice lying posture adjustment subunit is used to perform keyword recognition on the voice command issued by the patient, determine the type of the voice command, and determine the lying posture of the patient to be adjusted based on the type of the voice command;

[0115] The voice command types include turning over voice commands and urination and defecation voice commands.

[0116] In this embodiment, the voice instructions can be set according to the user's usage requirements. It can be set to text voice or digital voice. It can also be set to a preset number of words (such as "ah" for different consecutive times) to facilitate patients to turn over or control urination and defecation. Even if there are language barriers, fixed voice commands can be used to complete the issuance of urination and defecation instructions.

[0117] In this embodiment, the intended bed position refers to the patient bed position corresponding to the current motion data.

[0118] In this embodiment, the activity intention vector refers to a displacement vector corresponding to a point on the patient's body moving from a previous action to a current action.

[0119] In this embodiment, the trend direction refers to the moving direction of various parts of the patient's body on the bed.

[0120] In this embodiment, the direction decomposition refers to decomposing the patient's entire head movement intention vector into two directions parallel to the length and width of the bed, and mainly adjusting the patient's lying posture in the direction parallel to the width of the bed.

[0121] The beneficial effects of the above technical solution are as follows: In the present invention, the patient's intention to turn over or move is determined by analyzing the patient's movements. When the patient's body and head tend to be inconsistent or only the head moves slightly, the head movement is controlled according to the head movement direction and the patient's movement intention direction, providing patients who cannot move with the possibility of autonomously controlling turning over or adjusting their lying position; at the same time, the bed can also be controlled by voice commands, providing patients with a variety of control methods, which is conducive to improving the patient's use experience and better assisting patients to complete their intended turning over, movement or urination and defecation needs.

[0122] Embodiment 6:

[0123] On the basis of Embodiment 5, the voice lying posture adjustment subunit includes:

[0124] The turning control subunit is used for sensing the overall pressure distribution of the patient on the bed based on the built-in pressure sensor when the user's voice command is a turning voice command, obtaining the pressure distribution gradient, and determining the distribution position of various parts of the patient's body based on the pressure distribution gradient and combined with the current lying posture data;

[0125] At the same time, the patient's current bed position is determined based on the position of the pressure sensor, and the turning direction is determined based on the current bed position. In combination with the distribution positions of various parts of the patient's body and the patient's applicable sleeping position database, the best turning sleeping position is determined, and the best turning sleeping position is used as the sleeping position to be adjusted;

[0126] When the user's voice command is a defecation or urination voice command, a preset defecation or urination posture is obtained as the sleeping posture to be adjusted.

[0127] The beneficial effects of the above technical solution are as follows: the present invention parses the patient's voice control instructions to determine the nature of the voice control instructions, and determines the distribution positions of various parts of the patient's body according to the pressure distribution gradient corresponding to the patient's current lying position combined with the current lying position data; at the same time, the patient's current bed position is determined based on the position of the pressure sensor, and the turning direction is determined based on the current bed position to ensure that the patient has sufficient space when turning over and will not hit the guardrail of the bed, which is beneficial to improving the safety of turning over, and combined with the distribution positions of various parts of the patient's body and the patient's applicable sleeping position database, the best turning over sleeping position is determined, and the best turning over sleeping position is used as the lying position to be adjusted, which is beneficial to ensure comfort during the turning process and avoid the phenomenon that the patient feels uncomfortable due to a large adjustment range of the turning posture; when the user's voice instruction is a voice instruction for urination and defecation, the preset urination and defecation posture is obtained as the sleeping position to be adjusted to ensure that the patient can be quickly converted to a lying position that is conducive to urination and defecation, thereby shortening the patient's waiting time for urination and defecation.

[0128] Embodiment 7:

[0129] On the basis of Embodiment 3, the calibration determination unit includes:

[0130] The support adjustment planning subunit is used to virtually simulate the conversion process between the current position corresponding to the patient's current lying position and the lying position to be adjusted based on a preset three-dimensional model;

[0131] According to the simulation process and in combination with the patient's current bed position, the target support component of the bed is determined;

[0132] Obtain the patient's weight parameters and pressure distribution characteristics of the current lying position, and determine the patient's bed gravity distribution according to the patient's weight parameters and pressure distribution characteristics;

[0133] Based on the gravity distribution characteristics of the bed and the preset pressure distribution characteristics of the lying posture to be treated, the adjustment pressure transformation corresponding to each target support component is determined;

[0134] At the same time, based on the patient's health data, the patient's physical health is evaluated to determine the patient's physical fitness and whether the patient has any special injuries;

[0135] If it does not exist, the adjustment speed of the target support component is determined based on the patient's physical fitness and with reference to the preset speed reference table;

[0136] If it exists, according to the special injured part locking protection mechanism, after the characteristic injured part and its joint-related parts are supported and fixed, the preset slow adjustment speed is used as the adjustment speed of the target support component;

[0137] The adjustment scheme generating subunit is used to determine the driving force change of each target support component according to the adjustment speed and the adjustment pressure change corresponding to each target support component, and generate the adjustment parameter change scheme of the target support component.

[0138] In this embodiment, the target support component refers to the bed support component that needs to be moved when the patient adjusts his / her lying position.

[0139] In this embodiment, the preset speed comparison table refers to a table storing the corresponding relationship between the patient's physical fitness and the adjustment speed, and is stored in the database in advance.

[0140] Beneficial effects of the above technical solution: Based on a preset three-dimensional model, the present invention virtually simulates the conversion process between the current position corresponding to the patient's current lying posture and the lying posture to be adjusted;

[0141] According to the simulation process and in combination with the patient's current bed position, the target support component of the bed is determined;

[0142] Obtain the patient's weight parameters and pressure distribution characteristics of the current lying position, and determine the patient's bed gravity distribution according to the patient's weight parameters and pressure distribution characteristics;

[0143] Based on the characteristics of the gravity distribution in bed and the preset pressure distribution characteristics of the lying posture to be treated, the corresponding adjustment pressure changes of each target support component are determined; at the same time, based on the patient's health data, the patient's physical health is evaluated, the patient's physical fitness is determined, and it is determined whether the patient has special injured parts; if not, the adjustment speed of the target support component is determined according to the patient's physical fitness and the preset speed reference table, so as to achieve personal customization of the patient's turning over or movement parameters, reduce the risk of turning over and urinating and defecating, and improve comfort; if it is, according to the locking protection mechanism of the special injured part, the characteristic injured part and its joint-related parts are supported and fixed, and the preset slow adjustment speed is used as the adjustment speed of the target support component, so as to effectively avoid the damage to the patient caused by movement in the process of assisting the patient to complete turning over or urinating and defecating; finally, according to the adjustment speed and the corresponding adjustment pressure changes of each target support component, the driving force change of each target support component is determined respectively, and the adjustment parameter change plan of the target support component is generated to provide guarantee for the accuracy of the patient's posture adjustment.

[0144] Embodiment 8:

[0145] Based on Example 1, the actuator, such as Figure 4 As shown, including:

[0146] A receiving and parsing unit, used for receiving and parsing the activity instruction, and determining the adjustment parameter change sub-scheme corresponding to each target support component;

[0147] The instruction execution unit is used to change the sub-scheme according to the adjustment parameters to complete the activities of the target support component.

[0148] The posture verification unit is used to compare the adjusted posture with the lying posture to be adjusted, and to fine-tune the patient's posture based on the comparison result.

[0149] The beneficial effects of the above technical solution are as follows: the present invention receives and analyzes the activity instructions, adjusts the parameter change sub-scheme corresponding to each target support component, and then accurately controls each target support component, which is beneficial to improving the accuracy of posture conversion, and compares the adjusted posture with the lying posture to be adjusted. According to the comparison result, the patient's posture is fine-tuned to ensure that the patient's final posture is the same as the predetermined posture, effectively avoiding the problem of damage to the patient's body caused by incorrect lying posture.

[0150] Embodiment 9:

[0151] Based on the eighth embodiment, the posture verification unit includes:

[0152] The defecation and urination posture adjustment subunit is used to detect the patient's bed position when the patient has a defecation and urination need, and to determine whether the patient's buttocks are in the preset opening and closing area after the adjustment is completed. If so, it is determined that the position adjustment is completed, and the preset opening and closing area is controlled to open;

[0153] Otherwise, obtain the position error between the current hip position and the preset opening and closing area, determine the hip displacement error based on the position error, and determine the patient's trunk displacement based on the body linkage and the hip displacement error, and control the bed board to perform lateral adjustment based on the trunk displacement. After determining that the patient's hips have reached the preset opening and closing area, end the lateral adjustment and control the preset opening and closing area to open.

[0154] In this embodiment, the preset opening and closing area refers to the area corresponding to the components on the bed that can be automatically opened and closed to facilitate the patient's urination and defecation.

[0155] In this embodiment, body linkage refers to the part and direction of the body that needs to be moved in order to keep the patient in a comfortable state during the movement of the hips.

[0156] The beneficial effects of the above technical solution are as follows: the present invention verifies the posture after the urination and defecation posture adjustment is completed, ensuring that the patient's buttocks are in the preset opening and closing area, providing a basis for the patient to complete urination and defecation normally.

[0157] Embodiment 10:

[0158] Based on Example 1, a smart bed with automatic turning over, body position adjustment, and defecation and urination system also includes:

[0159] The automatic control module is used to predict the patient's defecation and urination time according to the patient's food and water intake data, and pre-adjust the patient's defecation and urination posture based on the prediction results, including:

[0160] The association relationship capturing unit is used to obtain the patient's urine and stool history data for multiple natural days within a preset period and the patient's food and water intake data, and to generate the patient's daily food intake-defecation activity diagram respectively;

[0161] Align and compare multiple daily activity node graphs to determine the correlation between water intake time and water intake amount and patient urination time, as well as the correlation between food intake type and food intake time and patient defecation;

[0162] A defecation and urination time prediction unit, used for predicting the patient's defecation time based on the association relationship 1 and the patient's effective food intake data after the last defecation;

[0163] According to the second correlation, combined with the patient's most recent water intake data, the patient's urination time is predicted;

[0164] The lying posture pre-control unit is used to send defecation and urination activity instructions to the controller when the preset time before the predicted defecation time or urination time is reached, and control the actuator to complete the pre-adjustment of the patient's lying posture for defecation and urination.

[0165] In this embodiment, the food and water intake data includes food intake data (food intake time and food type) and water intake data (water intake time and water intake amount).

[0166] In this embodiment, the effective food intake data refers to the patient's food and water intake data from the last bowel movement to the current time.

[0167] The beneficial effects of the above technical solution: the association capture unit of the present invention determines the association between defecation and urination and the patient's eating and drinking data, and then predicts the patient's defecation and urination time based on the association in combination with the current data (effective eating data or the most recent water intake data), and obtains the predicted time (predicted defecation time or urination time). When the predicted time is reached before the preset time, a defecation and urination activity instruction is sent to the controller to control the actuator to complete the pre-adjustment of the patient's lying position for defecation and urination, realize automatic pre-judgment of the patient's defecation and urination, and autonomously adjust the user's posture to a suitable posture for defecation and urination, effectively avoiding the problem of patients not having enough time to adjust their posture due to urgency.

[0168] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An intelligent bed with automatic turning over, body position adjustment, and defecation and urination system, characterized in that: include: Various sensors, controllers and actuators, among which: A variety of sensors are used to monitor the patient's activity data and determine whether the patient has the intention to move or the need to urinate or defecate; A controller, for generating an activity instruction based on the patient's current bed position when it is determined that the patient has an intention to move or needs to defecate or urinate, and controlling the target support component of the bed to automatically adjust; An actuator, used to execute the turning command and complete the adjustment of the target support component; The controller includes: The body position determination unit is used to detect the patient's current lying position when the patient has an intention to move or needs to urinate or defecate, and determine the posture positioning area where the patient's head and buttocks are located; A lying posture determination unit is used to determine whether the patient's posture positioning areas are all within their corresponding default areas. If so, it is determined that the patient can be turned over; Otherwise, determining the patient's current lying posture data based on the relative position relationship between the head posture positioning area and the hip posture positioning area; A calibration determination unit, used to determine the lying position to be adjusted based on the patient's activity intention or defecation and urination needs, and to determine the target support component and its corresponding adjustment parameter change plan based on the current lying position data and with reference to the adjustment lying position data; An instruction generation unit, used to generate an activity instruction based on the target support component and its corresponding adjustment parameter change scheme, and send it to the actuator; Wherein, the lying posture determination unit includes: A lying posture processing subunit is used to obtain a first effective bed contact area corresponding to the head posture positioning area and a second effective bed contact area corresponding to the hip posture positioning area, respectively obtain the area centers corresponding to the first effective bed contact area and the second effective bed contact area, and obtain a lying posture curve; Taking the current plane of the bed as the reference plane, determining the relative inclination angle and relative position of the lying posture curve on the reference plane, and determining the lying state of the patient on the bed based on the relative inclination angle and relative position; The head posture localization area was compared with the patient's supine head area to obtain the head contact ratio; The hip posture positioning area was compared with the patient's supine hip area to obtain the hip contact ratio; Determine the patient's trunk posture based on the head contact ratio and the hip contact ratio; The current lying posture data is generated according to the bed state, trunk posture and the patient's limbs perception data.

2. The intelligent hospital bed with automatic turning over, body position adjustment and defecation and urination system according to claim 1, characterized in that: A variety of sensors are controlled by intelligent acquisition modules, including: A data collection unit, used to control various sensors to collect activity data corresponding to the patient, including motion data, voice activity data and health data; A data comparison unit, used to compare the patient's current motion data with the previous motion data to determine whether the patient has an activity intention; Alternatively, based on the patient's voice activity data, determining whether the patient needs to urinate or defecate; At the same time, the patient's health data is compared with the corresponding preset threshold to determine whether the patient has any health abnormalities. If so, an abnormality notification is sent to the remote monitoring terminal.

3. The intelligent hospital bed with automatic turning over, body position adjustment and defecation and urination system according to claim 1, characterized in that: A calibration determination unit, comprising: The posture adjustment determination subunit is used to mark the patient's bed position based on the previous motion data to obtain the initial bed position, and to mark the patient's bed position based on the current motion data to obtain the intended bed position; Based on the correspondence between body parts, determining the correspondence between various parts of the initial bed position and the intended bed position, and generating a plurality of activity intention vectors based on the correspondence; Determining whether the trend directions of the plurality of activity intention vectors are consistent, and if consistent, taking the trend direction as the patient movement direction; Otherwise, all the patient's head movement intention vectors are decomposed in direction, and based on the direction decomposition results, the patient's current bed position and the lying posture corresponding to the previous activity data are combined to determine the lying posture to be adjusted corresponding to the patient's intention; The voice lying posture adjustment subunit is used to perform keyword recognition on the voice command issued by the patient, determine the type of the voice command, and determine the lying posture of the patient to be adjusted based on the type of the voice command; The voice command types include turning over voice commands and urination and defecation voice commands.

4. The intelligent hospital bed with automatic turning over, body position adjustment and defecation and urination system according to claim 3, characterized in that: The voice posture adjustment subunit includes: The turning control subunit is used for sensing the overall pressure distribution of the patient on the bed based on the built-in pressure sensor when the user's voice command is a turning voice command, obtaining the pressure distribution gradient, and determining the distribution position of various parts of the patient's body based on the pressure distribution gradient and combined with the current lying posture data; At the same time, the patient's current bed position is determined based on the position of the pressure sensor, and the turning direction is determined based on the current bed position. In combination with the distribution positions of various parts of the patient's body and the patient's applicable sleeping position database, the best turning sleeping position is determined, and the best turning sleeping position is used as the sleeping position to be adjusted; When the user's voice command is a defecation or urination voice command, a preset defecation or urination posture is obtained as the sleeping posture to be adjusted.

5. The intelligent hospital bed with automatic turning over, body position adjustment and defecation and urination system according to claim 1, characterized in that: A calibration determination unit, comprising: The support adjustment planning subunit is used to virtually simulate the conversion process between the current position corresponding to the patient's current lying position and the lying position to be adjusted based on a preset three-dimensional model; According to the simulation process and in combination with the patient's current bed position, the target support component of the bed is determined; Obtain the patient's weight parameters and pressure distribution characteristics of the current lying position, and determine the patient's bed gravity distribution according to the patient's weight parameters and pressure distribution characteristics; Based on the gravity distribution characteristics of the bed and the preset pressure distribution characteristics of the lying posture to be treated, the adjustment pressure transformation corresponding to each target support component is determined; At the same time, based on the patient's health data, the patient's physical health is evaluated to determine the patient's physical fitness and whether the patient has any special injuries; If it does not exist, the adjustment speed of the target support component is determined based on the patient's physical fitness and with reference to the preset speed reference table; If it exists, according to the special injured part locking protection mechanism, after supporting and fixing the characteristic injured part and its joint-related parts, the preset slow adjustment speed is used as the adjustment speed of the target support component; The adjustment scheme generating subunit is used to determine the driving force change of each target support component according to the adjustment speed and the adjustment pressure change corresponding to each target support component, and generate the adjustment parameter change scheme of the target support component.

6. The intelligent hospital bed with automatic turning over, body position adjustment and defecation and urination system according to claim 1, characterized in that: Actuators, including: A receiving and parsing unit, used for receiving and parsing the activity instruction, and determining the adjustment parameter change sub-scheme corresponding to each target support component; An instruction execution unit, used to change the sub-scheme according to the adjustment parameters and complete the activities of the target support component; The posture verification unit is used to compare the adjusted posture with the lying posture to be adjusted, and to fine-tune the patient's posture based on the comparison result.

7. The intelligent hospital bed with automatic turning over, body position adjustment and defecation and urination system according to claim 6, characterized in that: Posture verification unit, including: The defecation and urination posture adjustment subunit is used to detect the patient's bed position when the patient has a defecation and urination need, and to determine whether the patient's buttocks are in the preset opening and closing area after the adjustment is completed. If so, it is determined that the position adjustment is completed, and the preset opening and closing area is controlled to open; Otherwise, obtain the position error between the current hip position and the preset opening and closing area, determine the hip displacement error based on the position error, and determine the patient's trunk displacement based on the body linkage and the hip displacement error, and control the bed board to perform lateral adjustment based on the trunk displacement. After determining that the patient's hips have reached the preset opening and closing area, end the lateral adjustment and control the preset opening and closing area to open.

8. The intelligent hospital bed with automatic turning over, body position adjustment and defecation and urination system according to claim 1, characterized in that: Also includes: The automatic control module is used to predict the patient's defecation and urination time according to the patient's food and water intake data, and pre-adjust the patient's defecation and urination posture based on the prediction results, including: The association relationship capturing unit is used to obtain the patient's urine and stool history data for multiple natural days within a preset period and the patient's food and water intake data, and to generate the patient's daily food intake-defecation activity diagram respectively; Align and compare multiple daily activity node graphs to determine the correlation between water intake time and water intake amount and patient urination time, as well as the correlation between food intake type and food intake time and patient defecation; A defecation and urination time prediction unit, used for predicting the patient's defecation time based on the association relationship 1 and the patient's effective food intake data after the last defecation; According to the second correlation, combined with the patient's most recent water intake data, the patient's urination time is predicted; The lying posture pre-control unit is used to send defecation and urination activity instructions to the controller when the preset time before the predicted defecation time or urination time is reached, and control the actuator to complete the pre-adjustment of the patient's lying posture for defecation and urination.

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