Control method, device, storage medium and electronic equipment for medical transfer vehicle

Abstract

The present application discloses a control method, device, storage medium and electronic device for a medical transfer vehicle. The method comprises: in response to a transfer start instruction of the transfer vehicle, monitoring the distance information between the current bed surface of the transfer vehicle and the ground through a distance sensor; determining the road surface information according to the distance information, wherein the road surface information comprises at least one of the following: a flat road surface, an uphill road surface, a downhill road surface, a pitted road surface, a convex road surface, and a step road surface; fitting and analyzing the road surface information to obtain a transfer vehicle control function corresponding to the road surface information; and controlling the transfer vehicle based on the transfer vehicle control function. Through the present application, the problem that the transfer vehicle cannot achieve smooth control when facing a complex road surface in the related art is solved.

Description

Background Art

[0002] In the related technology, the traditional method is to use wheelchairs and flatbed carts to transfer bedridden patients, but the patient needs to change his position during the transfer process, and a transfer cart is needed for some patients who are inconvenient to move. The transfer cart can smoothly transfer the patient from the bed to the cart, or from the cart to the bed. However, during the transfer process, when the transfer cart passes through complex roads, the bumps caused by the uneven road surface may also cause secondary injuries to the patient, especially patients with fractures, surgeries, and craniocerebral injuries.

[0003] Some transfer carts on the market have a lifting function, which is used to adjust the height of the bed when the patient gets on or off the cart. This function can solve the problem of bedridden patients getting on and off the cart, but it cannot be adjusted in real time according to the ground conditions during the transfer process, especially for complex road surfaces composed of a random combination of flat roads, uphills, downhills, potholes, bumps, steps, etc. Traditional transfer carts usually do not take complex road scenarios into consideration. When traditional transfer carts pass through complex roads, they will bring a strong sense of bumps and cannot achieve smooth transfer.

[0004] Some transfer carts also add shock-absorbing springs to reduce the bumpy feeling when passing through complex roads. However, this method works after the bump occurs and cannot be controlled in advance before the bump occurs. And because the spring has inertia, while reducing the bumpy feeling, it also prolongs the bumping time, so it cannot solve the problem of smooth transfer of the transfer cart over complex roads.

[0005] With regard to the problem in related technologies that the transfer vehicle cannot achieve smooth control when facing complex road surfaces, no effective solution has been proposed so far. Summary of the invention

[0006] The main purpose of the present application is to provide a control method, device, storage medium and electronic device for a medical transfer vehicle to solve the problem in the related art that the transfer vehicle cannot be smoothly controlled when facing complex road conditions.

[0007] In order to achieve the above-mentioned purpose, according to the first aspect of the present application, a control method for a medical transfer vehicle is provided. The method comprises: in response to the transfer start instruction of the transfer vehicle, monitoring the distance information between the current bed surface of the transfer vehicle and the ground through a distance sensor; determining the road surface information according to the distance information, wherein the road surface information comprises at least one of the following: a flat road surface, an uphill road surface, a downhill road surface, a pitted road surface, a convex road surface, and a step road surface; fitting and analyzing the road surface information to obtain a transfer vehicle control function corresponding to the road surface information; and controlling the transfer vehicle based on the transfer vehicle control function.

[0008] Furthermore, in response to the transfer start instruction of the transfer vehicle, the distance information between the current bed surface of the transfer vehicle and the ground is monitored by a distance sensor, including: when it is detected that the patient is already on the lathe of the transfer vehicle, in response to the transfer start instruction, multiple groups of measurement data between the current bed surface of the transfer vehicle and the ground are monitored by the distance sensor; the first measurement data, the center measurement data, and the last measurement data in each group of measurement data are obtained; and the first measurement data, the center measurement data, and the last measurement data are used as distance information.

[0009] Further, the road surface information includes: a flat road surface, a pothole road surface, a convex road surface, and a step road surface. The road surface information is fitted and analyzed to obtain a transfer vehicle control function corresponding to the road surface information, including: when it is detected that the measurement data of the first measurement data, the center measurement data, and the last measurement data are the same, the road surface information is determined to be a flat road surface, and a linear fitting analysis is performed on the flat road surface to obtain a transfer vehicle flat road control function corresponding to the flat road surface; when it is detected that the first measurement data is greater than the center measurement data, and the center measurement data is less than the last measurement data, the road surface information is determined to be a pothole road surface, and a nonlinear fitting analysis is performed on the pothole road surface to obtain a transfer vehicle pothole control function corresponding to the pothole road surface; When it is detected that the first measurement data is less than the center measurement data, and the center measurement data is greater than the last measurement data, the road surface information is determined to be a convex hull road surface, and a nonlinear fitting analysis is performed on the convex hull road surface to obtain a convex hull control function of the transfer vehicle corresponding to the convex hull road surface; the road surface information is determined to be a step road surface, and a nonlinear fitting analysis is performed on the step road surface to obtain a step control function of the transfer vehicle corresponding to the step road surface, wherein determining that the road surface information is a step road surface includes one of the following situations: when it is detected that the first measurement data is less than the center measurement data, and the center measurement data is equal to the last measurement data; when it is detected that the first measurement data is greater than the center measurement data, and the center measurement data is equal to the last measurement data.

[0010] Further, the road surface information includes: an uphill road surface, the uphill road surface includes at least one of the following: a first uphill road surface, a second uphill road surface, and a third uphill road surface, the difference between the first measurement data and the center measurement data is set as the first difference, the difference between the center measurement data and the last measurement data is set as the second difference, the road surface information is fitted and analyzed to obtain the transfer vehicle control function corresponding to the road surface information, including: when it is detected that the first measurement data is less than the center measurement data, the center measurement data is less than the last measurement data, and the first difference is equal to the second difference, the road surface information is determined to be the first uphill road surface, and a linear fitting is performed on the first uphill road surface to obtain the first uphill road surface. The first uphill control function of the transfer vehicle corresponding to the surface; when it is detected that the first measurement data is less than the center measurement data, the center measurement data is less than the last measurement data, and the first difference is less than the second difference, the road surface information is determined to be the second uphill road surface, and the second uphill road surface is nonlinearly fitted to obtain the second uphill control function of the transfer vehicle corresponding to the second uphill road surface; when it is detected that the first measurement data is less than the center measurement data, the center measurement data is less than the last measurement data, and the first difference is greater than the second difference, the road surface information is determined to be the third uphill road surface, and the third uphill road surface is nonlinearly fitted to obtain the third uphill control function of the transfer vehicle corresponding to the third uphill road surface.

[0011] Further, the road surface information includes: a downhill road surface, the downhill road surface includes at least one of the following: a first downhill road surface, a second downhill road surface, and a third downhill road surface, the difference between the first measurement data and the center measurement data is set as the first difference, the difference between the center measurement data and the last measurement data is set as the second difference, the road surface information is fitted and analyzed to obtain the transfer vehicle control function corresponding to the road surface information, including: when it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is equal to the second difference, the road surface information is determined to be a first downhill road surface, and a linear fitting is performed on the first downhill road surface to obtain the first downhill road surface. The first downhill control function of the transfer vehicle corresponding to the surface is obtained; when it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is greater than the second difference, the road surface information is determined to be the second downhill road surface, and the second downhill road surface is nonlinearly fitted to obtain the second downhill road surface corresponding to the transfer vehicle downhill control function; when it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is less than the second difference, the road surface information is determined to be the third downhill road surface, and the third downhill road surface is nonlinearly fitted to obtain the third downhill road surface corresponding to the third downhill road surface.

[0012] Furthermore, after controlling the transfer vehicle based on the transfer vehicle control function, the method also includes: if it is detected that the transfer vehicle is moving at a preset speed, obtaining the vertical distance between the wheels of the transfer vehicle and the current bed surface, and when it is detected that the vertical distance is the target distance, determining the moving distance of the transfer vehicle, and controlling the transfer vehicle based on the moving distance; if the heart rate monitoring device monitors that the patient's heart rate rises above a preset threshold, reducing the speed of the transfer vehicle to obtain the reduced speed, and controlling the transfer vehicle based on the reduced speed.

[0013] Furthermore, after controlling the transfer vehicle based on the transfer vehicle control function, the method also includes: obtaining the vertical distance between the wheels of the transfer vehicle and the current bed surface, comparing the vertical distance with a preset multiple of the distance difference, and obtaining a comparison result, wherein the distance difference is the difference between the highest distance the current bed surface rises to and the lowest distance it descends to; and controlling the lifting and lowering operation of the transfer vehicle based on the comparison result.

[0014] In order to achieve the above-mentioned purpose, according to the second aspect of the present application, a control device for a medical transfer vehicle is provided. The device comprises: a response unit, which is used to respond to the transfer start instruction of the transfer vehicle and monitor the distance information between the current bed surface of the transfer vehicle and the ground through a distance sensor; a determination unit, which is used to determine the road surface information according to the distance information, wherein the road surface information includes at least one of the following: a flat road surface, an uphill road surface, a downhill road surface, a pit road surface, a convex road surface, and a step road surface; a fitting unit, which is used to perform fitting analysis on the road surface information to obtain a transfer vehicle control function corresponding to the road surface information; and a first control unit, which is used to control the transfer vehicle based on the transfer vehicle control function.

[0015] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising: a processor; and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, any one of the above-mentioned methods for controlling a medical transfer vehicle is implemented.

[0016] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the control method of the medical transfer vehicle according to any one of the above items is implemented.

[0017] Through the present application, the following steps are adopted: in response to the transfer start instruction of the transfer vehicle, the distance information between the current bed surface of the transfer vehicle and the ground is monitored by a distance sensor; the road surface information is determined according to the distance information, wherein the road surface information includes at least one of the following: a flat road surface, an uphill road surface, a downhill road surface, a pothole road surface, a convex road surface, and a step road surface; the road surface information is fitted and analyzed to obtain a transfer vehicle control function corresponding to the road surface information; and the transfer vehicle is controlled based on the transfer vehicle control function. The problem that the transfer vehicle cannot achieve smooth control when facing a complex road surface in the related art is solved. By obtaining different road surface information and controlling the transfer vehicle based on the transfer vehicle control function corresponding to the road surface information, the effect of achieving smooth control of the transfer vehicle when facing a complex road surface is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 is a flow chart of a control method for a medical transfer vehicle provided in an embodiment of the present application;

[0020] Figure 2 is a schematic diagram of a fitting curve of a flat road surface provided according to an embodiment of the present application;

[0021] Figure 3 is a schematic diagram of a fitting curve of a pothole road surface provided according to an embodiment of the present application;

[0022] Figure 4 is a schematic diagram of a fitting curve of a convex road surface provided according to an embodiment of the present application;

[0023] Figure 5-a is a schematic diagram of a fitting curve of step height 1 provided according to an embodiment of the present application;

[0024] Figure 5-b is a schematic diagram of a fitting curve of step height 2 provided according to an embodiment of the present application;

[0025] Figure 6 is a schematic diagram of a fitting curve for uphill situation 1 provided according to an embodiment of the present application;

[0026] Figure 7 is a schematic diagram of a fitting curve for uphill situation 2 provided according to an embodiment of the present application;

[0027] Figure 8 is a schematic diagram of a fitting curve for uphill situation three provided in an embodiment of the present application;

[0028] Fig. 9is a schematic diagram of a fitting curve for downhill situation 1 provided in an embodiment of the present application;

[0029] Fig.10 is a schematic diagram of a fitting curve for downhill situation 2 provided in an embodiment of the present application;

[0030] Fig.11 is a schematic diagram of a fitting curve for downhill situation three provided in an embodiment of the present application;

[0031] Fig.12 It is a schematic diagram of the splicing effect of the fitting function provided in the embodiment of the present application;

[0032] Fig.13 is a schematic diagram of a control structure of a medical transfer vehicle provided according to an embodiment of the present application;

[0033] Fig.14 is a schematic diagram of a control device for a medical transfer vehicle provided according to an embodiment of the present application;

[0034] Fig.15 It is a schematic diagram of the network architecture of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0036] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0037] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] According to an embodiment of the present application, a control method for a medical transfer vehicle is provided.

[0039] Figure 1 FIG. 1 is a flow chart of a control method for a medical transfer vehicle according to an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0040] Step S101, in response to a transfer start instruction of a transfer vehicle, the distance information between the current bed surface of the transfer vehicle and the ground is monitored by a distance sensor.

[0041] Among them, the transfer vehicle in this case is used in the medical rescue industry. For example, when the patient is on the transfer cart, the transfer start command is triggered, and the background responds to the transfer start command, and monitors the distance information through the distance sensor set at the front of the vehicle, thereby realizing the transfer of the patient.

[0042] Specifically, in response to the transfer start instruction of the transfer vehicle, the distance information between the current bed surface of the transfer vehicle and the ground is monitored by a distance sensor, which can be obtained through the following steps: when it is detected that the patient is already on the lathe of the transfer vehicle, in response to the transfer start instruction, multiple groups of measurement data between the current bed surface of the transfer vehicle and the ground are monitored by a distance sensor; the first measurement data, the center measurement data, and the last measurement data in each group of measurement data are obtained; and the first measurement data, the center measurement data, and the last measurement data are used as distance information.

[0043] For example, during the patient transport process, since the transport process is continuous and the distance sensor continuously measures every n seconds, a large amount of distance data will be accumulated. These data points constitute a data sequence for subsequent analysis and processing, and are divided into groups of N data points to form several data groups. Each group of data contains N consecutive measurement results. In each group of data, the first, middle and last three measurement results are taken as H1, H2 and H3, that is, from each group of N data points, the first data point is selected as H1 (first measurement data), a data point in the middle (if N is an odd number, it is the one in the middle; if N is an even number, the average of the two data points in the middle or one of them can be selected as a representative) as H2 (center measurement data), and the last data point is taken as H3 (last measurement data), and H1, H2 and H3 are used as distance information in this case.

[0044] The present application determines the distance from the bed surface to the ground during the transfer process through a distance sensor, and processes the data through data grouping and trend analysis, thereby greatly improving the safety and efficiency of the transfer process.

[0045] Step S102, determining road surface information according to the distance information, wherein the road surface information includes at least one of the following: a flat road surface, an uphill road surface, a downhill road surface, a pothole road surface, a convex road surface, and a step road surface.

[0046] Among them, according to the real-time distance information from the bed to the ground measured by the sensor, we can analyze and judge the type of road surface on which the current transfer vehicle is traveling. The road surface information covers a variety of possible road conditions, including but not limited to: Flat road surface: When the distance information measured by the sensor remains relatively stable for a period of time without significant changes or fluctuations, it can be judged that the transfer vehicle is traveling on a flat road surface; Uphill road surface: If the distance information measured by the sensor gradually decreases (indicating that the height of the bed relative to the ground is decreasing), and this decrease is continuous and regular, then it can be inferred that the transfer vehicle is going uphill; Downhill road surface: Compared with uphill On the contrary, if the distance information measured by the sensor increases gradually (indicating that the height of the bed surface relative to the ground is increasing), and this increase is continuous and regular, then it can be determined that the transfer vehicle is going downhill; pothole road surface: When the sensor measures that the distance from the bed surface to the ground suddenly decreases and then quickly returns to normal levels, this may be due to the transfer vehicle passing through a pothole road surface; a pothole will cause the bed surface to sink briefly and then recover; convex road surface: On the contrary, if the sensor measures that the distance from the bed surface to the ground suddenly increases and then quickly decreases to normal levels, this may be due to the transfer vehicle passing through a convex hull or raised road surface. A convex hull will cause the bed surface to rise briefly and then recover; step road surface: a step road surface may be manifested as a sudden, significant and lasting change in the distance information measured by the sensor. This change is often not a gradual decrease or increase, but a direct jump to a new height value, indicating that the transfer vehicle has crossed one or more steps.

[0047] Step S103, performing fitting analysis on the road surface information to obtain a transfer vehicle control function corresponding to the road surface information.

[0048] It should be noted that when the transfer work of the transfer vehicle in this application is about to begin, the bed surface is first adjusted to S / 2, where S is the distance difference between the bed surface raised to the highest and lowered to the lowest position. Then the distance sensor measures the distance from the current bed surface to the ground, and the current bed surface is used as the origin of the coordinate axis. y The axis is the ground height, x The axis is the distance the transfer cart moves forward, so this case performs fitting analysis of road surface information based on this coordinate axis.

[0049] In some embodiments, the road surface information includes: a flat road surface, a pitted road surface, a convex road surface, and a step road surface. The road surface information is fitted and analyzed to obtain a transfer vehicle control function corresponding to the road surface information. The function can be obtained by the following steps: when it is detected that the measurement data of the first measurement data, the center measurement data, and the last measurement data are the same, the road surface information is determined to be a flat road surface, and a linear fitting analysis is performed on the flat road surface to obtain the transfer vehicle flat road control function corresponding to the flat road surface; when it is detected that the first measurement data is greater than the center measurement data, and the center measurement data is less than the last measurement data, the road surface information is determined to be a pitted road surface, and a nonlinear fitting analysis is performed on the pitted road surface to obtain the transfer vehicle pitted road surface corresponding to the pitted road surface. Control function; when it is detected that the first measurement data is less than the center measurement data, and the center measurement data is greater than the last measurement data, the road surface information is determined to be a convex hull road surface, and a nonlinear fitting analysis is performed on the convex hull road surface to obtain a transfer vehicle convex hull control function corresponding to the convex hull road surface; the road surface information is determined to be a step road surface, and a nonlinear fitting analysis is performed on the step road surface to obtain a transfer vehicle step control function corresponding to the step road surface, wherein determining that the road surface information is a step road surface includes one of the following situations: when it is detected that the first measurement data is less than the center measurement data, and the center measurement data is equal to the last measurement data; when it is detected that the first measurement data is greater than the center measurement data, and the center measurement data is equal to the last measurement data.

[0050] Exemplarily, H1, H2 and H3 obtained according to the above steps are discussed as follows:

[0051] Flat road surface situation: When H1=H2=H3, the fitting function selects the transfer vehicle flat road control function, and the function expression is as follows:

[0052] ;

[0053] in, y is the ground height, x To transfer the distance the cart moves forward, A is the height compensation coefficient, B is the correlation coefficient, indicating x right y The degree of influence of the flat road condition is shown in the figure below: Figure 2 shown.

[0054] Pothole road condition: When H1>H2 and H3>H2, the fitting function selects the transfer vehicle pothole control function

[0055] The function expression is as follows:

[0056] ;

[0057] in, yis the ground height, x is the distance that the transfer cart advances, A is the depth coefficient of the pit, x c is the center position of the pit, w is the width coefficient of the pit, y 0 is the height compensation coefficient, where the fitting curve of the function in this pit case is as Figure 3 shown.

[0058] Convex hull road surface case: When H1 < H2 and H3 < H2, the fitting function selects the transfer vehicle convex hull control function, and the function expression is as follows:

[0059] ;

[0060] ;

[0061] where, y is the ground height, x is the distance that the transfer cart advances, A is the height coefficient of the convex hull, xc is the center position of the convex hull, w is the width coefficient of the convex hull, y 0 is the height compensation coefficient, where the fitting curve of the function in this convex hull case is as Figure 4 shown.

[0062] Step road surface case: When H1 < H2 and H3 = H2 or H1 > H2 and H3 = H2, the fitting function selects the transfer vehicle step control function, and the function expression is as follows:

[0063] ;

[0064] ;

[0065] where, y is the ground height, x is the distance that the transfer cart advances, A is the first step height, B is the second step height, x 1 is the threshold distance that the transfer cart advances, where the fitting curve of the function in this step case is as Figure 5-a 、 Figure 5-b shown.

[0066] In some embodiments, the road surface information includes: uphill road surfaces, and the uphill road surfaces include at least one of the following: the first uphill road surface, the second uphill road surface, and the third uphill road surface. Set the difference between the first measurement data and the middle measurement data as the first difference, and set the difference between the middle measurement data and the last measurement data as the second difference. Perform fitting analysis on the road surface information to obtain the transfer vehicle control function corresponding to the road surface information, which can be obtained through the following steps: When it is detected that the first measurement data is less than the middle measurement data, the middle measurement data is less than the last measurement data, and the first difference is equal to the second difference, determine that the road surface information is the first uphill road surface, and perform linear fitting on the first uphill road surface to obtain the first uphill road surface corresponding to the transfer vehicle uphill first control function; When it is detected that the first measurement data is less than the middle measurement data, the middle measurement data is less than the last measurement data, and the first difference is less than the second difference, determine that the road surface information is the second uphill road surface, and perform non-linear fitting on the second uphill road surface to obtain the second uphill road surface corresponding to the transfer vehicle uphill second control function; When it is detected that the first measurement data is less than the middle measurement data, the middle measurement data is less than the last measurement data, and the first difference is greater than the second difference, determine that the road surface information is the third uphill road surface, and perform non-linear fitting on the third uphill road surface to obtain the third uphill road surface corresponding to the transfer vehicle uphill third control function.

[0067] Exemplarily, set ∆H12 = H1 - H2, ∆H23 = H2 - H3, and the discussion is as follows:

[0068] Uphill case one (the first uphill road surface): When H1 < H2 < H3 and ∆H12 = ∆H23, the fitting function selects the first uphill control function of the transfer vehicle, and the function expression is as follows:

[0069] ;

[0070] Where y is the ground height, x is the distance that the transfer cart advances, A is the height compensation coefficient, B is the correlation coefficient, indicating x the y influence degree on Figure 6 . The fitting curve of the function in this uphill case one is as

[0071] shown.

[0072] ;

[0073] Where y is the ground height,x For the distance the transfer cart advances, A 0 is the height compensation coefficient, A 1 is the first-order coefficient, A 2 is the second-order coefficient, A 3 is the third-order coefficient, A 4 is the fourth-order coefficient, where the fitting curve of the function in the second uphill situation is as Figure 7 shown.

[0074] Uphill situation three (the third uphill road surface): When H1 < H2 < H3 and abs(∆H12) > abs(∆H23), the fitting function selects the third control function for the transfer cart to go uphill, and the function expression is as follows:

[0075] ;

[0076] Where, y is the ground height, x is the distance the transfer cart advances, y 0 is the height compensation coefficient, A 1 represents the influence degree of the first relative y ; A 2 represents the influence degree of the second relative y ; t 1 represents the time scale of the first-phase dynamic behavior, t 2 represents the time scale of the second-phase dynamic behavior, where the fitting curve of the function in the third uphill situation is as Figure 8 shown.

[0077] In some embodiments, the road surface information includes: a downhill road surface, and the downhill road surface includes at least one of the following: a first downhill road surface, a second downhill road surface, and a third downhill road surface. The difference between the first measurement data and the center measurement data is set as the first difference, and the difference between the center measurement data and the last measurement data is set as the second difference. The road surface information is fitted and analyzed to obtain the transfer vehicle control function corresponding to the road surface information. The control function can be obtained by the following steps: when it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is equal to the second difference, the road surface information is determined to be the first downhill road surface, and a linear fitting is performed on the first downhill road surface to obtain To the first downhill road corresponding to the transfer vehicle downhill first control function; when it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is greater than the second difference, the road surface information is determined to be the second downhill road, and the second downhill road is fitted nonlinearly to obtain the second downhill road corresponding to the transfer vehicle downhill second control function; when it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is less than the second difference, the road surface information is determined to be the third downhill road, and the third downhill road is fitted nonlinearly to obtain the third downhill road corresponding to the third downhill control function.

[0078] For example, downhill situation 1 (first downhill road): when H1>H2>H3 and ∆H12=∆H23, the fitting function selects the first control function for transferring the vehicle downhill, and the function expression is as follows:

[0079] ;

[0080] in, y is the ground height, x To transfer the distance the cart moves forward, A is the height compensation coefficient, B is the correlation coefficient, indicating x right y The degree of influence of the downhill case 1 is shown in the fitting curve of the function. Fig. 9 shown.

[0081] Downhill situation 2 (second downhill road): When H1>H2>H3 and abs(∆H12)>abs(∆H23), the fitting function selects the second downhill control function of the transfer vehicle, and the function expression is as follows:

[0082] ;

[0083] in, y is the ground height, x To transfer the distance the cart moves forward, A 0 is the height compensation coefficient,A 1 is the first-order coefficient, A 2 is the second-order coefficient, A 3 is the third-order coefficient, A 4 is the fourth-order coefficient, where the fitting curve of the function of the downhill case 2 is as follows Fig.10 shown.

[0084] Downhill situation 3 (third downhill road): When H1>H2>H3 and abs(∆H12) <abs(∆H23)

[0085] When , the fitting function selects the third control function for transferring the vehicle downhill, and the function expression is as follows:

[0086] ;

[0087] in, y is the ground height, x To transfer the distance the cart moves forward, A 0 is the height compensation coefficient, A 1 is the first-order coefficient, A 2 is the second-order coefficient, A 3 is the third-order coefficient, A 4 is the fourth-order coefficient, where the fitting curve of the function of the downhill case three is as follows Fig.11 shown.

[0088] This application continuously measures the distance from the bed to the ground through a distance sensor, and establishes a coordinate system based on this. According to different road conditions, the discrete data is segmented and nonlinearly fitted to obtain several fitted functions. During the operation of the transfer cart, new functions are continuously fitted and spliced, the control function of the lifting device is continuously updated, and the lifting device is dynamically controlled according to the control function, and the wheel height is adjusted to keep the bed surface stable during the transfer process on complex roads, so as to achieve the purpose of smooth transfer.

[0089] Step S104, controlling the transfer vehicle based on the transfer vehicle control function.

[0090] In this case, the measured data is used to fit one by one through the Levenberg-Marquardt optimization algorithm to determine the coefficients in the fitting function. The nonlinear fitting effect is as follows Figure 2-Figure 11 As shown, in this case, the fitting functions of different segments are spliced ​​in time sequence to obtain a complete function as the control function of the lifting device. For example, each of the above functions is spliced ​​to obtain the following segmented expression:

[0091] ;

[0092] in, y Represents the complete function after splicing, f1 represents the fitting function of the first segment, f k represents the fitting function of the kth segment, where the fitting function splicing effect curve is as follows Fig.12 shown.

[0093] Optionally, after controlling the transfer vehicle based on the transfer vehicle control function, the present application can also implement the control of the transfer vehicle through the following steps: if the transfer vehicle is detected to be moving at a preset speed, the vertical distance between the wheels of the transfer vehicle and the current bed surface is obtained, and when the vertical distance is detected to be the target distance, the moving distance of the transfer vehicle is determined, and the transfer vehicle is controlled based on the moving distance; if the heart rate monitoring device monitors that the patient's heart rate rises above a preset threshold, the speed of the transfer vehicle is reduced to obtain the reduced speed, and the transfer vehicle is controlled based on the reduced speed.

[0094] For example, Fig.13 As shown, there is a sensor at the front of the transfer cart to measure the distance from the bed surface to the ground①, and there are lifting devices on the bed to control the lifting of the front, middle and rear wheels②③④. The patient wears a heart rate monitoring module⑤. The horizontal distance from the front wheel to the sensor is L1, the horizontal distance from the middle wheel to the sensor is L2, and the horizontal distance from the rear wheel to the sensor is L3. The middle wheel is used to ensure that the transfer cart will not tilt suddenly when passing the steps.

[0095] When the transfer cart moves forward at a preset speed V, after t1=L1 / V time, when the distance between the front wheel and the current bed surface reaches the target distance H1 point, the lifting device ② acts according to the control function, and X (the moving distance of the transfer cart) is determined by L1 and V, X=L1 / V+XH1. When the transfer cart passes t2=L2 / V time, when the middle wheel reaches the target distance H1 point, the lifting device ③ starts to act, and the control method is the same. When the transfer cart passes t3=L3 / V time, when the rear wheel reaches the target distance H1 point, the lifting device ④ starts to act, and the control method is the same, where XH1 is the horizontal moving distance of the front wheel.

[0096] If the heart rate monitoring module ⑤ detects that the patient's heart rate rises above the threshold (which may be a percentage between 1%-100%), it indicates that the patient feels uncomfortable during the transfer process and the transfer process is not smooth, so the vehicle speed needs to be reduced to V'=V / m, where m is a value between 1-10, and the vehicle runs at a slower speed. After speed adjustment, the independent variable X of the control function in the previous step is adjusted to X=L1 / V'+XH1, and the transfer task is finally completed. XH1 is the horizontal movement distance of the front wheel.

[0097] Optionally, after controlling the transfer vehicle based on the transfer vehicle control function, the present application also implements control of the transfer vehicle through the following steps: obtaining the vertical distance between the wheels of the transfer vehicle and the current bed surface, comparing the vertical distance with a preset multiple of the distance difference, and obtaining a comparison result, wherein the distance difference is the difference between the highest distance the current bed surface rises to and the lowest distance it descends to; and controlling the lifting and lowering operation of the transfer vehicle based on the comparison result.

[0098] For example, the distance difference between the highest and lowest heights of the bed surface is set to S. If the sum of the heights of the front, middle and rear wheels is less than When the transfer cart stops moving, the lifting devices ②, ③, and ④ move simultaneously, lifting and lowering in the same direction and at the same speed, returning the sum of the heights of the front, middle, and rear wheels to S, that is, the overall height of the bed is maintained at S / 2. To ensure that the lifting device has sufficient expansion margin to cope with subsequent complex road conditions, the fitting function is corrected on the original basis, and the corrected ground height , and then transfer the cart to continue moving forward. If it is detected that the sum of the front wheel height and the rear wheel height is greater than When, according to the above method, the corrected ground height .

[0099] This application adopts a segmented processing strategy, dividing the road surface into several small sections during the forward process, and controlling the height of the wheels through a lifting device according to the conditions of each section, so as to maintain the stability of the bed surface during transportation on complex roads and achieve the goal of smooth transportation.

[0100] The control method of the medical transfer vehicle provided in the embodiment of the present application monitors the distance information between the current bed surface of the transfer vehicle and the ground through a distance sensor in response to the transfer start instruction of the transfer vehicle; determines the road surface information according to the distance information, wherein the road surface information includes at least one of the following: a flat road surface, an uphill road surface, a downhill road surface, a pitted road surface, a convex road surface, and a step road surface; performs fitting analysis on the road surface information to obtain a transfer vehicle control function corresponding to the road surface information; and controls the transfer vehicle based on the transfer vehicle control function. The problem that the transfer vehicle cannot be smoothly controlled when facing a complex road surface in the related art is solved. By obtaining different road surface information and controlling the transfer vehicle based on the transfer vehicle control function corresponding to the road surface information, the effect of achieving smooth control of the transfer vehicle when facing a complex road surface is achieved.

[0101] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0102] The present application also provides a control device for a medical transfer vehicle. It should be noted that the control device for a medical transfer vehicle in the present application can be used to execute the control method for a medical transfer vehicle provided in the present application. The control device for a medical transfer vehicle provided in the present application is introduced below.

[0103] Fig.14 FIG. 1 is a schematic diagram of a control device 1400 for a medical transfer vehicle according to an embodiment of the present application. Fig.14 As shown, the device includes: a responding unit 1401, a determining unit 1402, a fitting unit 1403, and a first control unit 1404.

[0104] Specifically, the response unit 1401 is used to respond to the transfer start instruction of the transfer vehicle and monitor the distance information between the current bed surface of the transfer vehicle and the ground through the distance sensor;

[0105] The determining unit 1402 is used to determine the road surface information according to the distance information, wherein the road surface information includes at least one of the following: a flat road surface, an uphill road surface, a downhill road surface, a pothole road surface, a convex road surface, and a step road surface;

[0106] A fitting unit 1403 is used to perform fitting analysis on the road surface information to obtain a transfer vehicle control function corresponding to the road surface information;

[0107] The first control unit 1404 is used to control the transfer vehicle based on the transfer vehicle control function.

[0108] The control device of the medical transfer vehicle provided in the embodiment of the present application, in response to the transfer start instruction of the transfer vehicle through the response unit 1401, monitors the distance information between the current bed surface of the transfer vehicle and the ground through the distance sensor; the determination unit 1402 determines the road surface information according to the distance information, wherein the road surface information includes at least one of the following: flat road surface, uphill road surface, downhill road surface, pit road surface, convex road surface, step road surface; the fitting unit 1403 performs fitting analysis on the road surface information to obtain the transfer vehicle control function corresponding to the road surface information; the first control unit 1404 controls the transfer vehicle based on the transfer vehicle control function, solving the problem in the related art that the transfer vehicle cannot achieve smooth control when facing complex road surfaces. By obtaining different road surface information and controlling the transfer vehicle based on the transfer vehicle control function corresponding to the road surface information, the effect of achieving smooth control of the transfer vehicle when facing complex road surfaces is achieved.

[0109] Optionally, in the control device of the medical transfer vehicle provided in the embodiment of the present application, the response unit includes: a monitoring module, which is used to detect that the patient is already on the lathe of the transfer vehicle, and in response to the transfer start instruction, monitor multiple groups of measurement data between the current bed surface of the transfer vehicle and the ground through a distance sensor; an acquisition module, which is used to acquire the first measurement data, the center measurement data, and the last measurement data in each group of measurement data; and a first determination module, which is used to use the first measurement data, the center measurement data, and the last measurement data as distance information.

[0110] Optionally, in the control device of the medical transfer vehicle provided in the embodiment of the present application, the road surface information includes: a flat road surface, a pitted road surface, a convex hull road surface, and a step road surface, and the fitting unit includes: a second determination module, which is used to determine that the road surface information is a flat road surface when it is detected that the measurement data of the first measurement data, the center measurement data, and the last measurement data are the same, and perform a linear fitting analysis on the flat road surface to obtain a transfer vehicle flat road control function corresponding to the flat road surface; a third determination module, which is used to determine that the road surface information is a pitted road surface when it is detected that the first measurement data is greater than the center measurement data, and the center measurement data is less than the last measurement data, and perform a nonlinear fitting analysis on the pitted road surface to obtain a transfer vehicle pit control function corresponding to the pitted road surface; and a fourth A determination module is used to determine that the road surface information is a convex hull road surface when it is detected that the first measurement data is less than the center measurement data, and the center measurement data is greater than the last measurement data, and perform nonlinear fitting analysis on the convex hull road surface to obtain a convex hull control function of a transfer vehicle corresponding to the convex hull road surface; a fifth determination module is used to determine that the road surface information is a step road surface, perform nonlinear fitting analysis on the step road surface, and obtain a step control function of a transfer vehicle corresponding to the step road surface, wherein determining that the road surface information is a step road surface includes one of the following situations: when it is detected that the first measurement data is less than the center measurement data, and the center measurement data is equal to the last measurement data; when it is detected that the first measurement data is greater than the center measurement data, and the center measurement data is equal to the last measurement data.

[0111] Optionally, in the control device of the medical transfer vehicle provided in the embodiment of the present application, the road surface information includes: an uphill road surface, the uphill road surface includes at least one of the following: a first uphill road surface, a second uphill road surface, and a third uphill road surface, the difference between the first measurement data and the center measurement data is set to be the first difference, and the difference between the center measurement data and the last measurement data is set to be the second difference, and the fitting unit includes: a sixth determination module for determining that the road surface information is the first uphill road surface when it is detected that the first measurement data is less than the center measurement data, the center measurement data is less than the last measurement data, and the first difference is equal to the second difference, performing linear fitting on the first uphill road surface, and obtaining the transfer value corresponding to the first uphill road surface The first control function of the transfer vehicle uphill; the seventh determination module is used to determine that the road surface information is a second uphill road surface when it is detected that the first measurement data is less than the center measurement data, the center measurement data is less than the last measurement data, and the first difference is less than the second difference, and perform nonlinear fitting on the second uphill road surface to obtain the second control function of the transfer vehicle uphill corresponding to the second uphill road surface; the eighth determination module is used to determine that the road surface information is a third uphill road surface when it is detected that the first measurement data is less than the center measurement data, the center measurement data is less than the last measurement data, and the first difference is greater than the second difference, and perform nonlinear fitting on the third uphill road surface to obtain the third control function of the transfer vehicle uphill corresponding to the third uphill road surface.

[0112] Optionally, in the control device of the medical transfer vehicle provided in the embodiment of the present application, the road surface information includes: a downhill road surface, the downhill road surface includes at least one of the following: a first downhill road surface, a second downhill road surface, and a third downhill road surface, the difference between the first measurement data and the center measurement data is set to be the first difference, and the difference between the center measurement data and the last measurement data is set to be the second difference, and the fitting unit includes: a ninth determination module for determining that the road surface information is the first downhill road surface when it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is equal to the second difference, performing linear fitting on the first downhill road surface, and obtaining a transfer value corresponding to the first downhill road surface The first control function of the transfer vehicle downhill; the tenth determination module is used to determine that the road surface information is a second downhill road surface when it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is greater than the second difference, and perform nonlinear fitting on the second downhill road surface to obtain the second control function of the transfer vehicle downhill corresponding to the second downhill road surface; the eleventh determination module is used to determine that the road surface information is a third downhill road surface when it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is less than the second difference, and perform nonlinear fitting on the third downhill road surface to obtain the third control function of the transfer vehicle downhill corresponding to the third downhill road surface.

[0113] Optionally, in the control device of the medical transfer vehicle provided in the embodiment of the present application, the device also includes: a second control unit, which is used to control the transfer vehicle based on the transfer vehicle control function, and if it is detected that the transfer vehicle moves at a preset rate, obtain the vertical distance between the wheels of the transfer vehicle and the current bed surface, and when the vertical distance is detected to be the target distance, determine the moving distance of the transfer vehicle, and control the transfer vehicle based on the moving distance; a third control unit, which is used to reduce the speed of the transfer vehicle if it is detected through the heart rate monitoring device that the patient's heart rate rises above a preset threshold, obtain the reduced speed, and control the transfer vehicle based on the reduced speed.

[0114] Optionally, in the control device of the medical transfer vehicle provided in the embodiment of the present application, the device also includes: a comparison unit, which is used to obtain the vertical distance between the wheels of the transfer vehicle and the current bed surface after controlling the transfer vehicle based on the transfer vehicle control function, and compare the vertical distance with a preset multiple of the distance difference to obtain a comparison result, wherein the distance difference is the difference between the highest distance the current bed surface rises to and the lowest distance it descends to; a fourth control unit, which is used to control the lifting and lowering operation of the transfer vehicle based on the comparison result.

[0115] The control device of the medical transfer vehicle includes a processor and a memory. The above-mentioned response unit 1401, determination unit 1402, fitting unit 1403, first control unit 1404, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

[0116] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the medical transfer vehicle can be controlled by adjusting kernel parameters.

[0117] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0118] In the exemplary embodiment of the present application, a computer storage medium capable of implementing the above method is also provided. A program product capable of implementing the above method of the present specification is stored thereon. In some possible embodiments, various aspects of the present application can also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary embodiments of the present application described in the above "Exemplary Method" section of this specification, such as, the following steps can be performed: in response to the transfer start instruction of the transfer vehicle, the distance information between the current bed surface of the transfer vehicle and the ground is monitored by a distance sensor; the road surface information is determined according to the distance information, wherein the road surface information includes at least one of the following: flat road surface, uphill road surface, downhill road surface, pit road surface, convex road surface, step road surface; the road surface information is fitted and analyzed to obtain the transfer vehicle control function corresponding to the road surface information; the transfer vehicle is controlled based on the transfer vehicle control function.

[0119] In an optional embodiment: when it is detected that the patient is already on the lathe of the transfer vehicle, in response to the transfer start instruction, multiple groups of measurement data between the current bed surface of the transfer vehicle and the ground are monitored by a distance sensor; the first measurement data, the center measurement data, and the last measurement data in each group of measurement data are obtained; and the first measurement data, the center measurement data, and the last measurement data are used as distance information.

[0120] In an optional implementation: when it is detected that the measurement data of the first measurement data, the center measurement data, and the last measurement data are the same, the road surface information is determined to be a flat road surface, and a linear fitting analysis is performed on the flat road surface to obtain a transfer vehicle flat road control function corresponding to the flat road surface; when it is detected that the first measurement data is greater than the center measurement data, and the center measurement data is less than the last measurement data, the road surface information is determined to be a pothole road surface, and a nonlinear fitting analysis is performed on the pothole road surface to obtain a transfer vehicle pothole control function corresponding to the pothole road surface; when it is detected that the first measurement data is less than the center measurement data, and the center measurement data is greater than the last measurement data, the road surface information is determined to be a convex hull road surface, and a nonlinear fitting analysis is performed on the convex hull road surface to obtain a transfer vehicle convex hull control function corresponding to the convex hull road surface; the road surface information is determined to be a step road surface, and a nonlinear fitting analysis is performed on the step road surface to obtain a transfer vehicle step control function corresponding to the step road surface, wherein determining that the road surface information is a step road surface includes one of the following situations: when it is detected that the first measurement data is less than the center measurement data, and the center measurement data is equal to the last measurement data; when it is detected that the first measurement data is greater than the center measurement data, and the center measurement data is equal to the last measurement data.

[0121] In an optional embodiment: when it is detected that the first measurement data is less than the center measurement data, the center measurement data is less than the last measurement data, and the first difference is equal to the second difference, the road surface information is determined to be a first uphill road surface, and a linear fitting is performed on the first uphill road surface to obtain a first uphill control function of the transfer vehicle corresponding to the first uphill road surface; when it is detected that the first measurement data is less than the center measurement data, the center measurement data is less than the last measurement data, and the first difference is less than the second difference, the road surface information is determined to be a second uphill road surface, and a nonlinear fitting is performed on the second uphill road surface to obtain a second uphill control function of the transfer vehicle corresponding to the second uphill road surface; when it is detected that the first measurement data is less than the center measurement data, the center measurement data is less than the last measurement data, and the first difference is greater than the second difference, the road surface information is determined to be a third uphill road surface, and a nonlinear fitting is performed on the third uphill road surface to obtain a third uphill control function of the transfer vehicle corresponding to the third uphill road surface.

[0122] In an optional embodiment: when it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is equal to the second difference, the road surface information is determined to be a first downhill road surface, and a linear fitting is performed on the first downhill road surface to obtain a first control function of the transfer vehicle downhill corresponding to the first downhill road surface; when it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is greater than the second difference, the road surface information is determined to be a second downhill road surface, and a nonlinear fitting is performed on the second downhill road surface to obtain a second control function of the transfer vehicle downhill corresponding to the second downhill road surface; when it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is less than the second difference, the road surface information is determined to be a third downhill road surface, and a nonlinear fitting is performed on the third downhill road surface to obtain a third control function of the transfer vehicle downhill corresponding to the third downhill road surface.

[0123] In an optional implementation: if the transfer vehicle is detected to be moving at a preset speed, the vertical distance between the wheels of the transfer vehicle and the current bed surface is obtained, and when the vertical distance is detected to be the target distance, the moving distance of the transfer vehicle is determined, and the transfer vehicle is controlled based on the moving distance; if the heart rate monitoring device monitors that the patient's heart rate rises above a preset threshold, the speed of the transfer vehicle is reduced to obtain the reduced speed, and the transfer vehicle is controlled based on the reduced speed.

[0124] In an optional embodiment: obtain the vertical distance between the wheels of the transfer vehicle and the current bed surface, compare the vertical distance with a preset multiple of the distance difference, and obtain a comparison result, wherein the distance difference is the difference between the highest distance the current bed surface rises to and the lowest distance it descends to; and control the lifting and lowering operation of the transfer vehicle based on the comparison result.

[0125] In an optional embodiment, the embodiment of the present application may also include a program product for implementing the above method, which may adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, apparatus, or device.

[0126] The program product may adopt any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0127] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0128] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0129] Program code for performing the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0130] In addition, in an exemplary embodiment of the present application, an electronic device capable of implementing the above method is also provided.

[0131] Those skilled in the art will appreciate that various aspects of the present application may be implemented as a system, method or program product. Therefore, various aspects of the present application may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to as "circuit", "module" or "system" herein.

[0132] Refer to the following Fig.15 15 to describe the electronic device 1500 according to this embodiment of the present application. Fig.15 The electronic device 1500 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0133] like Fig.15 As shown, the electronic device 1500 is in the form of a general computing device. The components of the electronic device 1500 may include, but are not limited to: at least one processing unit 1510, at least one storage unit 1520, a bus 1530 connecting different system components (including the storage unit 1520 and the processing unit 1510), and a display unit 1540.

[0134] The storage unit stores program codes, which can be executed by the processing unit 1510, so that the processing unit 1510 executes the steps according to various exemplary embodiments of the present application described in the above "Exemplary Method" section of this specification. For example, the processing unit 1510 can execute the following steps: in response to the transfer start instruction of the transfer vehicle, monitor the distance information between the current bed surface of the transfer vehicle and the ground through the distance sensor; determine the road surface information according to the distance information, wherein the road surface information includes at least one of the following: flat road surface, uphill road surface, downhill road surface, pit road surface, convex road surface, step road surface; perform fitting analysis on the road surface information to obtain the transfer vehicle control function corresponding to the road surface information; and control the transfer vehicle based on the transfer vehicle control function.

[0135] In an optional embodiment: when it is detected that the patient is already on the lathe of the transfer vehicle, in response to the transfer start instruction, multiple groups of measurement data between the current bed surface of the transfer vehicle and the ground are monitored by a distance sensor; the first measurement data, the center measurement data, and the last measurement data in each group of measurement data are obtained; and the first measurement data, the center measurement data, and the last measurement data are used as distance information.

[0136] In an optional implementation: when it is detected that the measurement data of the first measurement data, the center measurement data, and the last measurement data are the same, the road surface information is determined to be a flat road surface, and a linear fitting analysis is performed on the flat road surface to obtain a transfer vehicle flat road control function corresponding to the flat road surface; when it is detected that the first measurement data is greater than the center measurement data, and the center measurement data is less than the last measurement data, the road surface information is determined to be a pothole road surface, and a nonlinear fitting analysis is performed on the pothole road surface to obtain a transfer vehicle pothole control function corresponding to the pothole road surface; when it is detected that the first measurement data is less than the center measurement data, and the center measurement data is greater than the last measurement data, the road surface information is determined to be a convex hull road surface, and a nonlinear fitting analysis is performed on the convex hull road surface to obtain a transfer vehicle convex hull control function corresponding to the convex hull road surface; the road surface information is determined to be a step road surface, and a nonlinear fitting analysis is performed on the step road surface to obtain a transfer vehicle step control function corresponding to the step road surface, wherein determining that the road surface information is a step road surface includes one of the following situations: when it is detected that the first measurement data is less than the center measurement data, and the center measurement data is equal to the last measurement data; when it is detected that the first measurement data is greater than the center measurement data, and the center measurement data is equal to the last measurement data.

[0137] In an optional embodiment: when it is detected that the first measurement data is less than the center measurement data, the center measurement data is less than the last measurement data, and the first difference is equal to the second difference, the road surface information is determined to be a first uphill road surface, and a linear fitting is performed on the first uphill road surface to obtain a first uphill control function of the transfer vehicle corresponding to the first uphill road surface; when it is detected that the first measurement data is less than the center measurement data, the center measurement data is less than the last measurement data, and the first difference is less than the second difference, the road surface information is determined to be a second uphill road surface, and a nonlinear fitting is performed on the second uphill road surface to obtain a second uphill control function of the transfer vehicle corresponding to the second uphill road surface; when it is detected that the first measurement data is less than the center measurement data, the center measurement data is less than the last measurement data, and the first difference is greater than the second difference, the road surface information is determined to be a third uphill road surface, and a nonlinear fitting is performed on the third uphill road surface to obtain a third uphill control function of the transfer vehicle corresponding to the third uphill road surface.

[0138] In an optional embodiment: when it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is equal to the second difference, the road surface information is determined to be a first downhill road surface, and a linear fitting is performed on the first downhill road surface to obtain a first control function of the transfer vehicle downhill corresponding to the first downhill road surface; when it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is greater than the second difference, the road surface information is determined to be a second downhill road surface, and a nonlinear fitting is performed on the second downhill road surface to obtain a second control function of the transfer vehicle downhill corresponding to the second downhill road surface; when it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is less than the second difference, the road surface information is determined to be a third downhill road surface, and a nonlinear fitting is performed on the third downhill road surface to obtain a third control function of the transfer vehicle downhill corresponding to the third downhill road surface.

[0139] In an optional implementation: if the transfer vehicle is detected to be moving at a preset speed, the vertical distance between the wheels of the transfer vehicle and the current bed surface is obtained, and when the vertical distance is detected to be the target distance, the moving distance of the transfer vehicle is determined, and the transfer vehicle is controlled based on the moving distance; if the heart rate monitoring device monitors that the patient's heart rate rises above a preset threshold, the speed of the transfer vehicle is reduced to obtain the reduced speed, and the transfer vehicle is controlled based on the reduced speed.

[0140] In an optional embodiment: obtain the vertical distance between the wheels of the transfer vehicle and the current bed surface, compare the vertical distance with a preset multiple of the distance difference, and obtain a comparison result, wherein the distance difference is the difference between the highest distance the current bed surface rises to and the lowest distance it descends to; and control the lifting and lowering operation of the transfer vehicle based on the comparison result.

[0141] The storage unit 1520 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 15201 and / or a cache storage unit 15202 , and may further include a read-only storage unit (ROM) 15203 .

[0142] The storage unit 1520 may also include a program / utility 15204 having a set (at least one) of program modules 15205, such program modules 15205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0143] Bus 1530 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0144] The electronic device 1500 may also communicate with one or more external devices 1600 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 1500, and / or communicate with any device that enables the electronic device 1500 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed through an input / output (I / O) interface 1550. In addition, the electronic device 1500 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 1560. As shown, the network adapter 1560 communicates with other modules of the electronic device 1500 through a bus 1530. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 1500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0145] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software, or by combining software with necessary hardware. Therefore, the technical solution according to the implementation method of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation method of the present application.

[0146] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present application, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0147] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application. The specification and embodiments are to be regarded as exemplary only, and the true scope and spirit of the present application are indicated by the claims.

Claims

1. A control method for a medical transfer vehicle, characterized in that: include: In response to a transfer start instruction of the transfer vehicle, the distance information between the current bed surface of the transfer vehicle and the ground is monitored by a distance sensor; Determine road surface information according to the distance information, wherein the road surface information includes at least one of the following: a flat road surface, an uphill road surface, a downhill road surface, a pothole road surface, a convex road surface, and a step road surface; Performing fitting analysis on the road surface information to obtain a transfer vehicle control function corresponding to the road surface information; Controlling the transfer vehicle based on the transfer vehicle control function; In response to the transfer start instruction of the transfer vehicle, the distance information between the current bed surface of the transfer vehicle and the ground is monitored by the distance sensor, including: When it is detected that the patient is already on the lathe of the transfer vehicle, in response to the transfer start instruction, multiple sets of measurement data between the current bed surface of the transfer vehicle and the ground are monitored by a distance sensor; Obtain the first measurement data, the center measurement data, and the last measurement data in each set of measurement data; The first measurement data, the center measurement data, and the last measurement data are used as the distance information; Wherein, after controlling the transfer vehicle based on the transfer vehicle control function, the method further includes: If it is detected that the transfer vehicle moves at a preset speed, the vertical distance between the wheels of the transfer vehicle and the current bed surface is obtained, and when it is detected that the vertical distance is the target distance, the moving distance of the transfer vehicle is determined, and the transfer vehicle is controlled based on the moving distance; If the heart rate monitoring device monitors that the patient's heart rate rises above a preset threshold, the speed of the transfer vehicle is reduced to obtain a reduced speed, and the transfer vehicle is controlled based on the reduced speed.

2. The method according to claim 1, characterized in that The road surface information includes: the flat road surface, the pothole road surface, the convex road surface, and the step road surface. The road surface information is fitted and analyzed to obtain the transfer vehicle control function corresponding to the road surface information, including: When it is detected that the measurement data of the first measurement data, the center measurement data, and the last measurement data are the same, the road surface information is determined to be the flat road surface, and a linear fitting analysis is performed on the flat road surface to obtain a transfer vehicle flat road control function corresponding to the flat road surface; When it is detected that the first measurement data is greater than the center measurement data, and the center measurement data is less than the last measurement data, the road surface information is determined to be the pitted road surface, and a nonlinear fitting analysis is performed on the pitted road surface to obtain a transfer vehicle pit control function corresponding to the pitted road surface; When it is detected that the first measurement data is smaller than the center measurement data, and the center measurement data is larger than the last measurement data, the road surface information is determined to be the convex hull road surface, and a nonlinear fitting analysis is performed on the convex hull road surface to obtain a transfer vehicle convex hull control function corresponding to the convex hull road surface; Determine that the pavement information is the step pavement, perform nonlinear fitting analysis on the step pavement, and obtain a transfer vehicle step control function corresponding to the step pavement, wherein determining that the pavement information is the step pavement includes one of the following situations: when it is detected that the first measurement data is less than the center measurement data, and the center measurement data is equal to the last measurement data; when it is detected that the first measurement data is greater than the center measurement data, and the center measurement data is equal to the last measurement data.

3. The method according to claim 1, characterized in that The road surface information includes: the uphill road surface, the uphill road surface includes at least one of the following: a first uphill road surface, a second uphill road surface, and a third uphill road surface, setting the difference between the first measurement data and the center measurement data as a first difference, setting the difference between the center measurement data and the last measurement data as a second difference, performing fitting analysis on the road surface information, and obtaining a transfer vehicle control function corresponding to the road surface information, including: When it is detected that the first measurement data is less than the center measurement data, the center measurement data is less than the last measurement data, and the first difference is equal to the second difference, the road surface information is determined to be the first uphill road surface, and a linear fitting is performed on the first uphill road surface to obtain a first uphill control function of the transfer vehicle corresponding to the first uphill road surface; When it is detected that the first measurement data is smaller than the center measurement data, the center measurement data is smaller than the last measurement data, and the first difference is smaller than the second difference, the road surface information is determined to be the second uphill road surface, and a nonlinear fitting is performed on the second uphill road surface to obtain a second uphill control function of the transfer vehicle corresponding to the second uphill road surface; When it is detected that the first measurement data is smaller than the center measurement data, the center measurement data is smaller than the last measurement data, and the first difference is larger than the second difference, the road surface information is determined to be the third uphill road surface, and the third uphill road surface is nonlinearly fitted to obtain the third uphill control function of the transfer vehicle corresponding to the third uphill road surface.

4. The method according to claim 3, characterized in that: The road surface information includes: the downhill road surface, the downhill road surface includes at least one of the following: a first downhill road surface, a second downhill road surface, and a third downhill road surface, setting the difference between the first measurement data and the center measurement data as the first difference, setting the difference between the center measurement data and the last measurement data as the second difference, performing fitting analysis on the road surface information, and obtaining a transfer vehicle control function corresponding to the road surface information, including: When it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is equal to the second difference, the road surface information is determined to be the first downhill road surface, and a linear fitting is performed on the first downhill road surface to obtain a first downhill control function of the transfer vehicle corresponding to the first downhill road surface; When it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is greater than the second difference, the road surface information is determined to be the second downhill road surface, and a nonlinear fitting is performed on the second downhill road surface to obtain a second downhill control function of the transfer vehicle corresponding to the second downhill road surface; When it is detected that the first measurement data is greater than the center measurement data, the center measurement data is greater than the last measurement data, and the first difference is less than the second difference, the road surface information is determined to be the third downhill road surface, and the third downhill road surface is nonlinearly fitted to obtain the third downhill control function of the transfer vehicle corresponding to the third downhill road surface.

5. The method according to claim 1, characterized in that After controlling the transfer vehicle based on the transfer vehicle control function, the method further includes: Obtaining a vertical distance between the wheels of the transfer vehicle and the current bed surface, and comparing the vertical distance with a distance difference of a preset multiple to obtain a comparison result, wherein the distance difference is the difference between the highest distance to which the current bed surface rises and the lowest distance to which it descends; The lifting and lowering operation of the transfer vehicle is controlled based on the comparison result.

6. A control device for a medical transfer vehicle, characterized in that: include: A response unit, used for responding to a transfer start instruction of the transfer vehicle, and monitoring the distance information between the current bed surface of the transfer vehicle and the ground through a distance sensor; A determination unit, configured to determine road surface information according to the distance information, wherein the road surface information includes at least one of the following: a flat road surface, an uphill road surface, a downhill road surface, a pothole road surface, a convex road surface, and a step road surface; A fitting unit, used for performing fitting analysis on the road surface information to obtain a transfer vehicle control function corresponding to the road surface information; A first control unit, configured to control the transfer vehicle based on the transfer vehicle control function; The response unit includes: a monitoring module, which is used to detect that the patient is already on the lathe of the transfer vehicle, and in response to the transfer start instruction, monitor multiple groups of measurement data between the current bed surface of the transfer vehicle and the ground through a distance sensor; an acquisition module, which is used to acquire the first measurement data, the center measurement data, and the last measurement data in each group of measurement data; a first determination module, which is used to use the first measurement data, the center measurement data, and the last measurement data as the distance information; Wherein, the device further comprises: A second control unit is used for, after controlling the transfer vehicle based on the transfer vehicle control function, obtaining a vertical distance between the wheels of the transfer vehicle and the current bed surface if it is detected that the transfer vehicle moves at a preset speed, determining a moving distance of the transfer vehicle when it is detected that the vertical distance is a target distance, and controlling the transfer vehicle based on the moving distance; The third control unit is used to reduce the speed of the transfer vehicle if the heart rate monitoring device detects that the patient's heart rate rises above a preset threshold, obtain the reduced speed, and control the transfer vehicle based on the reduced speed.

7. A computer-readable storage medium, characterized in that: The storage medium includes a stored program, wherein the program executes the control method of the medical transfer vehicle according to any one of claims 1 to 5.

8. An electronic device, characterized in that: include: One or more processors, a memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a control method for executing the medical transfer vehicle described in any one of claims 1 to 5.

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