Intelligent nursing system for bedridden old people and self-adaptive compliance control method

Abstract

The invention belongs to the technical field of medical care, and particularly relates to an intelligent nursing system for bedridden old people and a self-adaptive compliance control method. The intelligent nursing system comprises a multi-body-position nursing bed, a wheelchair mechanism used for driving the old to move and a transferring and carrying device used for carrying the old from the multi-body-position nursing bed to the wheelchair mechanism. The wheelchair mechanism comprises an omni-directional chassis and a folding chair plate assembly installed on the omni-directional chassis. An adjusting mechanism; an accommodating cavity; a detection module; and an autonomous positioning navigation module. The detection module is used for positioning the relative positions of the wheelchair mechanism and the closestool, the self-positioning navigation module is used for receiving the detection data sent by the detection module, and the omni-directional chassis is controlled according to the received detection data to carry out pose adjustment and butt joint action with the closestool. Real-time monitoring and self-positioning navigation of a wheelchair mechanism are combined, and wheelchair-closestool self-adaptive compliant control is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical care, and in particular relates to an intelligent care system for bedridden elderly people and an adaptive compliance control method. Background Art

[0002] In recent years, intelligent care for bedridden elderly people has attracted much attention. For example, the air-cushion turning nursing bed designed by South Korea's YMM company, the nursing wheelchair convertible bed designed by Japan's Panasonic, and the two-arm nursing robot designed by Fudan University are all specially designed to facilitate daily care such as turning over, moving, and going to the toilet for bedridden elderly people.

[0003] However, current smart nursing devices are mostly based on the realization of one function. Multiple nursing devices are independent of each other. Due to structural limitations of the design, each independent device cannot simultaneously and systematically realize functions such as turning over, transferring, going to the toilet, and bathing for bedridden elderly people. In addition, the elderly need to manually push the toilet or place the potty on a wheelchair, which brings a bad experience to the elderly or caregivers. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects in the prior art that the wheelchair cannot be automatically and flexibly moved, and an intelligent care system for bedridden elderly people and an adaptive compliant control method are provided.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] As a first aspect, an intelligent nursing system for bedridden elderly people comprises a multi-position nursing bed, a wheelchair mechanism for driving the elderly to move, and a transfer device for transferring the elderly from the multi-position nursing bed to the wheelchair mechanism;

[0007] The wheelchair mechanism comprises:

[0008] An omnidirectional chassis and a folding seat panel assembly mounted on the omnidirectional chassis;

[0009] An adjustment mechanism, one end of which is mounted on the omnidirectional chassis and the other end of which is connected to the folding chair board assembly, for changing the folding or unfolding state of the folding chair board assembly;

[0010] An accommodating chamber, arranged at the rear end of the chassis, for the toilet to enter and exit;

[0011] A detection module, mounted on the omnidirectional chassis, for locating the relative position of the wheelchair mechanism and the corresponding toilet;

[0012] The autonomous positioning and navigation module is used to receive the detection data sent by the detection module, and control the omnidirectional chassis to adjust the posture and dock the toilet according to the received detection data.

[0013] Furthermore, the folding chair board assembly includes a backboard frame, a hip board frame, a leg board frame, and a footboard frame that are rotatably connected in sequence; and a backboard, a hip board, a push board, and a footboard that are correspondingly installed on the backboard frame, the hip board frame, the leg board frame, and the footboard frame;

[0014] The adjustment mechanism comprises:

[0015] An adjusting cylinder, wherein a fixed end of the adjusting cylinder is mounted on the back plate, and a telescopic end of the adjusting cylinder is rotatably connected to the omnidirectional chassis;

[0016] Two adjustment plates are symmetrically arranged on both sides of the omnidirectional chassis; one end of the adjustment plate is rotatably connected to the hip plate frame, and the other end is rotatably connected to the foot pedal frame;

[0017] A protective cover is sleeved on the adjusting cylinder to prevent bath water from entering the adjusting cylinder.

[0018] Furthermore, when the adjusting cylinder is in an extended state, the folding chair board assembly is in a lying state; when the adjusting cylinder is in a retracted state, the folding chair board assembly is in a sitting state.

[0019] Furthermore, the wheelchair mechanism also includes a toilet opening and closing mechanism installed on the omnidirectional chassis; the toilet opening and closing mechanism includes a first opening and closing cylinder and a second opening and closing cylinder arranged at the front end of the omnidirectional chassis along the Y-axis direction; a second opening and closing plate and a first opening and closing plate respectively connected to the telescopic ends of the first opening and closing cylinder and the second opening and closing cylinder;

[0020] The first opening and closing cylinder and the second opening and closing cylinder respectively drive the second opening and closing plate and the first opening and closing plate to move along the Y-axis direction through the guide rail slider assembly arranged on the hip plate frame.

[0021] Furthermore, the first opening and closing plate and the second opening and closing plate are semicircular structures that cooperate with each other and are both arranged on the through hole in the middle of the hip plate;

[0022] When the first opening and closing cylinder and the second opening and closing cylinder are both in the initial state, the mating surfaces of the first opening and closing plate and the second opening and closing plate are tightly matched; when the first opening and closing cylinder and the second opening and closing cylinder are in the extended state, a space for the elderly to use the toilet is set between the mating surfaces of the first opening and closing plate and the second opening and closing plate.

[0023] Furthermore, sealing plates are provided on both sides and the front end surface of the omnidirectional chassis.

[0024] As a second aspect, based on the above-mentioned adaptive compliance control method of the intelligent nursing system for bedridden elderly people, the method comprises the following steps:

[0025] S1. Construct a "wheelchair-toilet" motion model; set the wheelchair coordinates with the center position of the accommodating cavity as the coordinate origin; set the toilet coordinates with the center position of the toilet as the coordinate origin, and calculate the mapping equation of the two coordinates;

[0026] S2. Use the autonomous positioning and navigation module to roughly position the wheelchair mechanism and toilet; that is, set the accommodation cavity at Y L The diameter of the toilet in the Y direction is larger than C The diameter in the direction of the wheelchair mechanism is moved to the front of the toilet at the location of the accommodating cavity;

[0027] S3. Posture recognition, that is, the autonomous positioning and navigation module performs posture recognition on the wheelchair mechanism according to the position and angle information of the wheelchair mechanism and the toilet detected by the detection module;

[0028] S4. Calculate the contact force of the wheelchair mechanism and the toilet; that is, calculate the contact force of the docking according to the posture of the wheelchair mechanism and the position of the toilet;

[0029] S5. The wheelchair mechanism is adjusted in position, that is, the autonomous positioning and navigation module controls the wheelchair mechanism to adjust the accommodation cavity to face the front of the toilet according to the wheelchair posture mechanism and toilet position information determined in step S3 and the docking contact force calculated in step S4;

[0030] S6. Automatic docking of the wheelchair mechanism with the toilet, i.e., smooth docking of the mobile wheelchair mechanism with the toilet;

[0031] S7. Start the toilet opening and closing mechanism, and after the elderly person finishes using the toilet, close the toilet opening and closing mechanism and move the wheelchair mechanism.

[0032] Furthermore, the autonomous positioning and navigation module (26) comprises a signal receiving module for receiving data sent by the detection module (25), a calculation module for calculating the wheelchair posture and docking contact force, a laser radar SLAM, and an adaptive compliance controller for controlling the movement of the wheelchair mechanism (2);

[0033] The calculation module uses the Kalman filter algorithm to calculate the wheelchair posture and docking contact force, which specifically includes the following calculations:

[0034] A priori formula calculation:

[0035] A priori error covariance formula calculation:

[0036] Kalman gain formula calculation:

[0037] Error covariance formula calculation:

[0038] The final estimated formula is: k =Ax k-1 +Bu k-1 +ω k-1 ;

[0039] Where, X K True value, Kalman estimate, P k Kalman estimation error covariance matrix, is the predicted value, is the prediction error covariance matrix, K k is the Kalman gain, A is the state transfer matrix, u k is the system input, B is the input gain matrix, ω k is the process noise, and H is the measurement matrix.

[0040] The calculation module uses a Kalman filter algorithm to calculate the wheelchair posture and docking contact force.

[0041] Furthermore, the detection module includes a distance sensor and a force tactile sensor.

[0042] Furthermore, an obstacle avoidance module is provided during the movement of the wheelchair mechanism, and the obstacle avoidance module includes a laser radar and an ultrasonic probe installed in the moving space of the wheelchair mechanism; and an obstacle avoidance controller; the obstacle avoidance controller adopts a multi-sensor information fusion algorithm and an improved A* algorithm to plan the path.

[0043] The beneficial effects of the intelligent nursing system for bedridden elderly and the adaptive compliance control method of the present invention are:

[0044] The rear end of the omnidirectional chassis of the wheelchair mechanism of the present invention is provided with a accommodating cavity for the entry and exit of the toilet, and a detection module is used to locate the relative positions of the wheelchair mechanism and the toilet. The autonomous positioning and navigation module is used to receive the detection data sent by the detection module, and the omnidirectional chassis is controlled to adjust the posture and dock with the toilet according to the received detection data. The real-time monitoring of the wheelchair mechanism is combined with the autonomous positioning and navigation to realize the adaptive and compliant control of the "wheelchair-toilet".

[0045] The present invention builds a multifunctional nursing system for bedridden elderly people to turn over, transfer, go to the toilet, bathe, etc. It is equipped with a transfer and transportation device for transferring with a multi-position nursing bed and a wheelchair mechanism, and uses a detection module to dynamically adjust the position of the wheelchair mechanism to achieve smooth docking and safe transfer between the wheelchair mechanism and the nursing bed. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0047] Figure 1 It is an overall flow chart of the intelligent nursing system for bedridden elderly people according to an embodiment of the present invention.

[0048] Figure 2 It is a first-view stereoscopic diagram of the wheelchair mechanism according to an embodiment of the present invention.

[0049] Figure 3 2 is a stereoscopic diagram of the wheelchair mechanism according to an embodiment of the present invention from a second viewing angle.

[0050] Figure 4 It is a partial structural schematic diagram of the wheelchair mechanism of an embodiment of the present invention.

[0051] Figure 5 It is a structural schematic diagram of a toilet opening and closing mechanism according to an embodiment of the present invention.

[0052] Figure 6 It is a simplified adjustment diagram of the folding chair panel assembly and the adjustment mechanism according to an embodiment of the present invention.

[0053] Figure 7 It is a control flow chart of the intelligent nursing system for bedridden elderly people according to an embodiment of the present invention.

[0054] Figure 8 2 is a diagram of the docking process between the wheelchair mechanism and the toilet according to an embodiment of the present invention.

[0055] Fig. 9 2 is a movement diagram of the wheelchair mechanism according to an embodiment of the present invention.

[0056] Fig.10 It is an obstacle avoidance flow chart of the obstacle avoidance module according to an embodiment of the present invention.

[0057] Fig.11 It is a flow chart of the grid map composition process of an embodiment of the present invention.

[0058] In the figure: 1. multi-position nursing bed, 2. wheelchair mechanism, 21. omnidirectional chassis, 22. folding chair board assembly, 221. backboard frame, 222. hip board frame, 223. leg board frame, 224. pedal frame, 23. adjustment mechanism, 231. adjustment cylinder, 232. adjustment plate, 233. protective cover, 24. accommodating chamber, 25. detection module, 26. autonomous positioning and navigation module, 27. toilet opening and closing mechanism, 271. first opening and closing cylinder, 272. second opening and closing cylinder, 273. guide rail slider assembly, 274. first opening and closing plate, 275. second opening and closing plate, 28. sealing plate, 3. transfer and transport device, 4. toilet. DETAILED DESCRIPTION

[0059] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0060] like Figure 1-Figure 6 The specific embodiment of the intelligent nursing system for bedridden elderly people of the present invention shown in the figure comprises a multi-position nursing bed 1, a wheelchair mechanism 2 for driving the elderly to move, and a transfer and transportation device 3 for transporting the elderly from the multi-position nursing bed 1 to the wheelchair mechanism 2. The wheelchair mechanism 2 comprises: an omnidirectional chassis 21 and a folding chair board assembly 22 mounted on the omnidirectional chassis 21; an adjustment mechanism 23, one end of which is mounted on the omnidirectional chassis 21 and the other end is connected to the folding chair board assembly 22, for changing the folding or unfolding state of the folding chair board assembly 22; a receiving cavity 24, which is arranged at the rear end of the chassis and is used for entering and exiting the toilet 4; a detection module 25, which is mounted on the omnidirectional chassis 21 and is used for positioning the relative position of the wheelchair mechanism 2 and the corresponding toilet 4; and an autonomous positioning and navigation module 26, which is used to receive the detection data sent by the detection module 25, and control the omnidirectional chassis 21 to adjust the posture and dock the toilet 4 according to the received detection data.

[0061] The rear end of the omnidirectional chassis 21 of the wheelchair mechanism 2 of the present invention is provided with a accommodating cavity 24 for the entry and exit of the toilet 4. The detection module 25 is used to locate the relative positions of the wheelchair mechanism 2 and the toilet 4. The autonomous positioning and navigation module 26 is used to receive the detection data sent by the detection module 25, and the omnidirectional chassis 21 is controlled to adjust the posture and dock with the toilet 4 according to the received detection data. The real-time monitoring of the wheelchair mechanism 2 is combined with the autonomous positioning and navigation to realize the adaptive and compliant control of the "wheelchair-toilet 4".

[0062] It should be noted that the multi-position nursing bed 1 and the transfer and transport device 3 used in this embodiment are both structures that can be adaptively designed by those skilled in the art. The multi-position nursing bed 1 can realize the flexible turning over of bedridden elderly people, and the transfer and transport device 3 can realize the two-way transport between the multi-position nursing bed 1 and the wheelchair mechanism 2 for bedridden elderly people. The specific structures of the multi-position nursing bed 1 and the transfer and transport device 3 will not be described in detail here. During the transfer and transport process, based on the motion constraint relationship between the nursing bed, the transport device, and the wheelchair mechanism 2, the bed-chair mechanism can be smoothly docked and safely transported. It should be understood that the main design point of the intelligent nursing system of this embodiment lies in the design of the wheelchair mechanism 2 and the integration of multiple modules. The specific structures of the multi-position nursing bed 1 and the transfer and transport device 3 will not be described in detail, and there will be no unclear impact on the functional realization of the present invention.

[0063] like Figure 2 and Figure 6As shown, in this embodiment, the folding chair board assembly 22 includes a backboard frame 221, a hip board frame 222, a leg board frame 223, and a footrest frame 224 that are rotatably connected in sequence; and a backboard, a hip board, a push board, and a footrest that are correspondingly installed on the backboard frame 221, the hip board frame 222, the leg board frame 223, and the footrest frame 224;

[0064] like Figure 3 and Figure 4 As shown, the adjustment mechanism 23 includes an adjustment cylinder 231, two adjustment plates 232 and a protective cover 233 arranged on the adjustment cylinder. The fixed end of the adjustment cylinder 231 is installed on the back plate, the telescopic end of the adjustment cylinder 231 is rotatably connected to the omnidirectional chassis 21, and the two adjustment plates 232 are symmetrically arranged on both sides of the omnidirectional chassis 21. One end of the adjustment plate 232 is rotatably connected to the hip plate frame 222, and the other end is rotatably connected to the foot pedal frame 224. The protective cover 233 is sleeved on the top of the adjustment cylinder 231 to prevent bath water from entering the interior of the adjustment cylinder 231.

[0065] When in use, when the adjustment cylinder 231 is in the extended state, the folding chair board assembly 22 is in the lying state; when the adjustment cylinder 231 is in the retracted state, the folding chair board assembly 22 is in the sitting position. It is further explained that in order to ensure the sealing of the entire wheelchair mechanism 2, sealing plates 28 are provided on both sides and the front end surface of the omnidirectional chassis 21. The power components in the folding chair board assembly 22 in this embodiment adopt a sealing design, optimize the material selection and manufacturing and assembly process, and realize the waterproof function of the wheelchair, so that the elderly can bathe in a sitting position or a lying position.

[0066] like Figure 5 As shown, in order to realize the toilet action of the elderly, the wheelchair mechanism 2 in this embodiment also includes a toilet opening and closing mechanism 27 installed on the omnidirectional chassis 21; the toilet opening and closing mechanism 27 includes a first opening and closing cylinder 271 and a second opening and closing cylinder 272 arranged at the front end of the omnidirectional chassis 21 along the Y-axis direction; a second opening and closing plate 275 and a first opening and closing plate 274 are respectively connected to the telescopic ends of the first opening and closing cylinder 271 and the second opening and closing cylinder 272, and the first opening and closing cylinder 271 and the second opening and closing cylinder 272 respectively drive the second opening and closing plate 275 and the first opening and closing plate 274 to move along the Y-axis direction through the guide rail slider assembly 273 arranged on the hip plate frame 222. The first opening and closing plate 274 and the second opening and closing plate 275 are semicircular structures that cooperate with each other and are both arranged on the through hole in the middle of the buttocks plate. When the first opening and closing cylinder 271 and the second opening and closing cylinder 272 are in the initial state, the matching surfaces of the first opening and closing plate 274 and the second opening and closing cylinder 275 are tightly matched; when the first opening and closing cylinder 271 and the second opening and closing cylinder 272 are in the extended state, a space for the elderly to use the toilet is set between the matching surfaces of the first opening and closing plate 274 and the second opening and closing cylinder 275.

[0067] The present invention builds a multifunctional nursing system for bedridden elderly people to turn over, transfer, go to the toilet, bathe, etc., which is provided with a transfer and transportation device 3 for transferring with a multi-position nursing bed 1 and a wheelchair mechanism 2, and adopts a detection module 25 to dynamically adjust the position of the wheelchair mechanism 2 to achieve smooth docking and safe transfer between the wheelchair mechanism 2 and the nursing bed.

[0068] The adaptive compliance control method based on the above-mentioned intelligent nursing system for bedridden elderly people includes the following steps:

[0069] S1. Construct the "wheelchair-toilet 4" motion model; set the wheelchair coordinate X to the center position of the accommodating cavity 24 as the coordinate origin L ,O L ,Y L ; Take the center of toilet 4 as the coordinate origin and set the coordinate X of toilet 4 C ,O C ,Y C , calculate the mapping relationship between the two coordinates;

[0070] S2. Using autonomous positioning navigation module 26 to roughly position the wheelchair mechanism 2 and the toilet 4; that is, setting the accommodating cavity 24 in Y L The diameter of the toilet 4 in the Y direction is larger than C The diameter in the direction of the wheelchair mechanism 2 is moved to the front of the toilet 4 at the position of the accommodating cavity 24;

[0071] S3 posture recognition, that is, the autonomous positioning navigation module 26 performs posture recognition on the wheelchair mechanism 2 according to the position and angle information of the wheelchair mechanism 2 and the toilet 4 detected by the detection module 25;

[0072] S4. Calculate the contact force of the wheelchair mechanism 2 and the toilet 4; that is, calculate the contact force of the docking according to the posture of the wheelchair mechanism 2 and the position of the toilet 4;

[0073] S5. The wheelchair mechanism 2 is adjusted in position, that is, the autonomous positioning and navigation module 26 controls the wheelchair mechanism 2 to adjust the accommodating cavity 24 to face the front of the toilet 4 according to the wheelchair posture mechanism and the toilet 4 position information determined in step S3 and the docking contact force calculated in step S4;

[0074] S6. Automatic docking of the wheelchair mechanism 2 and the toilet 4, through the environmental impedance model, that is, the mobile wheelchair mechanism 2 and the toilet 4 are smoothly docked;

[0075] S7. Start the toilet opening and closing mechanism 27. After the elderly person finishes using the toilet, close the toilet opening and closing mechanism 27 and move the wheelchair mechanism 2.

[0076] The autonomous positioning and navigation module 26 in this embodiment includes a signal receiving module for receiving data sent by the detection module 25, a calculation module for calculating the wheelchair posture and docking contact force, a laser radar SLAM, and an adaptive compliance controller for controlling the movement of the wheelchair mechanism 2. The calculation module uses a Kalman filter algorithm to calculate the wheelchair posture and docking contact force, and the detection module 25 includes a distance sensor and a force tactile sensor.

[0077] The calculation process of the Kalman filter algorithm in this embodiment is as follows:

[0078] A priori formula calculation:

[0079] A priori error covariance formula calculation:

[0080] Kalman gain formula calculation:

[0081] Error covariance formula calculation:

[0082] The final estimation formula is: k =Ax k-1 +Bu k-1 +ω k-1 ;

[0083] Where, X K True value, Kalman estimate, P k Kalman estimation error covariance matrix, is the predicted value, is the prediction error covariance matrix, K k is the Kalman gain, A is the state transfer matrix, u k is the system input, B is the input gain matrix, ω k is the process noise, and H is the measurement matrix.

[0084] This embodiment uses the algorithm integration to calculate the posture and contact stress based on the data measured by the above sensors. Using the Kalman filter algorithm, a better filtering effect can be obtained, and the results can be quickly obtained from the complex data, so that the obtained data curve is smoother and the calculation accuracy of the contact force can be improved. Therefore, this method is used in this example.

[0085] like Figure 7 and Figure 8As shown, the control process of the autonomous positioning and guidance module is as follows: according to the data collected by multiple distance sensors and force tactile sensors in step S1, the mapping relationship between the toilet 4 and the wheelchair mechanism 2 is calculated, and the relative position (δ, s, θ) of the wheelchair mechanism 2 and the toilet 4 is set according to the position of the docking area, and the relative position data is transmitted to the adaptive compliance controller in the autonomous positioning and navigation module 26. The adaptive compliance controller controls the movement of the omnidirectional chassis 21 in the wheelchair mechanism 2 to perform coarse positioning. The data information of the movement of the omnidirectional chassis 21 is transmitted to the environmental impedance calculation module. The environmental impedance calculation module uses the contact force F calculated in step S1 to perform impedance control on the position of the wheelchair mechanism 2 to adjust the posture and perform fine positioning. The wheelchair-toilet 4 performs a three-level automatic docking method of coarse positioning, identification and adjustment of posture, and fine positioning to achieve the compliant docking of the wheelchair and toilet 4.

[0086] During the movement of the wheelchair mechanism 2, an obstacle avoidance module is also provided, which includes a laser radar and an ultrasonic probe installed in the moving space of the wheelchair mechanism 2; and an obstacle avoidance controller, which uses a multi-sensor information fusion algorithm and an improved A* algorithm to plan the path. In this embodiment, a wheelchair sensor monitoring system is built, and an obstacle avoidance strategy and path planning based on multi-sensor information fusion are used to achieve safe movement of the wheelchair in a dynamic indoor environment.

[0087] The calculation of the improved heuristic function h(n) in this embodiment is as follows:

[0088] Set the point (x, y) in the grid, the target point is (x goal ,y goal ), a commonly used heuristic is the Euclidean distance:

[0089]

[0090] The cost function g(n) in this embodiment is calculated as follows:

[0091] Every time we move from the starting point to a new node through the path, g(n) will accumulate the movement cost to reach that node. For example, if the movement cost per step is 1, then:

[0092] g(n new )=g(n current )+1

[0093] The calculation of the total evaluation function f(n) is as follows:

[0094] Combining the above two values, we get f(n) to evaluate the total cost of the nodes to decide which nodes should be prioritized:

[0095] f(n)=g(n)+h(n);

[0096] Among them, A* The algorithm heuristic function is expressed as: f(n) = g(n) + h(n), where f(n) is the cost estimate from the initial state via state n to the target state, g(n) is the actual cost from the initial state to state n in the state space, and h(n) is the estimated cost of the optimal path from state n to the target state.

[0097] It should be understood that for the path search problem, the state is the node in the graph, and the cost is the distance. The Astar algorithm is a heuristic search algorithm. The heuristic search evaluates each search position in the state space, obtains the best position, and then searches from this position until the target. This can omit a large number of unnecessary search paths and improve efficiency. In heuristic search, the valuation of the position is very important. Using different valuations can have different effects.

[0098] Specifically, Fig.11 As shown, the grid map composition process of the obstacle avoidance module includes the following steps:

[0099] A1. Conduct preliminary measurement of the overall indoor dimensions;

[0100] A2. Set up the indoor obstacle avoidance coordinate system and determine the wheelchair position;

[0101] A3. Normalize the measurement data in step A1 and the obstacle avoidance coordinate system in step A2;

[0102] A4. Set the grid map size and grid division, and initialize the overall obstacle avoidance controller;

[0103] A5. Calculate the obstacle location and update the grid map data;

[0104] A6. Calculate whether the safety distance is exceeded. Calculate whether the wheelchair mechanism 2 exceeds the safety distance. If it exceeds the safety distance, expand the grid. If it does not exceed the safety distance, determine whether the composition is completed. If the composition process is completed, end the grid map composition. If the composition process is not completed, continue to transmit the wheelchair posture data and obstacle distance data, and update the grid map.

[0105] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. An intelligent nursing system for bedridden elderly people, characterized by: It comprises a multi-position nursing bed (1), a wheelchair mechanism (2) for driving an elderly person to move, and a transfer device (3) for transferring an elderly person from the multi-position nursing bed (1) to the wheelchair mechanism (2); The wheelchair mechanism (2) comprises: An omnidirectional chassis (21) and a folding chair panel assembly (22) mounted on the omnidirectional chassis (21); an adjustment mechanism (23), one end of which is mounted on the omnidirectional chassis (21) and the other end of which is connected to the folding chair board assembly (22), and is used to change the folding or unfolding state of the folding chair board assembly (22); An accommodating chamber (24), arranged at the rear end of the chassis, for the toilet (4) to enter and exit; A detection module (25), mounted on the omnidirectional chassis (21), for locating the relative position of the wheelchair mechanism (2) and the corresponding toilet (4); The autonomous positioning and navigation module (26) is used to receive the detection data sent by the detection module (25), and control the omnidirectional chassis (21) to adjust the position and posture and dock the toilet (4) according to the received detection data.

2. The intelligent nursing system for bedridden elderly according to claim 1, characterized in that: The folding chair board assembly (22) comprises a backboard frame (221), a hip board frame (222), a leg board frame (223), and a footrest frame (224) which are rotatably connected in sequence; and a backboard, a hip board, a push board, and a footrest which are correspondingly mounted on the backboard frame (221), the hip board frame (222), the leg board frame (223), and the footrest frame (224); The adjustment mechanism (23) comprises: An adjusting cylinder (231), wherein a fixed end of the adjusting cylinder (231) is mounted on the back plate, and a telescopic end of the adjusting cylinder (231) is rotatably connected to the omnidirectional chassis (21); Two adjustment plates (232) are symmetrically arranged on both sides of the omnidirectional chassis (21); one end of the adjustment plate (232) is rotatably connected to the hip plate frame (222), and the other end is rotatably connected to the foot pedal frame (224); The protective cover (233) is sleeved on the upper part of the adjusting cylinder (231) to prevent bath water from entering the interior of the adjusting cylinder (231).

3. The intelligent nursing system for bedridden elderly according to claim 1 is characterized in that: When the adjustment cylinder (231) is in an extended state, the folding chair board assembly (22) is in a lying state; when the adjustment cylinder (231) is in a retracted state, the folding chair board assembly (22) is in a sitting state.

4. The intelligent nursing system for bedridden elderly according to claim 2, characterized in that: The wheelchair mechanism (2) further comprises a toilet opening and closing mechanism (27) mounted on the omnidirectional chassis (21); the toilet opening and closing mechanism (27) comprises a first opening and closing cylinder (271) and a second opening and closing cylinder (272) arranged at the front end of the omnidirectional chassis (21) along the Y-axis direction; a second opening and closing plate (275) and a first opening and closing plate (274) respectively connected to the telescopic ends of the first opening and closing cylinder (271) and the second opening and closing cylinder (272); The first opening and closing cylinder (271) and the second opening and closing cylinder (272) respectively drive the second opening and closing plate (275) and the first opening and closing plate (274) to move along the Y-axis direction via a guide rail slider assembly (273) provided on the hip plate frame (222).

5. The intelligent nursing system for bedridden elderly according to claim 4, characterized in that: The first opening and closing plate (274) and the second opening and closing plate (275) are semicircular structures that match each other and are both arranged on the through hole in the middle of the hip plate; When the first opening and closing cylinder (271) and the second opening and closing cylinder (272) are both in an initial state, the mating surfaces of the first opening and closing plate (274) and the second opening and closing plate (275) are tightly matched; when the first opening and closing cylinder (271) and the second opening and closing cylinder (272) are in an extended state, a space for an elderly person to use the toilet is provided between the mating surfaces of the first opening and closing plate (274) and the second opening and closing plate (275).

6. The intelligent nursing system for bedridden elderly according to claim 1, characterized in that: Sealing plates (28) are provided on both sides and the front end surface of the omnidirectional chassis (21).

7. The adaptive compliance control method of the intelligent nursing system for bedridden elderly according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1. Constructing a "wheelchair-toilet (4)" motion model; taking the center position of the accommodating cavity (24) as the coordinate origin, setting the wheelchair coordinates (X L ,O L ,Y L ); Taking the center of the toilet (4) as the coordinate origin, set the coordinates of the toilet (4) (X C ,O C ,Y C ), calculate the mapping relationship between the two coordinates; S2. Using the autonomous positioning navigation module (26) to roughly position the wheelchair mechanism (2) and the toilet (4); that is, setting the accommodating cavity (24) at Y L The diameter of the toilet (4) in the Y direction is larger than C The diameter in the direction of the wheelchair mechanism (2) is moved to the front of the toilet (4) at the location of the accommodating cavity (24); S3. Posture recognition, that is, the autonomous positioning and navigation module (26) performs posture recognition on the wheelchair mechanism (2) according to the position and angle information of the wheelchair mechanism (2) and the toilet (4) detected by the detection module (25); S4. Calculate the contact force of the wheelchair mechanism (2) and the toilet (4) docking; that is, calculate the docking contact force according to the posture of the wheelchair mechanism (2) and the position of the toilet (4); S5. The position and posture of the wheelchair mechanism (2) is adjusted, that is, the autonomous positioning and navigation module (26) controls the wheelchair mechanism (2) to adjust the position so that the accommodating cavity (24) faces the front of the toilet (4) according to the wheelchair posture mechanism and the position information of the toilet (4) determined in step S3 and the docking contact force calculated in step S4; S6. Automatic docking of the wheelchair mechanism (2) and the toilet (4), that is, the mobile wheelchair mechanism (2) and the toilet (4) are smoothly docked; S7. Start the toilet opening and closing mechanism (27), and after the elderly person finishes using the toilet, close the toilet opening and closing mechanism (27) and move the wheelchair mechanism (2).

8. The adaptive compliance control method according to claim 7, characterized in that: The autonomous positioning and navigation module (26) comprises a signal receiving module for receiving data sent by the detection module (25), a calculation module for calculating the wheelchair posture and docking contact force, a laser radar SLAM, and an adaptive compliance controller for controlling the movement of the wheelchair mechanism (2); The calculation module uses the Kalman filter algorithm to calculate the wheelchair posture and docking contact force, which specifically includes the following calculations: A priori formula calculation: A priori error covariance formula calculation: Kalman gain formula calculation: Error covariance formula calculation: The final estimated formula is: k =Ax k-1 +Bu k-1 +ω k-1 ; Where, X K True value, Kalman estimate, P k Kalman estimation error covariance matrix, is the predicted value, is the prediction error covariance matrix, K k is the Kalman gain, A is the state transfer matrix, u k is the system input, B is the input gain matrix, ω k is the process noise, and H is the measurement matrix.

9. The adaptive compliance control method according to claim 7, characterized in that: The detection module (25) comprises a distance sensor and a force tactile sensor.

10. The adaptive compliance control method according to claim 7, characterized in that: During the movement of the wheelchair mechanism (2), an obstacle avoidance module is also provided, the obstacle avoidance module comprising a laser radar and an ultrasonic probe installed in the moving space of the wheelchair mechanism (2); and an obstacle avoidance controller; the obstacle avoidance controller uses a multi-sensor information fusion algorithm and an improved A* algorithm to plan a path.

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