Movable bed assistance control method and system and storage medium

Abstract

The invention relates to the technical field of movable bed control, provides a movable bed assistance control method and system and a storage medium, and can assist an operator in stopping operation of a movable bed. In the application, in the process that the movable bed moves towards the limiting position under the action of an operator, the real-time limiting speed is obtained based on the real-time distance of the movable bed relative to the limiting position; acquiring the actual running speed of the movable bed; whether the actual running speed is larger than the real-time limiting speed or not is judged; if the actual running speed of the movable bed is larger than the real-time limiting speed, real-time target torque is obtained based on the real-time limiting speed, so that the motor generates acting force on the movable bed according to the real-time target torque.

Description

Technical Field

[0001] The present application relates to the technical field of movable bed control, and in particular to a method, device, system, computer equipment, storage medium and computer program product for assisting control of a movable bed. Background Art

[0002] DSA (full name: Digital Subtraction Angiography) technology is a digital subtraction angiography technology. The process of scanning and imaging using this technology involves a catheter bed, which is movable and belongs to a movable bed.

[0003] When moving movable beds such as catheter beds horizontally, manual control is mainly used, and the movable bed is pushed by manpower to move the patient's position; the six-dimensional movable bed has tilting movement, and the tilting movement needs to be driven by a reducer, which makes it difficult or even impossible to push the movable bed by manpower in a horizontal state. Summary of the invention

[0004] Based on this, it is necessary to provide a movable bed power-assistance control method, device, computer equipment, storage medium and computer program product to address the above technical problems.

[0005] The present application provides a method for controlling a movable bed by assisting a movement, the method comprising:

[0006] When the movable bed moves toward the limit position under the action of the operator, a real-time limit speed is obtained based on the real-time distance of the movable bed relative to the limit position;

[0007] Obtaining the actual running speed of the movable bed;

[0008] Determining whether the actual running speed is greater than the real-time speed limit;

[0009] If the actual operating speed of the movable bed is greater than the real-time limit speed, a real-time target torque is obtained based on the real-time limit speed, so that the motor generates a force on the movable bed according to the real-time target torque.

[0010] In one embodiment, obtaining the real-time target torque based on the real-time speed limit includes:

[0011] Based on the real-time speed limit, determining a real-time compensation torque;

[0012] Acquire a real-time torque corresponding to the operator;

[0013] Based on the real-time compensation torque and the real-time torque, a real-time target torque is obtained.

[0014] In one embodiment, obtaining the real-time target torque based on the real-time compensation torque and the real-time torque includes:

[0015] Adjust the real-time torque based on the real-time compensation torque to obtain an adjustment result;

[0016] When the torque corresponding to the adjustment result is not greater than the maximum torque set to enable the movable bed to run smoothly, the torque corresponding to the adjustment result is used as the real-time target torque;

[0017] When the torque corresponding to the adjustment result is greater than the maximum torque, the maximum torque is used as the real-time target torque.

[0018] In one embodiment, obtaining a real-time speed limit based on the real-time distance of the movable bed relative to the limit position includes:

[0019] monitoring whether the movable bed enters a deceleration zone;

[0020] When it is monitored that the movable bed enters the deceleration zone, a real-time speed limit is obtained based on the real-time distance of the movable bed relative to the limit position.

[0021] In one embodiment, monitoring whether the movable bed enters the deceleration zone comprises:

[0022] Monitoring the real-time distance of the movable bed relative to the limit position;

[0023] Based on the real-time distance, it is determined whether the movable bed enters a deceleration zone.

[0024] In one embodiment, determining whether the movable bed enters a deceleration zone based on the real-time distance includes:

[0025] Determining whether the real-time distance is equal to the set deceleration distance;

[0026] When the real-time distance is equal to the set deceleration distance, it is determined that the movable bed enters the deceleration zone;

[0027] When the real-time distance is greater than the set deceleration distance, it is determined that the movable bed has not entered the deceleration zone.

[0028] In one embodiment, obtaining a real-time speed limit based on the real-time distance of the movable bed relative to the limit position includes:

[0029] Obtaining a corresponding table; the corresponding table includes: the maximum running speeds corresponding to the movable bed at different distances relative to the limit position;

[0030] Determine the maximum running speed corresponding to the real-time distance in the correspondence table;

[0031] The maximum running speed corresponding to the real-time distance is used as the real-time speed limit.

[0032] In one embodiment, the method further comprises:

[0033] Obtaining the real-time position of the movable bed;

[0034] Based on the real-time position and the limit position, the real-time distance of the movable bed relative to the limit position is obtained.

[0035] The present application provides a movable bed power-assisting control device, the device comprising:

[0036] A speed limit acquisition module, used for obtaining a real-time speed limit based on a real-time distance of the movable bed relative to the limit position when the movable bed moves toward the limit position under the action of an operator;

[0037] An actual running speed acquisition module, used to acquire the actual running speed of the movable bed;

[0038] A speed comparison module, used to determine whether the actual running speed is greater than the real-time limit speed;

[0039] The target torque determination module is used to obtain a real-time target torque based on the real-time limit speed if the actual running speed of the movable bed is greater than the real-time limit speed, so that the motor generates a force on the movable bed according to the real-time target torque.

[0040] The present application provides a movable bed power-assist control system, the system comprising a movable bed, a motor and a processor;

[0041] When the movable bed moves toward the limit position under the action of the operator, the processor obtains a real-time limit speed based on a real-time distance of the movable bed relative to the limit position;

[0042] The processor obtains the actual running speed of the movable bed;

[0043] The processor determines whether the actual running speed is greater than the real-time limit speed;

[0044] If the actual running speed of the movable bed is greater than the real-time limit speed, the processor obtains the real-time target torque based on the real-time limit speed, so that the motor generates a force on the movable bed according to the real-time target torque.

[0045] The present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the above method.

[0046] The present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to execute the above method.

[0047] The present application provides a computer program product, on which a computer program is stored, and the computer program is executed by a processor to perform the above method.

[0048] In the solution provided by the present application, in the process of the movable bed moving towards the limit position under the action of the operator, the real-time limit speed is obtained based on the real-time distance of the movable bed relative to the limit position; when the actual running speed of the movable bed is greater than the real-time limit speed, the real-time target torque is obtained based on the real-time limit speed, so that the motor generates a force on the movable bed according to the real-time target torque, and the running speed of the auxiliary operator when the movable bed reaches the limit position is not greater than the set stop running speed, and there is no need for brakes or other braking equipment to take effect, and there will be no noise and vibration generated by the action of the braking equipment. When the operator needs to move in the opposite direction, there is no need to release the braking equipment, and the reverse movement can be responded to quickly; and, based on the real-time distance of the movable bed relative to the limit position, deceleration control can ensure that the movable bed will not collide with the limit block located at the limit position as much as possible, avoid uncomfortable impact caused by collision, and avoid safety risks caused by the life of the limit block due to too many collisions. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0050] Figure 1 A schematic diagram of the horizontal movement direction of the catheter bed in one embodiment;

[0051] Figure 2 It is a schematic flow chart of a method for controlling a movable bed assisting in one embodiment;

[0052] Figure 3 is a schematic diagram of a smooth curve of speed and position in one embodiment;

[0053] FIG4 (a) is a schematic flow chart of a method for controlling a movable bed assisting device in another embodiment;

[0054] FIG4( b ) is a schematic diagram of a process for determining a real-time target torque in one embodiment;

[0055] Figure 5FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0058] The movable bed power-assistance control method provided in the present application can assist the operator in pushing the movable bed to move in the horizontal direction. The movable bed involved in the present application may include a catheter bed. The maximum horizontal movement stroke of a movable bed such as a catheter bed can be set, and a limit block can be placed at a limit position to limit the maximum horizontal movement stroke of the catheter bed. In some scenarios, the horizontal direction in which the catheter bed moves may include Figure 1 The directions of the two arrows are shown.

[0059] In one embodiment, a method for controlling a movable bed assisting force is provided, which can be executed by a computer device, comprising: Figure 2 The steps shown are:

[0060] Step S201 : When the movable bed moves toward the limit position under the action of the operator, a real-time limit speed is obtained based on the real-time distance of the movable bed relative to the limit position.

[0061] The operator can apply horizontal direction to the movable bed (such as Figure 1The movable bed will move toward the limit position under the action of the operator. During this process, the real-time position of the movable bed can be monitored. According to the real-time position of the movable bed and the limit position obtained in advance, the real-time distance of the movable bed relative to the limit position can be obtained to obtain the corresponding real-time limit speed. The smaller the real-time distance is, the closer the movable bed is to the limit position, and the smaller the corresponding real-time limit speed is and the closer it is to the set stop speed. With this processing method, when the movable bed is closer to the limit position, the operator does not need to concentrate on controlling the position of the movable bed, but can focus more on assisting the surgical process. At the same time, the closer to the limit position, the smaller the corresponding real-time limit speed is, the smoother the deceleration is, and the operator's sense of security is improved without worrying too much about collision. The specific value of the stop speed can be set according to actual needs. In some scenarios, the stop speed can be set to 0.

[0062] Step S202, obtaining the actual running speed of the movable bed.

[0063] When the movable bed moves toward the limit position under the action of the operator, the computer device can obtain the real-time running speed of the movable bed through the speed sensor.

[0064] Step S203, determining whether the actual running speed is greater than the real-time speed limit.

[0065] After obtaining the real-time speed limit, the relative size between the real-time running speed and the real-time speed limit can be compared.

[0066] If the real-time operating speed is less than the real-time speed limit, the movable bed may not be limited in speed. The operator may apply a horizontal thrust to the movable bed, and the real-time torque corresponding to the operator may be obtained, and the real-time torque is used as the real-time target torque. The motor generates a corresponding force based on the real-time target torque and acts on the movable bed.

[0067] If the actual running speed is greater than the real-time speed limit, the process proceeds to step S204.

[0068] Step S204: if the actual running speed of the movable bed is greater than the real-time speed limit, a real-time target torque is obtained based on the real-time speed limit, so that the motor generates a force on the movable bed according to the real-time target torque.

[0069] When the actual running speed of the movable bed is greater than the real-time speed limit, the real-time target torque is mainly used to reduce the running speed of the movable bed to within the speed limit as much as possible. The torque required to reduce the running speed of the movable bed to within the speed limit can be determined according to the difference between the actual running speed and the real-time speed limit, thereby obtaining the real-time target torque.

[0070] Exemplarily, the processor used to obtain the real-time target torque may include: a processor disposed on a computer device outside the motor. In this case, after the processor of the computer device obtains the real-time target torque in the above manner, the real-time target torque may be sent to the motor.

[0071] In another exemplary embodiment, the processor used to obtain the real-time target torque may include: a processor disposed on the motor. In this case, after the processor in the motor obtains the real-time target torque in the above manner, it can directly control other components of the motor to generate corresponding forces to act on the movable bed according to the real-time target torque.

[0072] In another exemplary embodiment, the processor used to obtain the real-time target torque may include: a processor on a computer device outside the motor and a processor on the motor. In this case, some steps may be performed by the processor of the computer device, and another part of the steps may be performed by the processor of the motor, thereby obtaining the real-time target torque.

[0073] After obtaining the real-time target torque, the motor can generate a corresponding force based on the real-time target torque and act on the movable bed. The aforementioned steps S201 to S204 are continuously performed, so that under the horizontal pushing action of the operator, the running speed of the movable bed when it reaches the limit position is not greater than the set stop running speed, which can assist the operator in stopping the operation of the movable bed.

[0074] In the above-mentioned assistive control method for the movable bed, in the process of the movable bed moving towards the limit position under the action of the operator, the real-time limit speed is obtained based on the real-time distance of the movable bed relative to the limit position; when the actual running speed of the movable bed is greater than the real-time limit speed, the real-time target torque is obtained based on the real-time limit speed, so that the motor generates a force on the movable bed according to the real-time target torque, and the running speed of the auxiliary operator when the movable bed reaches the limit position is not greater than the set stop running speed, and there is no need for brakes and other braking equipment to take effect, and there will be no noise and vibration generated by the action of the braking equipment. When the operator needs to move in the opposite direction, there is no need to release the braking equipment, and the reverse movement can be responded to quickly; and, based on the real-time distance of the movable bed relative to the limit position, deceleration control can ensure that the movable bed will not hit the limit block at the limit position as much as possible, avoid uncomfortable impact caused by the collision, and avoid safety risks caused by the life of the limit block due to too many collisions.

[0075] In one embodiment, obtaining a real-time target torque based on the real-time speed limit includes: determining a real-time compensation torque based on the real-time speed limit; obtaining a real-time torque corresponding to the operator; and obtaining a real-time target torque based on the real-time compensation torque and the real-time torque.

[0076] When the actual running speed is greater than the real-time speed limit, the movable bed can be limited in speed to prevent the running speed of the movable bed from exceeding the set stop running speed when reaching the limit position, thereby reducing the risk of the movable bed hitting the limit block at the limit position. At this time, the corresponding torque can be determined according to the difference between the actual running speed and the real-time speed limit, and the torque can be called the real-time compensation torque.

[0077] According to the horizontal thrust applied by the operator to the movable bed, the real-time torque corresponding to the operator can be obtained. In some scenarios, the correspondence between thrust and torque can be preset. After obtaining the horizontal thrust applied by the operator to the movable bed, the torque matching the thrust is determined in combination with the aforementioned preset correspondence, and the torque is used as the real-time torque corresponding to the operator.

[0078] The size of the real-time torque can be adjusted according to the real-time compensation torque. Specifically, the real-time torque can be reduced according to the real-time compensation torque, and the reduced torque is used as the real-time target torque.

[0079] In this embodiment, the real-time compensation torque is determined based on the real-time speed limit, and a more accurate real-time target torque can be obtained based on the real-time compensation torque and the real-time torque corresponding to the operator.

[0080] In one embodiment, a real-time target torque is obtained based on the real-time compensation torque and the real-time torque, including: adjusting the real-time torque based on the real-time compensation torque to obtain an adjustment result; when the torque corresponding to the adjustment result is not greater than the maximum torque set to make the movable bed run smoothly, the torque corresponding to the adjustment result is used as the real-time target torque; when the torque corresponding to the adjustment result is greater than the maximum torque, the maximum torque is used as the real-time target torque.

[0081] Specifically, the real-time compensation torque can be subtracted from the real-time torque, and the subtraction result can be used as the adjustment result. When the torque corresponding to the adjustment result is not greater than the maximum torque set to make the movable bed run smoothly, the torque corresponding to the adjustment result can be used as the real-time target torque. When the torque corresponding to the adjustment result is greater than the maximum torque, if the torque corresponding to the adjustment result is directly used as the real-time target torque, it may be difficult to make the movable bed run smoothly. At this time, the maximum torque that makes the movable bed run smoothly can be used as the real-time target torque.

[0082] In this embodiment, after obtaining the adjustment result based on the real-time compensation torque adjustment corresponding to the operator, the torque corresponding to the adjustment result is not directly used as the real-time target torque. Instead, the torque corresponding to the adjustment result is judged against the maximum torque that makes the movable bed run smoothly. The real-time target torque is determined based on the judgment result to ensure that the movable bed can run smoothly as much as possible.

[0083] In one embodiment, a real-time speed limit is obtained based on a real-time distance of the movable bed relative to the limit position, including: monitoring whether the movable bed enters a deceleration zone; when the movable bed is detected to enter the deceleration zone, obtaining a real-time speed limit based on the real-time distance of the movable bed relative to the limit position.

[0084] The operator can apply horizontal thrust to the movable bed, and the movable bed will move toward the limit position under the action of the operator. If the movable bed is far away from the limit position when it starts to run, the real-time torque corresponding to the operator can be allowed to be used as the real-time target torque. This situation belongs to the situation where the speed limit strategy is not adopted.

[0085] Based on this, the user can set the deceleration zone according to actual needs. The deceleration zone is the area where the movable bed needs to decelerate. When the movable bed moves to the limit position under the action of the operator, it can be monitored in real time whether the movable bed enters the deceleration zone. If not, the speed limit strategy can be not adopted. If so, the speed limit strategy can be adopted to execute steps S201 to S204.

[0086] In this embodiment, when the movable bed moves toward the limit position under the action of the operator, it can be monitored in real time whether the movable bed enters the deceleration zone. If not, it is unnecessary to adopt the speed limit strategy. If so, the speed limit strategy can be adopted to improve flexibility.

[0087] In one embodiment, monitoring whether the movable bed enters the deceleration zone includes: monitoring the real-time distance of the movable bed relative to the limit position; and determining whether the movable bed enters the deceleration zone based on the real-time distance.

[0088] For example, the deceleration zone can be set as: an area formed by positions whose distance from the limit position is less than the set deceleration distance. In this case, when the movable bed moves toward the limit position under the action of the operator, the real-time distance of the movable bed relative to the limit position can be obtained, and the relative size between the real-time distance and the set distance value can be compared. According to the judgment result, it is determined whether the movable bed enters the deceleration zone.

[0089] In this embodiment, according to the real-time distance of the movable bed relative to the limit position, it can be simply and quickly determined whether the movable bed enters the deceleration zone, thereby improving the processing efficiency.

[0090] In one embodiment, based on the real-time distance, determining whether the movable bed has entered the deceleration zone includes: judging whether the real-time distance is equal to the set deceleration distance; when the real-time distance is equal to the set deceleration distance, determining that the movable bed has entered the deceleration zone; when the real-time distance is greater than the set deceleration distance, determining that the movable bed has not entered the deceleration zone.

[0091] After obtaining the real-time distance of the movable bed relative to the limit position, the relative size between the real-time distance and the set deceleration distance can be determined. If the real-time distance is greater than the set deceleration distance, it indicates that the movable bed has not entered the deceleration zone. If the real-time distance is equal to the set deceleration distance, it indicates that the movable bed is at the boundary of the deceleration zone. If the real-time distance is less than the set deceleration distance, it indicates that the movable bed is in the deceleration zone.

[0092] In this embodiment, according to the relative size between the real-time distance of the movable bed relative to the limit position and the set deceleration distance, it can be quickly and simply determined whether the movable bed is in the deceleration zone, thereby improving the processing efficiency.

[0093] In one embodiment, based on the real-time distance of the movable bed relative to the limit position, a real-time limit speed is obtained, including: obtaining a corresponding table; the corresponding table includes: the maximum operating speeds corresponding to different distances of the movable bed relative to the limit position; determining the maximum operating speed corresponding to the real-time distance in the corresponding table; and using the maximum operating speed corresponding to the real-time distance as the real-time limit speed.

[0094] A speed and position smooth curve may be preset, which describes the maximum operating speed of the movable bed at different distances relative to the limit position. The speed and position smooth curve may have the following characteristics:

[0095] (1) When the movable bed begins to enter the deceleration zone, the maximum operating speed decreases slowly and smoothly to avoid sudden deceleration;

[0096] (2) When the movable bed reaches the limit position, the running speed is 0.

[0097] In order to meet the above feature (1), the correspondence table can be set as follows: the difference between the maximum running speeds corresponding to each distance in the initial deceleration distance segment is less than the set value.

[0098] In order to satisfy the above feature (2), the set stop speed can be set to 0.

[0099] In some scenarios, the velocity and position smooth curves are formed such as Figure 3 As shown, the x-axis is the distance of the movable bed relative to the limit position, and the y-axis is the maximum operating speed corresponding to the distance, wherein the maximum maximum operating speed is 400mm / s, and the deceleration zone may include a position within a distance of 0 to 750mm from the limit position.

[0100] exist Figure 3 In the example shown, the speed and position smooth curve can be expressed by the following mathematical formula:

[0101] . Where x is the distance of the movable bed relative to the limit position, and f(x) is the maximum operating speed.

[0102] After obtaining the speed and position smooth curve, the maximum operating speed corresponding to each distance in the range of 0 to 750mm can be taken out from the speed and position smooth curve with a step size of 0.5mm. For example, the maximum operating speed corresponding to 0, the maximum operating speed corresponding to 0.5mm, and the maximum operating speed corresponding to 1mm. Thus, a corresponding table can be formed. Therefore, the corresponding table includes the maximum operating speeds corresponding to the movable bed at different distances relative to the limit position.

[0103] A corresponding table can be stored in advance; when the movable bed moves toward the limit position under the action of the operator, after the computer device obtains the real-time distance of the movable bed relative to the limit position, the distance matching the real-time distance can be determined in the corresponding table, and the maximum operating speed corresponding to the distance can be used as the maximum operating speed corresponding to the real-time distance, and the maximum operating speed can be used as the real-time limit speed.

[0104] In this embodiment, the maximum operating speed corresponding to the real-time distance is determined according to the maximum operating speeds corresponding to the movable bed at different distances relative to the limit position included in the preset corresponding table, thereby improving the processing efficiency.

[0105] In one embodiment, the method provided in the present application further includes: obtaining the real-time position of the movable bed; and obtaining the real-time distance of the movable bed relative to the limit position based on the real-time position and the limit position.

[0106] The real-time position of the movable bed can be obtained with the help of a sensor with a positioning function. In some scenarios, the sensor with a positioning function may include a position encoder. In this case, a position encoder for the movable bed can be pre-set, and the position encoder can be called a movable bed position encoder. When the movable bed moves to the limit position under the action of the operator, the computer device can obtain the real-time position of the movable bed through the movable bed position encoder, and obtain the real-time distance of the movable bed relative to the limit position based on the distance between the real-time position and the pre-set limit position.

[0107] In order to better understand the above method, an application example of the movable bed power-assisting control method of the present application is described in detail below.

[0108] This application example includes the steps shown in Figure 4 (a):

[0109] Step S401, reading the real-time position of the movable bed;

[0110] Specifically, the operator can apply horizontal thrust to the movable bed, and the movable bed will move to the limit position under the action of the operator. During this process, the real-time position of the movable bed can be monitored and the real-time position feedback of the movable bed position encoder can be obtained.

[0111] Step S402, calculating the real-time distance of the movable bed relative to the limit position;

[0112] Specifically, according to the real-time position of the movable bed and the pre-acquired limit position, the real-time distance of the movable bed relative to the limit position is obtained. If the real-time distance is less than or equal to the set deceleration distance, it is determined that the movable bed enters the deceleration zone or is in the deceleration zone, and step S403 can be entered at this time.

[0113] Step S403, looking up a table to determine the maximum operating speed;

[0114] Specifically, after the computer device obtains the real-time distance of the movable bed relative to the limit position, it can determine the distance matching the real-time distance in the corresponding table, and use the maximum operating speed corresponding to the distance as the maximum operating speed corresponding to the real-time distance.

[0115] Step S404, determining the real-time target torque based on the maximum operating speed;

[0116] Specifically, the computer device uses the maximum operating speed as the real-time speed limit, and then enters the processing flow shown in FIG. 4( b ) to determine the real-time target torque.

[0117] The processing flow shown in FIG4 (b) involves two levels of torque limiting. The first-level torque limiting is mainly used to adjust the real-time torque corresponding to the operator to avoid exceeding the adjustment range of the speed limiter. The maximum torque used for the first-level torque limiting is called the first maximum torque. The second-level torque limiting is mainly used to make the movable bed run smoothly and safely. The maximum torque used for the second-level torque limiting is called the second maximum torque.

[0118] Specifically, the processing flow shown in Figure 4 (b) is that after the real-time torque corresponding to the operator is obtained, the real-time torque can be adjusted according to the strategy corresponding to the first maximum torque and the first-level torque limit; according to the adjusted torque and the real-time speed limit, the speed limit regulator is used to process and obtain the corresponding torque, which is called the second-level adjustment torque; then, according to the strategy corresponding to the second-level adjustment torque, the second maximum torque and the second-level torque limit, the corresponding torque is obtained and used as the real-time target torque.

[0119] The motor generates a corresponding force based on the real-time target torque and acts on the movable bed, so that the operator can stop the movable bed when it reaches the limit position without the need for brakes or other braking devices to take effect, and there will be no noise and vibration caused by the action of the braking device. When the operator needs to move in the opposite direction, there is no need to release the braking device, and the reverse movement can be responded to quickly. In addition, the deceleration control is performed based on the real-time distance of the movable bed relative to the limit position, so as to ensure that the movable bed will not hit the limit block at the limit position as much as possible, avoid the uncomfortable impact caused by the collision, and avoid the safety risk caused by the life of the limit block due to too many collisions. In addition, the smaller the real-time distance is, the closer the movable bed is to the limit position, the smaller the corresponding real-time limit speed is and the closer it is to the set stop speed. This processing method does not require the operator to concentrate on controlling the position of the movable bed when the movable bed is close to the limit position, and can focus more on assisting the surgical process. At the same time, the closer it is to the limit position, the smaller the corresponding real-time limit speed is, the smoother the deceleration is, and the operator's sense of security is improved, without worrying too much about collision.

[0120] As described above, when a real-time torque corresponding to the operator can be obtained based on the horizontal thrust applied to the movable bed by the operator, the correspondence between the thrust and the torque can be set in advance. Based on the horizontal thrust applied to the movable bed by the operator and the pre-set correspondence, a torque matching the thrust can be determined and used as the real-time torque corresponding to the operator.

[0121] Specifically, the real-time sensing value of the pressure sensor can be obtained; the pressure sensor is used to collect the thrust acting on the movable bed. The corresponding relationship between the sensing value of the pressure sensor and the torque is obtained; the corresponding relationship is determined according to the movement stage of the movable bed. According to the corresponding relationship and the real-time sensing value of the pressure sensor, the real-time torque corresponding to the operator is determined.

[0122] Among them, the pressure sensor can be set on the movable bed to collect the thrust applied by the operator on the movable bed in real time.

[0123] In order to make the movable bed move smoothly and smoothly, and to adapt to the operating characteristics of the planetary reducer, the motor can provide different torques to assist the stable movement of the movable bed in different stages of movement of the movable bed. Based on this, the corresponding relationship between the sensing value of the pressure sensor and the torque can be determined according to the movement stage of the movable bed. Among them, the planetary reducer is used to control the movement of the movable bed, such as lifting, tilting, and rotating. The high-speed output of the motor is converted into low-speed, high-precision movement through the planetary reducer, which can ensure that the doctor can obtain the required precise position when operating the catheter.

[0124] In some embodiments, the movement stages of the movable bed may include a starting stage, an intermediate stage, and a third stage. The static friction force in the starting stage is relatively large, so a larger assist torque is required from the motor to achieve rapid driving of the movable bed. After the torque of the motor reaches a certain threshold, the movable bed enters the intermediate stage. In this stage, the torque of the motor continues to increase with the sensing value of the pressure sensor to overcome the resistance of the planetary reduction box. When the torque of the motor increases further, the movable bed needs to continue to move smoothly and enter the third stage. It can be understood that by setting a corresponding relationship between the value of the pressure sensor and the torque, the movement requirements of the movable bed in each movement stage can be met.

[0125] In some embodiments, the corresponding relationship between the sensing value of the pressure sensor and the torque can be expressed as a relationship function or a discretized table. In some specific embodiments, the corresponding relationship can be characterized by a relationship function curve in which the horizontal axis represents the sensing value of the pressure sensor and the vertical axis represents the torque. In other specific embodiments, the relationship function curve can be discretized at a fixed step size based on matlab to generate a discretized table, which is convenient for determining the torque of the motor according to the sensing value of the pressure sensor.

[0126] In some embodiments, the method provided by the embodiments of the present application also includes: determining a relationship function that matches at least one movement stage of the movable bed, the movement stage is determined based on the real-time sensing value of the pressure sensor and the pressure threshold, and the relationship function is used to characterize the relationship between the torque of the motor and the change in the sensing value of the pressure sensor; determining the corresponding relationship based on the relationship function.

[0127] In an embodiment of the present application, the movement stage of the movable bed can be determined based on the real-time sensing value of the pressure sensor of the motor and the pressure threshold. Specifically, if the real-time sensing value of the pressure sensor is less than the first preset value, it can be determined that the movement stage is the starting stage for overcoming static friction. If the real-time sensing value of the pressure sensor is greater than or equal to the first preset value and less than the second preset value, the movement stage of the movable bed is determined to be the intermediate stage for mainly overcoming the resistance of the planetary reduction box. The intermediate stage may include the accelerated movement stage of the movable bed. If the real-time sensing value of the pressure sensor is greater than or equal to the second preset value and less than the third preset value, the movement stage is determined to be the third stage for controlling the smooth movement of the movable bed. The third stage may include the smooth movement stage of the movable bed.

[0128] In some embodiments, different relationship functions can be set according to different movement stages of the movable bed to meet different assistance requirements. In other embodiments, the same relationship function can be set for the torque of the motor and the pressure sensor to meet the corresponding assistance requirements in different movement stages.

[0129] In some specific embodiments, the relationship function can be used to characterize the relationship between the torque of the motor and the change in the sensing value of the pressure sensor. Specifically, the relationship function may include the following formula:

[0130]

[0131] y represents the sensing value of the pressure sensor, g(y) represents the torque of the motor, and parameter 200 can be determined by the maximum acceleration of the motor. In some specific embodiments, the relationship function can represent a relationship function curve, where the horizontal axis represents the sensing value of the pressure sensor and the vertical axis represents the torque of the motor.

[0132] In the embodiment of the present application, after obtaining the corresponding relationship between the sensing value of the pressure sensor and the torque of the motor, the real-time torque of the motor corresponding to the real-time sensing value of the pressure sensor can be determined according to the real-time sensing value of the pressure sensor. Specifically, the real-time torque can be determined by the relationship function and the real-time sensing value of the pressure sensor; or the real-time torque can be determined by looking up the table according to the real-time sensing value of the pressure sensor through a discretized table that characterizes the corresponding relationship between the sensing value of the pressure sensor and the torque of the motor.

[0133] The present application determines the correspondence between the sensing value of the pressure sensor and the torque of the motor according to the movement stage of the movable bed. The correspondence can determine the quantitative relationship between manpower and torque according to the movement stage. Then, the real-time torque is determined according to the correspondence and the real-time sensing value of the pressure sensor, and the movable bed is controlled according to the real-time torque, so that the movable bed can be provided with corresponding assistance in the corresponding movement stage of the movable bed, solving the problem that the bed cannot be moved by manpower in traditional technology.

[0134] The following is an example of the present application to illustrate an implementation method for determining a relationship function according to the movement phase of a movable bed.

[0135] In some embodiments, the pressure threshold includes a first preset value, and determining a relationship function that matches at least one movement stage of the movable bed includes: if the real-time sensing value of the pressure sensor is less than the first preset value, determining that the movement stage is a startup stage; determining a first slope of the startup stage, and determining a relationship function based on the first slope, the first slope is positively correlated with the sensing value of the pressure sensor, and the first slope includes the rate of change of torque with respect to the sensing value of the pressure sensor.

[0136] In the example of the present application, if the real-time sensing value of the pressure sensor is less than the first preset value, it can be determined that the movable bed is in the moving stage of overcoming static friction, and the movement stage of the movable bed is determined to be the starting stage. The first slope of the starting stage is determined, and the relationship function is determined based on the first slope. The first slope includes the rate of change of the torque with respect to the sensing value of the pressure sensor. Among them, the first slope is positively correlated with the sensing value of the pressure sensor, that is, in the starting stage, the larger the sensing value of the pressure sensor, the larger the first slope of the relationship function, and the faster the torque increases.

[0137] In some embodiments, the pressure threshold includes a second preset value, and determining a relationship function that matches at least one movement stage of the movable bed includes: if the real-time sensing value of the pressure sensor is greater than or equal to the first preset value and less than the second preset value, then the movement stage is determined to be an intermediate stage, and the second preset value is greater than the first preset value; determining a second slope of the intermediate stage, and determining a relationship function based on the second slope, the second slope is positively correlated with the sensing value of the pressure sensor, and the second slope includes the rate of change of torque with respect to the sensing value of the pressure sensor.

[0138] In an embodiment of the present application, if the real-time sensing value of the pressure sensor is greater than or equal to the first preset value and less than the second preset value, it can be determined that the movable bed is in the intermediate stage of mainly overcoming the resistance of the planetary reduction box, and the second preset value is greater than the first preset value.

[0139] The second slope in the middle stage is determined, and the relationship function is determined based on the second slope, wherein the second slope includes the rate of change of the torque with respect to the sensing value of the pressure sensor. The second slope is positively correlated with the sensing value of the pressure sensor, that is, in the middle stage, the greater the sensing value of the pressure sensor, the greater the second slope of the relationship function, and the faster the torque increases.

[0140] In some embodiments, the second slope is greater than or equal to the first slope.

[0141] In the middle stage of the movable bed, a greater resistance needs to be overcome, so the second slope may be greater than or equal to the first slope. In some specific embodiments, the second slope may be a fixed value or a variable value.

[0142] If the second slope is a fixed value, it means that the relationship function in the intermediate stage is a straight line, the torque is proportional to the sensing value of the pressure sensor, and the fixed value of the second slope can be the maximum value of the continuously changing first slope, or the fixed value of the second slope can be greater than the maximum value of the first slope.

[0143] If the second slope is a changing value, it means that the relationship function in the intermediate stage is a curve. The larger the sensing value of the pressure sensor, the larger the second slope of the relationship function. However, the minimum value of the second slope of the relationship function can be greater than or equal to the maximum value of the continuously changing first slope.

[0144] In some embodiments, the pressure threshold includes a third preset value, and determining a relationship function that matches at least one movement stage of the movable bed includes: if the real-time sensing value of the pressure sensor is greater than or equal to the second preset value and less than the third preset value, then the movement stage is determined to be the third stage, the third preset value is greater than the second preset value, and the third preset value corresponds to the saturation output point of the pressure sensor; determining the third slope of the third stage, and determining the relationship function based on the third slope, the third slope is negatively correlated with the sensing value of the pressure sensor, and the third slope includes the rate of change of torque with respect to the sensing value of the pressure sensor.

[0145] In the embodiment of the present application, if the real-time sensing value of the pressure sensor is greater than or equal to the second preset value and less than the third preset value, it is determined that the movement stage of the movable bed is the third stage. The third preset value is greater than the second preset value. In the third stage of the movable bed, the torque of the motor tends to saturation, and the saturation output point of the pressure sensor corresponds to the third preset value. In some specific embodiments, the third preset value includes the maximum output torque of the motor.

[0146] A third slope of the third stage is determined, and a relationship function is determined based on the third slope, wherein the third slope includes a rate of change of the torque with respect to the sensing value of the pressure sensor, wherein the third slope is negatively correlated with the sensing value of the pressure sensor.

[0147] It can be understood that in the third stage of the movable bed, in order to maintain the smooth movement of the equipment, although the motor still needs to output a higher torque, the torque of the motor does not need to continue to increase rapidly. Therefore, in some embodiments, to ensure the smooth movement of the movable bed, the third slope of the third stage is less than the second slope of the middle stage.

[0148] In some embodiments, the relationship function is a continuous curve function. In order to further ensure that the movable bed has a stable moving state in all three stages, the relationship function provided in the embodiment of the present application can also be a continuous curve function. By setting the relationship function as a continuous curve function, when the movable bed enters the middle stage from the start-up stage, and when it enters the third stage from the middle stage, the motor can provide a stable assist torque, making the torque change smoother.

[0149] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0150] Based on the same inventive concept, the embodiment of the present application also provides a movable bed power-assistance control device for implementing the movable bed power-assistance control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more embodiments of the movable bed power-assistance control device provided below can refer to the limitations of the movable bed power-assistance control method above, and will not be repeated here.

[0151] In one embodiment, a movable bed power assist control device is provided, comprising:

[0152] A speed limit acquisition module, used for obtaining a real-time speed limit based on a real-time distance of the movable bed relative to the limit position when the movable bed moves toward the limit position under the action of an operator;

[0153] An actual running speed acquisition module, used to acquire the actual running speed of the movable bed;

[0154] A speed comparison module, used to determine whether the actual running speed is greater than the real-time limit speed;

[0155] The target torque determination module is used to obtain a real-time target torque based on the real-time limit speed if the actual running speed of the movable bed is greater than the real-time limit speed, so that the motor generates a force on the movable bed according to the real-time target torque.

[0156] In one embodiment, the target torque determination module is further used to: determine the real-time compensation torque based on the real-time speed limit; obtain the real-time torque corresponding to the operator; and obtain the real-time target torque based on the real-time compensation torque and the real-time torque.

[0157] In one embodiment, the target torque determination module is also used to: adjust the real-time torque based on the real-time compensation torque to obtain an adjustment result; when the torque corresponding to the adjustment result is not greater than the maximum torque set to make the movable bed run smoothly, use the torque corresponding to the adjustment result as the real-time target torque; when the torque corresponding to the adjustment result is greater than the maximum torque, use the maximum torque as the real-time target torque.

[0158] In one embodiment, the speed limit acquisition module is further used to: monitor whether the movable bed enters the deceleration zone; when the movable bed is monitored to enter the deceleration zone, obtain the real-time speed limit based on the real-time distance of the movable bed relative to the limit position.

[0159] In one embodiment, the speed limit acquisition module is further used to: monitor the real-time distance of the movable bed relative to the limit position; and determine whether the movable bed enters the deceleration zone based on the real-time distance.

[0160] In one embodiment, the speed limit acquisition module is further used to: determine whether the real-time distance is equal to the set deceleration distance; when the real-time distance is equal to the set deceleration distance, determine that the movable bed has entered the deceleration zone; when the real-time distance is greater than the set deceleration distance, determine that the movable bed has not entered the deceleration zone.

[0161] In one embodiment, the speed limit acquisition module is further used to: obtain a corresponding table; the corresponding table includes: the maximum operating speeds corresponding to the movable bed at different distances relative to the limit position; determine the maximum operating speed corresponding to the real-time distance in the corresponding table; and use the maximum operating speed corresponding to the real-time distance as the real-time speed limit.

[0162] In one embodiment, the device further includes a real-time distance acquisition module, which is used to: acquire the real-time position of the movable bed; and obtain the real-time distance of the movable bed relative to the limit position based on the real-time position and the limit position.

[0163] Each module in the above-mentioned movable bed power-assisting control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0164] In one embodiment, a movable bed power-assist control system is provided, the system comprising a movable bed, a motor, and a processor.

[0165] Wherein, when the movable bed moves toward the limit position under the action of the operator, the processor obtains the real-time limit speed based on the real-time distance of the movable bed relative to the limit position;

[0166] The processor obtains the actual running speed of the movable bed;

[0167] The processor determines whether the actual running speed is greater than the real-time limit speed;

[0168] If the actual running speed of the movable bed is greater than the real-time limit speed, the processor obtains the real-time target torque based on the real-time limit speed, so that the motor generates a force on the movable bed according to the real-time target torque.

[0169] The processor may also execute the steps described in any embodiment of the above-mentioned movable bed assist control method, which will not be repeated here.

[0170] In one embodiment, the aforementioned processor may be arranged in a computer device in the movable bed assist control system. The internal structure diagram of the computer device may be as follows: Figure 5 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data involved in the above method. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for controlling a movable bed assist is implemented.

[0171] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0172] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps in the above-mentioned various method embodiments when executing the computer program.

[0173] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0174] In one embodiment, a computer program product is provided, on which a computer program is stored, and the computer program is used by a processor to execute the steps in the above-mentioned various method embodiments.

[0175] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0176] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0177] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for controlling a movable bed, characterized in that: The method comprises: When the movable bed moves toward the limit position under the action of the operator, a real-time limit speed is obtained based on the real-time distance of the movable bed relative to the limit position; Obtaining the actual running speed of the movable bed; Determining whether the actual running speed is greater than the real-time speed limit; If the actual operating speed of the movable bed is greater than the real-time limit speed, a real-time target torque is obtained based on the real-time limit speed, so that the motor generates a force on the movable bed according to the real-time target torque.

2. The method according to claim 1, characterized in that Based on the real-time speed limit, a real-time target torque is obtained, including: Based on the real-time speed limit, determining a real-time compensation torque; Acquire a real-time torque corresponding to the operator; Based on the real-time compensation torque and the real-time torque, a real-time target torque is obtained.

3. The method according to claim 2, characterized in that Based on the real-time compensation torque and the real-time torque, a real-time target torque is obtained, including: Adjust the real-time torque based on the real-time compensation torque to obtain an adjustment result; When the torque corresponding to the adjustment result is not greater than the maximum torque set to enable the movable bed to run smoothly, the torque corresponding to the adjustment result is used as the real-time target torque; When the torque corresponding to the adjustment result is greater than the maximum torque, the maximum torque is used as the real-time target torque.

4. The method according to claim 1, characterized in that: Based on the real-time distance of the movable bed relative to the limit position, a real-time limit speed is obtained, including: monitoring whether the movable bed enters a deceleration zone; When it is monitored that the movable bed enters the deceleration zone, a real-time speed limit is obtained based on the real-time distance of the movable bed relative to the limit position.

5. The method according to claim 4, characterized in that Monitoring whether the movable bed enters the deceleration zone includes: Monitoring the real-time distance of the movable bed relative to the limit position; Based on the real-time distance, it is determined whether the movable bed enters a deceleration zone.

6. The method according to claim 5, characterized in that Determining whether the movable bed enters a deceleration zone based on the real-time distance includes: Determining whether the real-time distance is equal to the set deceleration distance; When the real-time distance is equal to the set deceleration distance, it is determined that the movable bed enters the deceleration zone; When the real-time distance is greater than the set deceleration distance, it is determined that the movable bed has not entered the deceleration zone.

7. The method according to claim 1, characterized in that Based on the real-time distance of the movable bed relative to the limit position, a real-time limit speed is obtained, including: Obtaining a corresponding table; the corresponding table includes: the maximum running speeds corresponding to the movable bed at different distances relative to the limit position; Determine the maximum running speed corresponding to the real-time distance in the correspondence table; The maximum running speed corresponding to the real-time distance is used as the real-time speed limit.

8. The method according to any one of claims 1 to 7, characterized in that: The method further comprises: Obtaining the real-time position of the movable bed; Based on the real-time position and the limit position, the real-time distance of the movable bed relative to the limit position is obtained.

9. A movable bed power-assisting control system, characterized in that: The system includes a movable bed, a motor, and a processor; When the movable bed moves toward the limit position under the action of the operator, the processor obtains a real-time limit speed based on a real-time distance of the movable bed relative to the limit position; The processor obtains the actual running speed of the movable bed; The processor determines whether the actual running speed is greater than the real-time limit speed; If the actual running speed of the movable bed is greater than the real-time limit speed, the processor obtains the real-time target torque based on the real-time limit speed, so that the motor generates a force on the movable bed according to the real-time target torque.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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