Movable bed power-assistance control method, system and storage medium

Abstract

This application relates to the field of movable bed control technology, and provides a movable bed assist control method, system, and storage medium that can assist the operator in stopping the movable bed. In this application, during the process of the movable bed moving towards a limit position under the operator's action, a real-time limit speed is obtained based on the real-time distance of the movable bed relative to the limit position; the actual running speed of the movable bed is obtained; it is determined whether the actual running speed is greater than the real-time limit speed; if the actual running speed 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.

Description

Technical Field

[0001] This application relates to the field of movable bed control technology, and in particular to a movable bed assist control method, device, system, computer equipment, storage medium and computer program product. Background Technology

[0002] DSA (Digital Subtraction Angiography) is a digital subtraction angiography technique. The scanning and imaging process using this technique involves a catheter bed, which is movable and thus a type of mobile bed.

[0003] When using a horizontally moving catheterization bed, manual control is mainly used, and the patient's position is moved by pushing the bed manually. However, a six-dimensional moving bed has tilting motion, which requires a speed reducer to drive it. This makes it difficult, or even impossible, to push the moving bed manually when it is horizontal. Summary of the Invention

[0004] Therefore, it is necessary to provide a movable bed assist control method, device, computer equipment, storage medium, and computer program product to address the above-mentioned technical problems.

[0005] This application provides a method for assistive control of a movable bed, the method comprising:

[0006] As the movable bed moves toward the limit position under the operator's action, the real-time limit speed is obtained based on the real-time distance of the movable bed relative to the limit position.

[0007] Obtain the actual operating speed of the movable bed;

[0008] Determine whether the actual operating 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, then 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 aforementioned real-time speed limit, the real-time compensation torque is determined;

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

[0013] Based on the real-time compensation torque and the real-time torque, the 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] The real-time torque is adjusted based on the real-time compensation torque to obtain the adjustment result;

[0016] 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 shall be taken 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 taken as the real-time target torque.

[0018] In one embodiment, the real-time limiting speed is obtained based on the real-time distance of the movable bed relative to the limiting position, including:

[0019] Monitor whether the movable bed enters the deceleration zone;

[0020] When the movable bed is detected to enter the deceleration zone, the 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 includes:

[0022] Monitor the real-time distance of the movable bed relative to the limiting position;

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

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

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

[0026] When the real-time distance equals the set deceleration distance, it is determined that the movable bed has entered 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, the real-time limiting speed is obtained based on the real-time distance of the movable bed relative to the limiting position, including:

[0029] Obtain the correspondence table; the correspondence table includes: the maximum operating speed of the movable bed at different distances relative to the limiting position;

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

[0031] The highest operating speed corresponding to the real-time distance is taken as the real-time speed limit.

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

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

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

[0035] This application provides a movable bed assist control device, the device comprising:

[0036] The speed limit acquisition module is used to obtain the real-time speed limit based on the real-time distance between the movable bed and the limit position during the process of the movable bed moving towards the limit position under the action of the operator.

[0037] The actual operating speed acquisition module is used to acquire the actual operating speed of the movable bed;

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

[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 operating 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] This application provides a movable bed assist control system, the system including a movable bed, a motor and a processor;

[0041] As the movable bed moves toward the limit position under the operator's action, the processor obtains the real-time limit speed based on the real-time distance of the movable bed relative to the limit position.

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

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

[0044] If the actual operating speed of the movable bed is greater than the real-time speed limit, the processor obtains the real-time target torque 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.

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

[0046] This application provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor using the methods described above.

[0047] This application provides a computer program product having a computer program stored thereon, the computer program being executed by a processor using the above-described method.

[0048] In the solution provided in this application, during the movement of the movable bed towards the limit position under the operator's action, a real-time speed limit 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 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. This assists the operator in ensuring that the running speed of the movable bed when it reaches the limit position does not exceed the set stopping speed. No braking devices are required, and there is no noise or vibration generated by braking devices. When the operator needs to reverse the movement, there is no need to release the braking device, and the reverse movement can be responded to quickly. Furthermore, deceleration control based on the real-time distance of the movable bed relative to the limit position can ensure that the movable bed does not collide with the limit block located at the limit position as much as possible, avoiding uncomfortable impacts caused by collisions, and also avoiding the safety risks caused by the lifespan of the limit block due to excessive impacts. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0051] Figure 2 This is a flowchart illustrating a movable bed assist control method in one embodiment;

[0052] Figure 3 This is a schematic diagram of a velocity versus position smoothing curve in one embodiment;

[0053] Figure 4(a) is a flowchart of a movable bed assist control method in another embodiment;

[0054] Figure 4(b) is a flowchart illustrating the process of determining the real-time target torque in one embodiment;

[0055] Figure 5This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

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

[0058] The movable bed assisted control method provided in this application can assist the operator in moving the movable bed horizontally. The movable bed involved in this application may include a catheterization bed. The maximum horizontal travel distance of such a movable bed can be set; specifically, a limit block can be placed at a limit position to restrict the maximum horizontal travel distance of the catheterization bed. In some scenarios, the horizontal direction of movement of the catheterization bed may include... Figure 1 The two arrows are shown in the direction.

[0059] In one embodiment, a movable bed assist control method is provided, which can be executed by a computer device, including: Figure 2 The steps shown are as follows:

[0060] In step S201, during 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.

[0061] The operator can apply horizontal force (e.g.) to the movable bed. Figure 1(As indicated by the arrow) the thrust is applied, the movable bed will move towards the limit position under the operator's control. During this process, the real-time position of the movable bed can be monitored. Based on the real-time position of the movable bed and the pre-obtained limit position, the real-time distance of the movable bed relative to the limit position is obtained, and the corresponding real-time limiting speed is determined. The smaller the real-time distance, the closer the movable bed is to the limit position, and the smaller the corresponding real-time limiting speed is, and the closer it is to the set stopping speed. This method allows the operator to focus more on assisting the surgical process as the movable bed approaches the limit position without needing to concentrate on controlling the movable bed's position. At the same time, the closer it is to the limit position, the smaller the corresponding real-time limiting speed, and the smoother the deceleration, improving the operator's sense of security and reducing concerns about impact. The specific value of the stopping speed can be set according to actual needs; in some scenarios, the stopping speed can be set to 0.

[0062] Step S202: Obtain the actual operating speed of the movable bed.

[0063] As the movable bed moves towards the limit position under the operator's control, the computer equipment can obtain the real-time running speed of the movable bed through the speed sensor.

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

[0065] After obtaining the real-time speed limit, the relative magnitude 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 speed of the movable bed does not need to be limited. Based on the horizontal thrust that the operator can apply to the movable bed, a real-time torque corresponding to the operator can be obtained, and this 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 applies it to the movable bed.

[0067] If the actual operating speed is greater than the real-time speed limit, then proceed to step S204.

[0068] Step S204: If the actual operating speed of the movable bed is greater than the real-time limit speed, then 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.

[0069] When the actual operating speed of the movable bed exceeds the real-time speed limit, the purpose of the obtained real-time target torque is primarily to reduce the operating speed of the movable bed to within the speed limit as much as possible. The magnitude of the torque required to reduce the operating speed of the movable bed to within the speed limit can be determined based on the difference between the actual operating speed and the real-time speed limit, thus obtaining the real-time target torque.

[0070] For example, the processor used to obtain the real-time target torque may include a processor located on a computer device other than the motor. In this case, after the processor of the computer device obtains the real-time target torque in the manner described above, it can send the real-time target torque to the motor.

[0071] As another example, the processor used to obtain the real-time target torque may include a processor mounted on the motor. In this case, after the processor in the motor obtains the real-time target torque in the manner described above, 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] As another example, the processor used to obtain the real-time target torque may include: a processor on a computer device located outside the motor and a processor located on the motor. In this case, some steps may be performed by the processor on the computer device, and other steps may be performed by the processor on 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 apply it to the movable bed. By continuously executing the aforementioned steps S201 to S204, the operating speed of the movable bed when it reaches the limit position under the horizontal pushing action of the operator will not exceed the set stopping speed, which can assist the operator in stopping the operation of the movable bed.

[0074] In the aforementioned movable bed assist control method, during the movement of the movable bed towards the limit position under the operator's action, a 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, 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. This assists the operator in ensuring that the running speed of the movable bed when it reaches the limit position does not exceed the set stopping speed. No braking devices are required, and there is no noise or vibration generated by braking devices. When the operator needs to reverse the movement, there is no need to release the braking device, and the reverse movement can be responded to quickly. Furthermore, deceleration control based on the real-time distance of the movable bed relative to the limit position can ensure that the movable bed does not collide with the limit block located at the limit position as much as possible, avoiding uncomfortable impacts caused by collisions, and also avoiding the safety risks caused by the lifespan of the limit block due to excessive impacts.

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

[0076] When the actual operating speed exceeds the real-time speed limit, the speed of the movable bed can be limited to prevent it from exceeding the set stopping speed when reaching the limit position, thus reducing the risk of the movable bed colliding with the limit block at the limit position. In this case, the corresponding torque can be determined based on the difference between the actual operating speed and the real-time speed limit; this torque can be called the real-time compensation torque.

[0077] Based on 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 can be determined by combining the aforementioned preset correspondence, and this torque can be used as the real-time torque corresponding to the operator.

[0078] The magnitude of the real-time torque can be adjusted based on the real-time compensation torque. Specifically, the real-time torque can be reduced based on the real-time compensation torque, and the reduced torque is used as the real-time target torque.

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

[0080] In one embodiment, obtaining the real-time target torque based on the real-time compensation torque and the real-time torque includes: adjusting the real-time torque based on the real-time compensation torque to obtain 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 is taken as the real-time target torque; when the torque corresponding to the adjustment result is greater than the maximum torque, the maximum torque is taken as the real-time target torque.

[0081] Specifically, the real-time torque can be subtracted from the real-time compensation torque, and the result of the subtraction can be used as the adjustment result. When the torque corresponding to the adjustment result is not greater than the maximum torque set to ensure smooth operation of the movable bed, 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, directly using the torque corresponding to the adjustment result as the real-time target torque may make it difficult to ensure smooth operation of the movable bed. In this case, the maximum torque that ensures smooth operation of the movable bed can be used as the real-time target torque.

[0082] In this embodiment, after adjusting the real-time torque corresponding to the operator based on the real-time compensation torque and obtaining the adjustment result, 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 compared with the maximum torque that makes the movable bed run smoothly, and the real-time target torque is determined according to the judgment result to ensure that the movable bed can run smoothly as much as possible.

[0083] In one embodiment, obtaining the real-time limiting speed based on the real-time distance of the movable bed relative to the limiting position includes: monitoring whether the movable bed enters the deceleration zone; when the movable bed is detected to have entered the deceleration zone, obtaining the real-time limiting speed based on the real-time distance of the movable bed relative to the limiting position.

[0084] The operator can apply a horizontal thrust to the movable bed, which will move towards the limit position under the operator's action. If the movable bed is far from the limit position when it starts running, the real-time torque corresponding to the operator can be used as the real-time target torque. This situation is considered as not adopting a speed limiting strategy.

[0085] Based on this, users can set a deceleration zone according to actual needs. The deceleration zone is the area where the movable bed needs to decelerate. During the operation of the movable bed towards the limit position under the operator's action, it is possible to monitor in real time whether the movable bed enters the deceleration zone. If not, the speed limiting strategy can be omitted; if so, the speed limiting strategy can be adopted, and steps S201 to S204 can be executed.

[0086] In this embodiment, as the movable bed moves toward the limit position under the operator's action, it is possible to monitor in real time whether the movable bed enters the deceleration zone. If it does not enter, there is no need to adopt a speed limiting strategy; if it does enter, a speed limiting strategy can be adopted, thereby improving 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 has entered the deceleration zone based on the real-time distance.

[0088] For example, the deceleration zone can be defined as the area formed by positions whose distance from the limit position is less than a set deceleration distance. In this case, as the movable bed moves towards the limit position under the operator's action, the real-time distance of the movable bed relative to the limit position can be obtained, the relative magnitude between the real-time distance and the set distance value can be compared, and based on the judgment result, it can be determined whether the movable bed has entered the deceleration zone.

[0089] In this embodiment, based on the real-time distance between the movable bed and the limit position, it is easy and quick to determine whether the movable bed has entered the deceleration zone, thereby improving processing efficiency.

[0090] In one embodiment, determining whether a movable bed has entered a deceleration zone based on real-time distance includes: determining whether the real-time distance is equal to a 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 between the movable bed and 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 within the deceleration zone.

[0092] In this embodiment, based on the relative magnitude between the real-time distance of the movable bed relative to the limit position and the set deceleration distance, it is possible to quickly and easily determine whether the movable bed is within the deceleration zone, thereby improving processing efficiency.

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

[0094] A speed-position smoothing curve can be preset, which describes the maximum operating speed of the movable bed at different distances relative to the limit position. The speed-position smoothing curve can 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] To satisfy the above feature (1), the corresponding table can be set as follows: the difference between the maximum operating speeds corresponding to each distance within the initial deceleration distance segment is less than the set value.

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

[0099] In some scenarios, the resulting velocity-position smooth curve is as follows: Figure 3 As shown, the x-axis represents the distance between the movable bed and the limit position, and the y-axis represents the maximum operating speed corresponding to the distance. The maximum operating speed is 400 mm / s. The deceleration zone can include positions within 0 to 750 mm of the limit position.

[0100] exist Figure 3 In the example shown, the velocity-position smooth curve can be represented 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 smoothing curve, the maximum operating speed corresponding to each distance in the range of 0 to 750 mm can be extracted from the speed and position smoothing curve in a step size of 0.5 mm. For example, the maximum operating speed corresponding to 0, the maximum operating speed corresponding to 0.5 mm, and the maximum operating speed corresponding to 1 mm can be formed. Therefore, the correspondence table includes the maximum operating speed 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 to the limit position under the operator's action, after the computer device obtains the real-time distance of the movable bed relative to the limit position, it can determine the distance that matches the real-time distance in the corresponding table, take the maximum running speed corresponding to the distance as the maximum running speed corresponding to the real-time distance, and take the maximum running speed as the real-time limit speed.

[0104] In this embodiment, the maximum operating speed corresponding to the real-time distance is determined based on the maximum operating speed of the movable bed at different distances relative to the limit position, which is included in the pre-set correspondence table, thereby improving processing efficiency.

[0105] In one embodiment, the method provided by this 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 limiting position based on the real-time position and the limiting position.

[0106] The real-time position of the movable bed can be obtained using sensors with positioning capabilities. In some scenarios, the positioning sensor may include a position encoder. In this case, a position encoder specifically for the movable bed can be pre-set; this encoder can be called a movable bed position encoder. As the movable bed moves towards the limit position under the operator's control, the computer equipment can obtain the real-time position of the movable bed through the movable bed position encoder. Based on the distance between this real-time position and the pre-set limit position, the real-time distance of the movable bed relative to the limit position can be obtained.

[0107] To better understand the above method, the following details an application example of the movable bed assist control method of this application.

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

[0109] Step S401: Read the real-time position of the movable bed;

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

[0111] Step S402: Calculate the real-time distance of the movable bed relative to the limiting position;

[0112] Specifically, based on the real-time position of the movable bed and the pre-obtained 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 has entered or is in the deceleration zone, and then step S403 can be entered.

[0113] Step S403: Determine the maximum operating speed by referring to the table;

[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 that matches the real-time distance in the corresponding table, and use the maximum operating speed corresponding to that distance as the maximum operating speed corresponding to the real-time distance.

[0115] Step S404: Determine 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 limit speed, and then can proceed to the processing flow shown in Figure 4(b) to determine the real-time target torque.

[0117] The processing flow shown in Figure 4(b) involves two levels of torque limiting. The first level of torque limiting mainly adjusts the real-time torque corresponding to the operator to avoid exceeding the adjustment range of the speed limit regulator. The maximum torque used in the first level of torque limiting is called the first maximum torque. The second level of torque limiting mainly ensures that the movable bed runs smoothly and safely. The maximum torque used in the second level of torque limiting is called the second maximum torque.

[0118] The processing flow shown in Figure 4(b) is as follows: After obtaining the real-time torque corresponding to the operator, 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 limiter is used to process and obtain the corresponding torque, which is called the torque to be adjusted to the second level; then, according to the torque to be adjusted to the second level, the second maximum torque and the strategy corresponding to the second-level torque limit, the corresponding torque is obtained and the torque is used as the real-time target torque.

[0119] The motor generates a corresponding force based on the real-time target torque and applies it to the movable bed. This assists the operator in stopping the movable bed when it reaches the limit position, eliminating the need for braking devices and preventing noise and vibration associated with braking. Reverse movement is also quick and requires no disengagement of the brakes. Furthermore, deceleration control based on the real-time distance between the movable bed and the limit position minimizes the risk of the bed colliding with the limit block, avoiding uncomfortable impacts and minimizing the safety risks associated with the limit block's lifespan due to excessive impacts. Additionally, the smaller the real-time distance, the closer the movable bed is to the limit position, and the lower the corresponding real-time limiting speed, which is closer to the set stopping speed. This design allows the operator to focus more on assisting the surgical procedure as the bed approaches the limit position, without needing to concentrate on controlling the bed's position. The closer to the limit position, the smoother the deceleration, increasing the operator's sense of security and reducing concerns about impacts.

[0120] As described above, when the operator applies a horizontal thrust to the movable bed and obtains the real-time torque corresponding to the operator, the correspondence between the thrust and the torque can be preset. Based on the horizontal thrust applied by the operator to the movable bed and the preset correspondence, the 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 correspondence between the pressure sensor's sensing value and the torque is obtained; this correspondence is determined based on the movement stage of the movable bed. Based on the correspondence and the real-time sensing value of the pressure sensor, the real-time torque corresponding to the operator is determined.

[0122] The pressure sensor can be installed on the movable bed to collect the thrust exerted by the operator on the movable bed in real time.

[0123] To ensure smooth and stable movement of the mobile bed and to accommodate the operating characteristics of the planetary gearbox, the motor can provide different torques at different stages of the bed's movement to assist in its stable motion. Based on this, the correspondence between the pressure sensor's reading and the torque can be determined according to the movement stage of the mobile bed. The planetary gearbox is used to control the movement of the mobile bed, such as lifting, tilting, and rotating. By converting the high-speed output of the motor into low-speed, high-precision movement through the planetary gearbox, it ensures that doctors can achieve the required precise positioning when manipulating catheters.

[0124] In some embodiments, the movement stages of the movable bed may include a starting stage, an intermediate stage, and a third stage. During the starting stage, the static friction is relatively high, thus requiring a large assist torque from the motor to achieve rapid movement of the movable bed. After the motor torque reaches a certain threshold, the movable bed enters the intermediate stage, where the motor torque continuously increases with the pressure sensor's reading to overcome the resistance of the planetary gearbox. As the motor torque further increases, the movable bed needs to move smoothly and continuously, entering the third stage. It is understandable that by establishing a correspondence between the pressure sensor value and the torque, the movement requirements of the movable bed at each stage can be met.

[0125] In some embodiments, the correspondence between the pressure sensor's sensed value and the torque can be represented as a relational function or as a discretized table. In some specific embodiments, the correspondence can be characterized by the relational function curve, where the horizontal axis represents the pressure sensor's sensed value and the vertical axis represents the torque. In other specific embodiments, the relational function curve can be discretized using MATLAB with a fixed step size to generate a discretized table, facilitating the determination of the motor torque based on the pressure sensor's sensed value.

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

[0127] In this embodiment, the movement stage of the movable bed can be determined based on the real-time sensing value of the motor's pressure sensor and the pressure threshold. Specifically, if the real-time sensing value of the pressure sensor is less than a first preset value, the movement stage can be determined as the starting stage of 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 a second preset value, the movement stage of the movable bed is determined as the intermediate stage, mainly overcoming the resistance of the planetary gearbox. The intermediate stage may include the acceleration 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 a third preset value, the movement stage is determined as the third stage, 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 motor torque and 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 motor torque 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 pressure sensor's sensing value, g(y) represents the motor's torque, and parameter 200 can be determined by the motor's maximum acceleration. In some specific embodiments, the relationship function can be represented as a relationship function curve, where the horizontal axis represents the pressure sensor's sensing value and the vertical axis represents the motor's torque.

[0132] In this embodiment, after obtaining the correspondence between the pressure sensor's sensing value and the motor's torque, the real-time torque of the motor corresponding to the pressure sensor's real-time sensing value can be determined based on the pressure sensor's real-time sensing value. Specifically, the real-time torque can be determined using a relational function and the pressure sensor's real-time sensing value; alternatively, it can be determined by looking up the real-time torque in a discretized table representing the correspondence between the pressure sensor's sensing value and the motor's torque.

[0133] This application determines the correspondence between the pressure sensor's readings and the motor's torque based on the movement stages of the movable bed. This correspondence allows for the quantitative determination of the relationship between human effort and torque based on the movement stages. Then, based on this correspondence and the real-time readings of the pressure sensor, the real-time torque is determined, and the movable bed is controlled accordingly. This enables the provision of appropriate assistance to the movable bed during its corresponding movement stages, solving the problem of traditional technologies where the bed cannot be moved manually.

[0134] The following embodiments illustrate how to determine the relational function based on the motion 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 motion stage of the movable bed includes: if the real-time sensing value of the pressure sensor is less than the first preset value, then determining the motion stage as a start-up stage; determining a first slope of the start-up stage, and determining a relationship function based on the first slope, wherein 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 this application example, if the real-time sensing value of the pressure sensor is less than a first preset value, the movable bed can be determined to be in the movement stage of overcoming static friction, and the movement stage of the movable bed can be determined as the start-up stage. A first slope for the start-up stage is determined, and a relationship function is determined based on the first slope. The first slope includes the rate of change of torque with respect to the sensing value of the pressure sensor. The first slope is positively correlated with the sensing value of the pressure sensor; that is, in the start-up 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 the relationship function that matches at least one motion stage of the movable bed includes: if the real-time sensing value of the pressure sensor is greater than or equal to a first preset value and less than a second preset value, then determining the motion stage as an intermediate stage, wherein the second preset value is greater than the first preset value; determining a second slope of the intermediate stage, and determining the relationship function based on the second slope, wherein 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 this embodiment of the 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 the intermediate stage that mainly overcomes the resistance of the planetary gearbox, and the second preset value is greater than the first preset value.

[0139] A second slope is determined for the intermediate stage, and a relationship function is determined based on this second slope. The second slope includes the rate of change of torque with respect to the pressure sensor's sensing value. Specifically, the second slope is positively correlated with the pressure sensor's sensing value; that is, in the intermediate stage, the larger the pressure sensor's sensing value, the larger 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 stages of the movable bed, significant resistance needs to be overcome; therefore, the second slope can be greater than or equal to the first slope. In some specific embodiments, the second slope can 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, and the torque is proportional to the sensing value of the pressure sensor. 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 the relationship function that matches at least one motion stage of the movable bed includes: if the real-time sensing value of the pressure sensor is greater than or equal to a second preset value and less than a third preset value, then determining the motion stage as a third stage, wherein the third preset value is greater than the second preset value and corresponds to the saturation output point of the pressure sensor; determining a third slope of the third stage, and determining the relationship function based on the third slope, wherein 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 this embodiment, if the real-time sensing value of the pressure sensor is greater than or equal to a second preset value and less than a third preset value, the movement stage of the movable bed is determined to be the third stage. The third preset value is greater than the second preset value. In the third stage of the movable bed, the motor torque tends to saturate, 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] The third slope of the third stage is determined, and a relationship function is determined based on the third slope. The third slope includes the rate of change of torque with respect to the sensing value of the pressure sensor. The third slope is negatively correlated with the sensing value of the pressure sensor.

[0147] Understandably, in order to maintain the smooth movement of the device, the third stage of the movable bed still requires the motor to output a relatively high torque, but the torque of the motor does not need to continue to increase rapidly. Therefore, in some embodiments, in order to ensure the smooth movement of the movable bed, the third slope of the third stage is less than the second slope of the intermediate stage.

[0148] In some embodiments, the relationship function is a continuous curve function. To further ensure that the movable bed has a stable movement state in all three stages, the relationship function provided in this application embodiment can also be a continuous curve function. By setting the relationship function to a continuous curve function, the motor can provide a stable assist torque when the movable bed moves from the start-up stage to the intermediate stage, and from the intermediate stage to the third stage, making the torque change smoother.

[0149] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed 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 portion of steps or stages in other steps.

[0150] Based on the same inventive concept, this application also provides a movable bed assist control device for implementing the movable bed assist control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the movable bed assist control device provided below can be found in the limitations of the movable bed assist control method described above, and will not be repeated here.

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

[0152] The speed limit acquisition module is used to obtain the real-time speed limit based on the real-time distance between the movable bed and the limit position during the process of the movable bed moving towards the limit position under the action of the operator.

[0153] The actual operating speed acquisition module is used to acquire the actual operating speed of the movable bed;

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

[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 operating 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 configured to: determine a real-time compensation torque based on the real-time speed limit; obtain a real-time torque corresponding to the operator; and obtain a 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 further configured 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 set maximum torque for making 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 configured to: monitor whether the movable bed enters the deceleration zone; when the movable bed is detected to have entered 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 configured to: monitor the real-time distance of the movable bed relative to the limit position; and determine whether the movable bed has entered the deceleration zone based on the real-time distance.

[0160] In one embodiment, the speed limiting acquisition module is further configured to: determine whether the real-time distance is equal to a 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 configured to: acquire a correspondence table; the correspondence table includes: the maximum operating speed corresponding to the movable bed at different distances relative to the limiting position; determine the maximum operating speed corresponding to the real-time distance in the correspondence 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, configured to: acquire the real-time position of the movable bed; and, based on the real-time position and the limiting position, obtain the real-time distance of the movable bed relative to the limiting position.

[0163] Each module in the aforementioned movable bed assist control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

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

[0165] During the process of the movable bed moving towards 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 operating speed of the movable bed;

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

[0168] If the actual operating speed of the movable bed is greater than the real-time speed limit, the processor obtains the real-time target torque 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.

[0169] The processor can also perform the steps described in any of the embodiments of the movable bed assist control method described above, which will not be repeated here.

[0170] In one embodiment, the aforementioned processor can be housed in a computer device within the movable bed assist control system, and the internal structure diagram of the computer device can be as follows: Figure 5 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data related to the methods described above. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a movable bed assist control method.

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

[0172] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in the various method embodiments described above.

[0173] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the various method embodiments described above.

[0174] In one embodiment, a computer program product is provided having a computer program stored thereon, the computer program being executed by a processor of the steps described in the various method embodiments above.

[0175] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. 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 above-mentioned embodiments. In particular, any reference to memory, database, or other media 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), magnetic 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0176] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for assistive control of a movable bed, characterized in that, The method includes: As the movable bed moves toward the limit position under the operator's control, a correspondence table is obtained; the correspondence table includes: the maximum running speed of the movable bed at different distances relative to the limit position; The highest operating speed corresponding to the real-time distance is determined in the correspondence table; the real-time distance is the real-time distance of the movable bed relative to the limiting position. The highest operating speed corresponding to the real-time distance is taken as the real-time speed limit; Obtain the actual operating speed of the movable bed; Determine whether the actual operating 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, then 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 aforementioned real-time speed limit, the real-time target torque is obtained, including: Based on the aforementioned real-time speed limit, the real-time compensation torque is determined; Obtain the real-time torque corresponding to the operator; Based on the real-time compensation torque and the real-time torque, the 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, the real-time target torque is obtained, including: The real-time torque is adjusted based on the real-time compensation torque to obtain 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 shall be taken as the real-time target torque. When the torque corresponding to the adjustment result is greater than the maximum torque, the maximum torque is taken as the real-time target torque.

4. The method according to claim 1, characterized in that, Before retrieving the corresponding table, the method further includes: Monitor whether the movable bed enters the deceleration zone; When the movable bed is detected to have entered the deceleration zone, the step of obtaining the corresponding table is executed.

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

6. The method according to claim 5, characterized in that, Determining whether the movable bed has entered the deceleration zone based on the real-time distance includes: Determine whether the real-time distance is equal to the set deceleration distance; When the real-time distance equals the set deceleration distance, it is determined that the movable bed has entered 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 any one of claims 1 to 6, characterized in that, The method further includes: Obtain the real-time position of the movable bed; Based on the real-time position and the limiting position, the real-time distance of the movable bed relative to the limiting position is obtained.

8. A movable bed assist control system, characterized in that, The system includes a movable bed, a motor, and a processor; During the movement of the movable bed towards the limit position under the operator's action, the processor obtains a correspondence table; the correspondence table includes: the maximum running speed of the movable bed at different distances relative to the limit position; The processor determines the maximum operating speed corresponding to the real-time distance in the corresponding table; the real-time distance is the real-time distance of the movable bed relative to the limiting position; The processor will use the highest operating speed corresponding to the real-time distance as the real-time speed limit; The processor obtains the actual operating speed of the movable bed; The processor determines whether the actual operating speed is greater than the real-time speed limit. If the actual operating speed of the movable bed is greater than the real-time speed limit, the processor obtains the real-time target torque 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.

9. The system according to claim 8, characterized in that, When the processor obtains the real-time target torque based on the real-time speed limit, the steps it performs include: Based on the aforementioned real-time speed limit, the real-time compensation torque is determined; Obtain the real-time torque corresponding to the operator; Based on the real-time compensation torque and the real-time torque, the real-time target torque is obtained.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 7.

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