Automatic turning-over system integrating patient posture and nursing bed posture and control method

Abstract

The invention belongs to the technical field of nursing beds, and particularly relates to an automatic turning-over system integrating patient poses and nursing bed poses and a control method. The nursing bed comprises a nursing bed body, a turning-over device installed on the nursing bed body, a detection mattress arranged on the turning-over device and a control module used for controlling the nursing bed body and the turning-over device to act. The turning-over system further comprises a posture analysis and calculation module and a nursing bed posture detection module, and the control module controls the nursing bed and / or the turning-over device to act according to posture information and posture information. According to the automatic turning-over system, the lying posture of a patient and the posture of a nursing bed in a real environment are fused, and the lying posture of the patient is accurately judged through the posture analysis and calculation module according to the set position point and the pressure of the piezoelectric film; the control module combines the nursing bed posture information and the patient lying posture information in the real environment to achieve automatic control over the nursing bed and the turning-over device, and the safe and fully-automatic turning-over process is truly achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of nursing beds, and in particular relates to an automatic turning system and a control method integrating the posture of a patient and the posture of a nursing bed. Background Art

[0002] Currently, most nursing beds are of segmented or airbag structures. Medical staff are required to perform real-time monitoring or fixed-point operations for the patient's turning over, and complete the turning action of the human body through the turning auxiliary mechanism. Turning over too frequently will cause a waste of medical staff and time, and turning over too little will easily cause patients to develop bedsores.

[0003] In the prior art, the turning mechanism for turning over with a small amplitude cannot judge the patient's position. When the patient is in an unsuitable turning position, turning the patient over can easily cause harm to the human body. Most of the existing turning systems are based on the nursing bed being in a flat position, covering turning over in three positions: supine, left side, and right side. When the nursing bed is in a multi-angle semi-lying position, the patient cannot be turned over automatically and harmlessly, making the existing turning system not highly automated, and the patient is still at risk of injury. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects in the prior art that it consumes a lot of manpower and time, the degree of automation is not high, and turning over can easily cause harm to the patient. An automatic turning over system and control method that integrates the patient's bed posture with the nursing bed posture in a real environment is provided, which has a relatively high degree of automation and is not prone to harm to the patient.

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

[0006] As a first aspect, an automatic turning system integrating the patient's posture and the nursing bed's posture is characterized by comprising a nursing bed, a turning device installed on the nursing bed, a detection mattress arranged on the turning device, and a control module for controlling the actions of the nursing bed and the turning device;

[0007] The turning system also includes a posture analysis and calculation module and a nursing bed posture detection module. A plurality of piezoelectric films are distributed on the upper surface of the detection mattress. The posture analysis and calculation module receives the piezoelectric signal collected by the piezoelectric film and analyzes the posture information of the patient.

[0008] The nursing bed posture detection module is used to detect the posture information of the nursing bed in real time, and the control module controls the action of the nursing bed and / or the turning device according to the position information and posture information.

[0009] Further, the nursing bed comprises a base frame, a movable frame mounted on the base frame through a lifting assembly, a head frame and a foot frame mounted at both ends of the movable frame, a combined support plate mounted on the movable frame, a standing device mounted between the base frame and the movable frame, and a back lifting device and a leg bending device mounted between the movable frame and the combined support plate;

[0010] The lifting assembly includes a first lifting column installed in the middle position of the base frame corresponding to the patient's back, and a second lifting column and a third lifting column installed symmetrically on the base frame corresponding to the patient's legs; the output ends of the first lifting column, the second lifting column and the third lifting column are fixedly installed on the movable frame.

[0011] Further, the turning device comprises a left turning mechanism and a right turning mechanism symmetrically arranged on both sides of the movable frame, and a turning sheet arranged between the left turning mechanism and the right turning mechanism;

[0012] The left turning mechanism includes a first turning drive assembly and a second turning drive assembly symmetrically installed on the foot frame and the head frame; a turning roller is installed between the first turning drive assembly and the second turning drive assembly; an arc-shaped sliding cavity for limiting the turning roller is provided on the head frame, and the arc-shaped sliding cavity is bent toward the middle line of the head frame; when in use, the first turning drive assembly and the second turning drive assembly are driven in the same direction at the same time.

[0013] Furthermore, the first turning drive assembly includes a first electric push rod installed on the headboard and a first V-shaped swing frame with one end rotatably installed on the headboard and the other end installed on one end of the corresponding turning roller; the telescopic end of the first electric push rod is rotatably installed on the outer wall of the top corner of the first V-shaped swing frame.

[0014] Furthermore, the second turning drive assembly includes a second electric push rod installed on the bed end frame and a second V-shaped swing frame with one end rotatably installed on the bed end frame and the other end installed on one end of the corresponding turning roller; the telescopic end of the first electric push rod is rotatably installed on the outer wall of the top corner of the second V-shaped swing frame.

[0015] Furthermore, the first V-shaped swing frame or the second V-shaped swing frame includes a first support rod rotatably mounted with the head frame or the foot frame and a second support rod fixedly connected with the first support rod; the end of the second support rod is rotatably mounted with the corresponding turning roller.

[0016] Furthermore, the turning position calculation of the turning roller of the turning mechanism includes:

[0017] Assuming that the x-axis is parallel to the upper surface of the mattress, the y-axis is the symmetry axis of the turning rollers on both sides, and the z-axis is the vertical line at the center of the movable frame; the center coordinates of the turning rollers are:

[0018]

[0019] In the formula, is the angle between the first support rod (21121) of the V-shaped swing rod away from the corresponding turning drum and the horizontal plane, S r1 h is the horizontal distance between the V-shaped swing arm and the rotation position L of the headstock or footstock and the y-axis, r1 is the horizontal distance between the V-shaped swing arm and the rotation position L of the headstock or footstock and the x-axis, l r3 is the distance between the rotation position L and the corresponding turning roller, α r is the angle between the line between the rotation position L and the flip drum and the first support rod (21121);

[0020] in, And the corresponding electric push rod stroke l r1 The relationship between them is:

[0021]

[0022] In the formula,

[0023] Furthermore, the standing device includes a standing frame with a fixed end installed on the lower end surface of the movable frame, a standing push rod installed on the standing frame, and at least two groups of gas springs arranged between the standing frame and the movable frame; the telescopic end of the standing push rod is rotatably installed on the movable frame corresponding to the back plate of the combined support plate.

[0024] As a second aspect, a control method for the automatic turning system based on the above-mentioned fusion of patient posture and nursing bed posture is characterized by comprising the following steps:

[0025] S1. Construct a posture expert database, that is, integrate and analyze the pressure size and pressure position information of the patient in different postures on the mattress through historical data, and perform deep learning to obtain the posture expert database;

[0026] S2. Patient posture determination, comparing and analyzing the pressure data and pressure point position information collected by the pressure film with the posture expert database to determine the current patient posture information;

[0027] S3 obtains the nursing bed posture information, that is, the nursing bed posture detection module detects the nursing bed posture information in real time;

[0028] S4. Control the action of the nursing bed and / or turning mechanism according to the judgment index;

[0029] S5. Complete the turning action and return the nursing bed to its original position.

[0030] Specifically, the judgment index in step S4 includes the following:

[0031] Case 1: When the nursing bed is in a lying position, and the patient is in one of the supine position, the prone position, the left side position and the right side position, the control module controls the turning mechanism to turn the patient to the left side, the right side, the supine position or the prone position accordingly;

[0032] Case 2: When the nursing bed is in a multi-angle semi-lying posture, and the patient is in a supine position or lying on the left side or the right side, the control module controls the nursing bed to be converted from the multi-angle semi-lying posture to a lying posture, and then controls the turning mechanism to turn the patient over; the turning angle is 0°≤a≤180°;

[0033] Case three, when the patient is in the curled-up position, the control module controls the second lifting column or the third lifting column of the lifting assembly to move up and down, driving the patient on the mattress to turn over adaptively, with a turning angle of 0°≤b≤30°.

[0034] The beneficial effects of the automatic turning system that integrates the patient's posture and the nursing bed's posture of the present invention are as follows: the automatic turning system of the present invention integrates the patient's bed posture with the nursing bed's posture in the real environment, and uses the setting position point and pressure size of the piezoelectric film through the posture analysis and calculation module to accurately judge the patient's bed posture. The control module combines the nursing bed posture information in the real environment and the patient's bed posture information to achieve automatic control of the nursing bed and the turning device. It does not require manual assistance and avoids the harm to the patient caused by blind turning due to lack of judgment on the patient's posture in the prior art, thereby truly realizing a safe and fully automated turning process.

[0035] The present invention adopts a turning device to realize a large-angle flexible turning of the patient, and uses a lifting component to realize a small-angle rigid turning of the patient. The turning method combining rigidity and flexibility is adopted. No matter what posture the patient is in, the patient can be turned over, and the patient can be detected in real time. A small-amplitude turning does not require a nursing staff, thereby reducing labor. When turning over a large amplitude, the manual power of the nursing staff is reduced, thereby completely solving the problem of bedsores. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0037] Figure 1 It is a module diagram of the automatic turning system according to an embodiment of the present invention.

[0038] Figure 2It is a schematic diagram of the installation of a nursing bed and a turning device according to an embodiment of the present invention.

[0039] Figure 3 It is a partial structural schematic diagram of a nursing bed according to an embodiment of the present invention.

[0040] Figure 4 It is a schematic structural diagram of a lifting assembly according to an embodiment of the present invention.

[0041] Figure 5 2 is a schematic structural diagram of a standing device according to an embodiment of the present invention.

[0042] Figure 6 The invention is a schematic structural diagram of a turning device installed on a bed foot frame according to an embodiment of the present invention.

[0043] Figure 7 The figure is a schematic structural diagram of a turning device installed on a bedside frame according to an embodiment of the present invention.

[0044] Figure 8 It is a detailed view of the first V-shaped swing frame of an embodiment of the present invention.

[0045] Fig. 9 It is a schematic diagram of the structure of the arc-shaped sliding cavity in an embodiment of the present invention.

[0046] Fig.10 It is a kinematic analysis diagram of the turning device according to an embodiment of the present invention.

[0047] Fig.11 It is a flow chart of a control method of an automatic turning system according to an embodiment of the present invention.

[0048] Fig.12 It is a specific control flow chart of the automatic turning system according to an embodiment of the present invention.

[0049] In the figure: 1. Nursing bed, 11. Base frame, 12. Lifting assembly, 121. First lifting column, 122. Second lifting column, 123. Third lifting column, 13. Movable frame, 14. Head frame, 15. Foot frame, 16. Combined support plate, 17. Standing device, 171. Standing push rod, 172. Gas spring, 173. Standing frame, 2. Turning device, 21. Left turning mechanism, 211. First turning drive assembly, 2111. First electric push rod , 2112, first V-shaped swing frame, 21121, first support rod, 21122, second support rod, 212, second turning drive assembly, 2121, second electric push rod, 2122, second V-shaped swing frame, 213, turning roller, 214, arc-shaped sliding cavity, 22, right turning mechanism, 23, turning sheet, 3, detection mattress, 4, control module, 5, posture analysis and calculation module, 6, nursing bed posture detection module, 7, piezoelectric film. DETAILED DESCRIPTION

[0050] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0051] like Figure 1-Figure 10 The specific embodiment of the automatic turning system that integrates the patient's posture and the posture of the nursing bed 1 of the present invention shown in the figure comprises a nursing bed 1, a turning device 2 installed on the nursing bed 1, a detection mattress 3 arranged on the turning device 2, and a control module 4 for controlling the actions of the nursing bed 1 and the turning device 2. The turning system also includes a posture analysis and calculation module 5 and a nursing bed posture detection module 6. A plurality of piezoelectric films 7 are distributed on the upper surface of the detection mattress 3. The posture analysis and calculation module 5 receives the piezoelectric signal collected by the piezoelectric film 7 and analyzes the posture information of the patient. The nursing bed posture detection module 6 is used to detect the posture information of the nursing bed 1 in real time. The control module 4 controls the actions of the nursing bed 1 and / or the turning device 2 according to the posture information and the posture information.

[0052] The beneficial effects of the automatic turning system that integrates the patient's posture and the nursing bed 1 posture of the present embodiment of the present invention are as follows: the automatic turning system of the present invention integrates the patient's bed posture with the nursing bed 1 posture in the real environment, and uses the piezoelectric film and pressure size through the posture analysis and calculation module 5 to accurately determine the setting position point of the patient's bed posture. The control module 4 combines the nursing bed 1 posture information in the real environment and the patient's bed posture information to realize automatic control of the nursing bed 1 and the turning device 2. No manual assistance is required and the blind turning caused by lack of judgment on the patient's posture in the prior art is avoided, which truly realizes a safe and fully automated turning process.

[0053] like Figure 3 and Figure 4As shown, the nursing bed 1 in this embodiment includes a base frame 11, a movable frame 13 installed on the base frame 11 through a lifting assembly 12, a head frame 14 and a foot frame 15 installed at both ends of the movable frame 13, a combined support plate 16 installed on the movable frame 13, a standing device 17 installed between the base frame 11 and the movable frame 13, and a back-lifting device and a leg-bending device installed between the movable frame 13 and the combined support plate 16. The lifting assembly 12 includes a first lifting column 121 installed in the middle position of the base frame 11 corresponding to the patient's back, a second lifting column 122 and a third lifting column 123 symmetrically installed on the base frame 11 corresponding to the patient's legs; the output ends of the first lifting column 121, the second lifting column 122 and the third lifting column 123 are fixedly installed with the movable frame 13. The setting of the lifting assembly 12 is used for the lifting and lowering of the movable frame 13 on the one hand, which is convenient for docking with an operating bed or a transfer bed, and on the other hand, the second lifting column 122 and the third lifting column 123 are not started at the same time, so that the patient in the curled position can be rigidly turned over at a small angle to avoid the formation of bedsores.

[0054] like Figure 5 As shown, the standing device 17 in this embodiment includes a standing frame 173 with a fixed end mounted on the lower end surface of the movable frame 13, a standing push rod 171 mounted on the standing frame 173, and at least two groups of gas springs 172 arranged between the standing frame 173 and the movable frame 13; the telescopic end of the standing push rod 171 is rotatably mounted on the movable frame 13 corresponding to the back plate of the combined support plate 16. It is further explained that the combined support plate 16 in this embodiment includes a back plate, a hip plate, a thigh plate, and a calf plate that are rotatably connected in sequence, such as Fig. 9 As shown, the leg bending device includes a push rod motor arranged between the calf plate and the movable frame 13, and between the thigh plate and the movable frame 13, and the back lifting device includes a push rod motor arranged between the back plate and the movable frame 13 to realize the back lifting action. In this embodiment, a driving method of multiple push rod motors is adopted to realize the relative rotation of the back plate, the thigh plate, and the calf plate. The specific installation position and implementation method should be conceivable by those skilled in the art, and no detailed explanation is given here.

[0055] The standing push rod 171 controls the movable frame 13 to rotate around the fixed hinge to realize the standing function of the human body, and the maximum standing angle is 75°. The setting of the standing device can reduce the pressure on specific parts of the body, relieve discomfort, prevent pressure sores, promote blood circulation, change the breathing position, and prevent lung infection.

[0056] Reference Figures 6 to 9The turning device 2 includes a left turning mechanism 21 and a right turning mechanism 22 symmetrically arranged on both sides of the movable frame 13, and a turning sheet 23 arranged between the left turning mechanism 21 and the right turning mechanism 22; the left turning mechanism 21 includes a first turning drive assembly 211 and a second turning drive assembly 212 symmetrically installed on the foot frame 15 and the head frame 14; a turning roller 213 is installed between the first turning drive assembly 211 and the second turning drive assembly 212; an arc-shaped sliding cavity 214 for limiting the turning roller 213 is provided on the head frame 14, and the arc-shaped sliding cavity 214 is bent toward the middle line of the head frame 14; when in use, the first turning drive assembly 211 and the second turning drive assembly 212 are driven in the same direction at the same time. The arc-shaped sliding cavity 214 is used to constrain the movement trajectory of the corresponding turning roller 213. In actual applications, the lowest position of the sliding cavity is set lower than the upper surface of the mattress, which is convenient for the human body to move horizontally left and right. The widest part of the arc-shaped sliding cavity 214 is based on the design of the bed body. The highest part of the arc-shaped sliding cavity 214 is set at a height to achieve 180-degree turning of the human body. The arc-shaped sliding cavity 214 corresponds to the movement trajectory of the turning roller 213, such as Figure 7 shown.

[0057] In this embodiment, the first turning over driving assembly 211 includes a first electric push rod 2111 installed on the bedside frame 14 and a first V-shaped swing frame 2112 with one end rotatably installed on the bedside frame 14 and the other end mounted to one end of the corresponding turning over roller 213; the telescopic end of the first electric push rod 2111 is rotatably installed on the outer side wall of the top corner of the first V-shaped swing frame 2112. The second turning over driving assembly 212 includes a second electric push rod 2121 installed on the bedside frame 15 and a second V-shaped swing frame 2122 with one end rotatably installed on the bedside frame 15 and the other end mounted to one end of the corresponding turning over roller 213; the telescopic end of the first electric push rod 2111 is rotatably installed on the outer side wall of the top corner of the second V-shaped swing frame 2122.

[0058] It should be further explained that, in this embodiment, the first V-shaped swing frame 2112 or the second V-shaped swing frame 2122 includes a first support rod 21121 rotatably mounted on the headboard frame 14 or the footboard frame 15 and a second support rod 21122 fixedly connected to the first support rod 21121; the end of the second support rod 21122 is rotatably mounted on the corresponding turning roller 213.

[0059] like Fig. 9 and Fig.10 As shown, the following takes a driving assembly of a turning roller 213 as an example to calculate the turning position of the turning roller 213 of the turning mechanism, as follows:

[0060] Assuming that the x-axis is parallel to the upper surface of the mattress, the y-axis is the symmetry axis of the turning rollers 213 on both sides, and the z-axis is the vertical line at the center of the movable frame 13; the center coordinates of the turning rollers 213 are:

[0061]

[0062] In the formula, is the angle between the first support rod 21121 of the V-shaped swing rod away from the corresponding turning drum 213 and the horizontal plane, R r1 h is the horizontal distance between the V-shaped swing arm and the rotation position L of the headstock 14 or the footstock 15 and the y-axis, r1 is the horizontal distance between the V-shaped swing arm and the rotation position L of the headstock 14 or the footstock 15 and the x-axis, l r3 is the distance between the rotation position L and the corresponding turning drum 213, α r is the angle between the line between the rotation position L and the flip drum and the first support rod 21121;

[0063] in, And the corresponding electric push rod stroke l r1 The relationship between them is:

[0064]

[0065] In the formula,

[0066] Using the above calculation method, S can be set r1 、h r1 , l r3 , α r As a specific implementation, the linear velocity of the electric push rod is selected to be 10 mm / s, and the parameters of the turning device 2 are as follows:

[0067] parameter Numeric parameter Numeric parameter Numeric parameter Numeric <![CDATA[h r1 ]]> 70mm <![CDATA[S r1 ]]> 16mm <![CDATA[l r2 ]]> 346mm <![CDATA[α r ]]> 35° <![CDATA[h r2 ]]> 105mm <![CDATA[S r2 ]]> 58mm <![CDATA[l r3 ]]> 488mm <![CDATA[l r1 ]]> 210-360mm

[0068] In the process of turning the patient over, when the patient needs to be turned over at a large angle, the turning roller 213 is raised to the highest position of the arc-shaped sliding cavity 214. When the patient needs to be turned over at a small angle, the turning roller 213 can be moved to the arc-shaped sliding cavity 214 at a lower height by using a lifting device. The turning device 2 of this embodiment is ergonomic, simulates the active turning state of the human body, avoids the squeezing of the bed board of the rigid passive turning, has a large turning angle, and the maximum turning angle of one side can reach 75 degrees.

[0069] Based on the above control method of the automatic turning system integrating the patient's posture and the nursing bed's posture, Fig.11 As shown, the following steps are included:

[0070] S1. Construct a posture expert database, that is, integrate and analyze the pressure size and pressure position information of the patient in different postures on the mattress through historical data, and perform deep learning to obtain the posture expert database;

[0071] S2. Patient posture determination: compare and analyze the pressure data and pressure point location information collected by the received pressure film with the posture expert database to determine the current patient posture information;

[0072] S3 obtains the posture information of the nursing bed 1, that is, the posture information of the nursing bed 1 is detected in real time by the nursing bed posture detection module 6;

[0073] S4. Control the nursing bed 1 and / or the turning mechanism according to the judgment index;

[0074] S5. The turning over action is completed and the nursing bed 1 is reset.

[0075] In this embodiment, the pressure film adopts an array pressure sensor, which is arranged inside the mattress and distributed on the entire mattress. When in use, the mattress is divided into several square frames, and a pressure detection point is set in each square frame. Any position of the mattress can be detected, wherein the size of the square frame is set according to actual needs and will not be explained in detail here.

[0076] The judgment index in step S4 includes the following:

[0077] Case 1: When the nursing bed 1 is in a lying position, and the patient is in one of the supine position, the prone position, the left side position and the right side position, the control module 4 controls the turning mechanism to turn the patient to the left side, the right side, the supine position or the prone position accordingly;

[0078] Case 2: When the nursing bed 1 is in a multi-angle semi-lying posture, and the patient is in a supine position or lying on the left side or the right side, the control module 4 controls the nursing bed 1 to be converted from the multi-angle semi-lying posture to a lying posture, and then controls the turning mechanism to turn the patient over; the turning angle is 0°≤a≤180°;

[0079] Case three, when the patient is in the curled position, the control module 4 controls the second lifting column 122 or the third lifting column 123 of the lifting assembly 12 to move up and down, driving the patient on the mattress to turn over adaptively, with a turning angle of 0°≤b≤30°.

[0080] Of course, it should be understood that when the patient is in the curled-up position, the turning device 2 can also be controlled to turn over through the main control module.

[0081] The turning over action in step S5 includes: when the initial posture of the human body is lying on the left side or the right side, the target posture of the automatic turning over is lying on the back; if the initial posture is lying on the left side at 30 degrees or lying on the right side at 30 degrees, the target posture is also lying on the back; when the initial posture is lying on the back, the target posture is lying on the left side at 30 degrees or lying on the right side at 30 degrees; when the initial posture of the human body is lying on the stomach, the target posture of the automatic turning over is lying on the left side at 30 degrees or lying on the right side at 30 degrees. Fig.12 , the sampling rate of the array sensor in this embodiment is set to 41.67mHz, that is, sampling once every 24s. If five consecutive pressure distribution images are identified as the same posture, the nursing bed 1 starts to execute the automatic turning program to turn to the target posture. The automatic turning program is set in the control module 4. When the automatic turning starts, the sampling rate of the system is adjusted to 5Hz. If five consecutive pressure distribution images match the target posture, the automatic turning program stops, indicating that the turning process is completed.

[0082] The turning device 2 of this embodiment mainly includes two turning rollers 213, four electric push rods and bed sheets. The bed sheets are rolled on the turning rollers 213 and the two are relatively stationary, which means that when the turning rollers 213 rotate, the bed sheets will translate accordingly. Each turning roller 213 is connected to the corresponding two electric push rods through a rotating pair, and the two electric push rods are respectively located at the head frame 14 and the foot frame 15 of the nursing bed 1. The two electric push rods connected to the single turning roller 213 extend or shorten synchronously to drive the turning roller 213 to rise or fall. When the human body needs to turn over, the turning roller 213 on one side rises, and the roller on the other side remains horizontal with the bed surface. Then they rotate synchronously, causing the bed sheets to translate, thereby driving the human body to turn over. The turning device 2 can realize 0-180° turning of the human body and reduce the force required by the nursing staff when manually operating the patient.

[0083] The present invention adopts a turning device 2 to realize a large-angle flexible turning of the patient, and uses a lifting component 12 to realize a small-angle rigid turning of the patient. The turning method combining rigidity and flexibility is adopted. No matter what position the patient is in, the patient can be turned over, and the patient can be detected in real time. A small-amplitude turning does not require a nursing staff, thus reducing labor. When turning over a large amplitude, the manual power of the nursing staff is reduced, thereby completely solving the problem of bedsores.

[0084] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. An automatic turning system integrating the patient's posture and the nursing bed's posture, characterized by: It comprises a nursing bed (1), a turning device (2) installed on the nursing bed (1), a detection mattress (3) arranged on the turning device (2), and a control module (4) for controlling the actions of the nursing bed (1) and the turning device (2); The turning system further comprises a posture analysis and calculation module (5) and a nursing bed posture detection module (6); a plurality of piezoelectric films (7) are distributed on the upper surface of the detection mattress (3); the posture analysis and calculation module (5) receives the piezoelectric signal collected by the piezoelectric film (7) and analyzes the posture information of the patient; The nursing bed posture detection module (6) is used to detect the posture information of the nursing bed (1) in real time, and the control module (4) controls the movement of the nursing bed (1) and / or the turning device (2) according to the position information and the posture information.

2. The automatic turning system integrating the patient's posture and the nursing bed's posture according to claim 1 is characterized by: The nursing bed (1) comprises a base frame (11), a movable frame (13) mounted on the base frame (11) via a lifting assembly (12), a head frame (14) and a foot frame (15) mounted at both ends of the movable frame (13), a combined support plate (16) mounted on the movable frame (13), a standing device (17) mounted between the base frame (11) and the movable frame (13), and a back-lifting device and a leg-bending device mounted between the movable frame (13) and the combined support plate (16); The lifting assembly (12) comprises a first lifting column (121) installed at a middle position of a base frame (11) corresponding to a patient's back, and a second lifting column (122) and a third lifting column (123) installed symmetrically on the base frame (11) corresponding to a patient's legs; the output ends of the first lifting column (121), the second lifting column (122) and the third lifting column (123) are fixedly mounted to the movable frame (13).

3. The automatic turning system integrating the patient's posture and the nursing bed's posture according to claim 2 is characterized by: The turning device (2) comprises a left turning mechanism (21) and a right turning mechanism (22) symmetrically arranged on both sides of the movable frame (13), and a turning sheet (23) arranged between the left turning mechanism (21) and the right turning mechanism (22); The left turning mechanism (21) comprises a first turning drive assembly (211) and a second turning drive assembly (212) which are symmetrically mounted on the foot frame (15) and the head frame (14); a turning roller (213) is mounted between the first turning drive assembly (211) and the second turning drive assembly (212); an arc-shaped sliding cavity (214) for limiting the turning roller (213) is arranged on the head frame (14), and the arc-shaped sliding cavity (214) is bent toward the middle line of the head frame (14); when in use, the first turning drive assembly (211) and the second turning drive assembly (212) are driven simultaneously in the same direction.

4. The automatic turning system integrating the patient's posture and the nursing bed's posture according to claim 3 is characterized by: The first turning drive assembly (211) comprises a first electric push rod (2111) mounted on the bedside frame (14) and a first V-shaped swing frame (2112) having one end rotatably mounted on the bedside frame (14) and the other end mounted on one end of a corresponding turning roller (213); the telescopic end of the first electric push rod (2111) is rotatably mounted on the outer side wall of the top corner of the first V-shaped swing frame (2112).

5. The automatic turning system integrating the patient's posture and the nursing bed's posture according to claim 4 is characterized by: The second turning drive assembly (212) comprises a second electric push rod (2121) mounted on the bed end frame (15) and a second V-shaped swing frame (2122) having one end rotatably mounted on the bed end frame (15) and the other end mounted on one end of a corresponding turning roller (213); the telescopic end of the first electric push rod (2111) is rotatably mounted on the outer side wall of the top corner of the second V-shaped swing frame (2122).

6. The automatic turning system integrating the patient's posture and the nursing bed's posture according to claim 5 is characterized in that: The first V-shaped swing frame (2112) or the second V-shaped swing frame (2122) comprises a first support rod (21121) rotatably mounted on the headboard frame (14) or the footboard frame (15) and a second support rod (21122) fixedly connected to the first support rod (21121); the end of the second support rod (21122) is rotatably mounted on the corresponding turning roller (213).

7. The automatic turning system integrating the patient's posture and the nursing bed's posture according to claim 6 is characterized in that: The turning position calculation of the turning roller (213) of the turning mechanism includes: Assuming that the x-axis is parallel to the upper surface of the mattress, the y-axis is the symmetry axis of the turning rollers (213) on both sides, and the z-axis is the vertical line at the center of the movable frame (13); the center coordinates of the turning rollers (213) are: In the formula, is the angle between the first support rod (21121) of the V-shaped swing rod away from the corresponding turning drum (213) and the horizontal plane, S r1 h is the horizontal distance between the rotation position L of the V-shaped swing arm and the headstock (14) or the footstock (15) and the y-axis, r1 ' is the horizontal distance between the rotation position L of the V-shaped swing arm and the headstock (14) or the footstock (15) and the x-axis, l r3 is the distance between the rotation position L and the corresponding turning roller (213), α r is the angle between the line between the rotation position L and the flip drum and the first support rod (21121); in, And the corresponding electric push rod stroke l r1 The relationship between them is: In the formula, 8. The automatic turning system integrating the patient's posture and the nursing bed's posture according to claim 2 is characterized by: The standing device (17) comprises a standing frame (173) with a fixed end mounted on the lower end surface of the movable frame (13), a standing push rod (171) mounted on the standing frame (173), and at least two groups of gas springs (172) arranged between the standing frame (173) and the movable frame (13); the telescopic end of the standing push rod (171) is rotatably mounted on the movable frame (13) corresponding to the back plate of the combined support plate (16).

9. The control method of the automatic turning system integrating the patient posture and the nursing bed posture according to any one of claims 2 to 8, characterized in that: The following steps are involved: S1. Construct a posture expert database, that is, integrate and analyze the pressure size and pressure position information of the patient in different postures on the mattress through historical data, and perform deep learning to obtain the posture expert database; S2. Patient posture determination, comparing and analyzing the pressure data and pressure point position information collected by the pressure film with the posture expert database to determine the current patient posture information; S3 obtains the posture information of the nursing bed (1), that is, the posture information of the nursing bed (1) is detected in real time by the nursing bed posture detection module (6); S4. Controlling the nursing bed (1) and / or turning mechanism according to the judgment index; S5. The turning over is completed and the nursing bed (1) is reset.

10. The control method of the automatic turning system integrating the patient's posture and the nursing bed (1) posture according to claim 7, characterized in that: The judgment index in step S4 includes the following: Case 1: when the nursing bed (1) is in a lying position, and the patient is in one of a supine position, a prone position, a left side position, and a right side position, the control module (4) controls the turning mechanism to turn the patient to the left side, to the right side, to the supine position, or to the prone position; Case 2: When the nursing bed (1) is in a multi-angle semi-reclining position and the patient is in a supine position or lying on the left side or the right side, the control module (4) controls the nursing bed (1) to be converted from the multi-angle semi-reclining position to a lying position, and then controls the turning mechanism to turn the patient over; the turning angle is 0°≤a≤180°; In case three, when the patient is in a curled-up position, the control module (4) controls the second lifting column (122) or the third lifting column (123) of the lifting assembly (12) to rise and fall, thereby driving the patient on the mattress to adaptively turn over, with the turning angle being 0°≤b≤30°.

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