Multi-sensor fusion positioning method and system based on shifting machine, terminal and medium

Abstract

The invention is suitable for the technical field of medical displacement machines, and provides a multi-sensor fusion positioning method and system based on a displacement machine, a terminal and a medium, and the method comprises the steps: firstly obtaining the real-time image information of a target sickbed, then obtaining the real-time position information of the target sickbed and the information of each side region, and for each piece of side area information, judging whether a target obstacle exists in the side area information, and if the target obstacle does not exist in the side area information, quickly generating target position information according to the real-time position information and the reserved space information. The target position of the to-be-positioned shifting machine can be effectively determined, so that the to-be-positioned shifting machine can be automatically and accurately aligned to the position beside a sickbed, the working process that medical staff manually push the to-be-positioned shifting machine is simplified, the burden of the medical staff is relieved, the use experience feeling of the medical staff and a patient is remarkably improved, and the use experience of the medical staff is improved. The intelligent level of medical equipment can be improved, and modernization development of medical nursing work is promoted.

Description

Technical Field

[0001] The present application relates to the technical field of medical transfer machines, and in particular to a multi-sensor fusion positioning method, system, terminal and medium based on a transfer machine. Background Art

[0002] Medical transfer machines have been widely used because they can greatly reduce the physical exertion of nursing staff in the process of moving patients and avoid the discomfort and secondary injuries that may be caused by manual transportation.

[0003] At present, medical staff usually manually push the medical transfer machine to the side of the bed and then start the medical transfer machine to transfer the patient to the bed. There is a lack of automatic positioning mechanism, resulting in a poor user experience, which needs further improvement. Summary of the invention

[0004] Based on this, the embodiments of the present application provide a multi-sensor fusion positioning method, system, terminal and medium based on a shift machine to solve the problem of poor user experience in the prior art.

[0005] In a first aspect, an embodiment of the present application provides a multi-sensor fusion positioning method based on a transfer machine, which is applied to a transfer machine to be positioned, wherein the transfer machine to be positioned is equipped with a camera, and the method includes:

[0006] Based on the camera, real-time image information of the target bed is obtained;

[0007] Based on the real-time image information, the real-time position information and each side area information of the target bed are acquired, wherein the side area information is used to describe the side of the target bed except the head side and the foot side;

[0008] For each of the side area information: determining whether there is a target obstacle in the side area information;

[0009] If the target obstacle does not exist in the side area information, target position information is generated according to the real-time position information and the preset reserved space information, wherein the target position information is used to describe the target position of the transfer machine to be positioned.

[0010] Compared with the prior art, the beneficial effect is as follows: in the multi-sensor fusion positioning method based on the shift machine provided in the embodiment of the present application, the terminal device can first quickly obtain the real-time image information of the target bed based on the camera, and then effectively obtain the real-time position information and each side area information of the target bed based on the real-time image information, and then perform the processing for each side area information: determine whether there is a target obstacle in the side area information. If there is no target obstacle in the side area information, quickly generate the target position information according to the real-time position information and the reserved space information, so as to determine the target position of the shift machine to be positioned, which is conducive to the subsequent automatic alignment of the shift machine to be positioned to the next door of the bed, and is conducive to omitting the step of medical staff manually pushing the shift machine to be positioned, and is conducive to realizing the automatic alignment mechanism, improving the user experience of medical staff and target patients, and to a certain extent solving the current problem of poor user experience.

[0011] In a second aspect, an embodiment of the present application provides a multi-sensor fusion positioning system based on a transfer machine, which is applied to a transfer machine to be positioned, wherein the transfer machine to be positioned is equipped with a camera, and the system comprises:

[0012] Real-time image information acquisition module: used to acquire real-time image information of the target bed based on the camera;

[0013] A real-time position information acquisition module: used to acquire the real-time position information and each side area information of the target bed based on the real-time image information, wherein the side area information is used to describe the side of the target bed except the head side and the foot side;

[0014] A target obstacle judgment module: used for judging, for each of the side area information, whether there is a target obstacle in the side area information;

[0015] Target position information generating module: used to generate target position information according to the real-time position information and preset reserved space information if the target obstacle does not exist in the side area information, wherein the target position information is used to describe the target position of the transfer machine to be positioned.

[0016] In a third aspect, an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of the first aspect described above when executing the computer program.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method of the first aspect described above are implemented.

[0018] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0020] Figure 1 It is a flowchart of a multi-sensor fusion positioning method provided in an embodiment of the present application;

[0021] Figure 2 is a first schematic diagram of side area information provided by an embodiment of the present application;

[0022] Figure 3 It is a flowchart of step S200 in the multi-sensor fusion positioning method provided in an embodiment of the present application;

[0023] Figure 4 is a second schematic diagram of side area information provided by an embodiment of the present application;

[0024] Figure 5 It is a flowchart after step S400 in the multi-sensor fusion positioning method provided in one embodiment of the present application;

[0025] Figure 6 It is a flowchart after step S540 in the multi-sensor fusion positioning method provided in one embodiment of the present application;

[0026] Figure 7 It is a module block diagram of a multi-sensor fusion positioning system provided by an embodiment of the present application;

[0027] Figure 8 It is a schematic diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0028] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0029] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0030] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0031] In order to illustrate the technical solution described in this application, a specific embodiment is provided below for illustration.

[0032] See also Figure 1 , Figure 1 : is a flow chart of a multi-sensor fusion positioning method based on a shifting machine provided in an embodiment of the present application. In this embodiment, the execution subject of the multi-sensor fusion positioning method is a terminal device. It is understandable that the types of terminal devices include but are not limited to mobile phones, tablet computers, laptop computers, ultra-mobile personal computers (Ultra-Mobile Personal Computer, UMPC), netbooks, personal digital assistants (Personal Digital Assistant, PDA), etc., and the embodiments of the present application do not impose any restrictions on the specific types of terminal devices.

[0033] See also Figure 1 The multi-sensor fusion positioning method provided in the embodiment of the present application includes but is not limited to the following steps:

[0034] In S100, real-time image information of the target bed is obtained based on the camera.

[0035] Without loss of generality, the multi-sensor fusion positioning method can be applied to a transfer machine to be positioned, where the transfer machine to be positioned is used to describe a medical transfer machine to be moved next to a hospital bed, wherein a camera can be pre-installed at the headrail of the transfer machine to be positioned, and the camera can be a binocular camera or a depth camera.

[0036] Specifically, the terminal device may first obtain real-time image information of the target bed based on a camera, wherein the real-time image information is used to describe the real-time image obtained by shooting with the camera.

[0037] In S200, based on the real-time image information, the real-time position information and each side area information of the target bed are obtained.

[0038] For example, see Figure 2 After the terminal device obtains the real-time image information, the terminal device can obtain the real-time position information and each side area information of the target bed based on the real-time image information, wherein the real-time position information is used to describe the real-time position of the target bed, and the side area information is used to describe the side of the target bed except the head side and the foot side.

[0039] In some possible implementations, in order to obtain real-time location information and information about each side area, please refer to Figure 3 Step S200 includes but is not limited to the following steps:

[0040] In S210, based on image recognition technology, the real-time position information and characteristic corner point information of the target bed are determined according to the real-time image information.

[0041] Specifically, the terminal device can first perform image recognition processing on the real-time image information based on image recognition technology, determine the target bed and the characteristic corner point information of the target bed in the real-time image information, and then use binocular vision technology to determine the real-time position information of the target bed, wherein the image recognition technology can be a feature extraction algorithm based on scale-invariant feature transform (SIFT) or a feature extraction algorithm based on speeded-up robust features (SURF); the characteristic corner point information is used to describe the characteristic points of the target bed, such as the corner points of the bed legs or the corner points of the mattress; binocular vision technology is an existing technology, for example, first obtaining the intrinsic and extrinsic parameters of the two cameras, and then using the stereo matching algorithm to find the matching points in the left and right images, and then calculating the depth information based on the parallax, and using the triangulation method to determine the real-time position information of the target bed, so it will not be repeated.

[0042] In S220, the area information of each side of the target bed is determined according to the characteristic corner point information.

[0043] Specifically, after the terminal device determines the real-time position information and feature corner point information of the target bed, the terminal device can determine the side area information of the target bed based on the feature corner point information. For example, the terminal device can determine the side area information on the left side of the target bed based on the feature points specifically at the left foot of the target bed, and then determine the side area information on the right side of the target bed based on the feature points specifically at the right foot of the target bed.

[0044] In S300, for each side area information: determine whether there is a target obstacle in the side area information.

[0045] Specifically, after the terminal device obtains the real-time location information of the target bed and each side area information, the terminal device can perform the processing for each side area information: determine whether there is a target obstacle in the side area information.

[0046] In S400, if there is no target obstacle in the side area information, target position information is generated according to the real-time position information and the preset reserved space information.

[0047] For example, see Figure 2 and Figure 4 If there is no target obstacle in the side area information, the terminal device can generate target position information based on the real-time position information and the preset reserved space information, so as to determine the target position of the transfer machine to be positioned, which is conducive to the subsequent automatic alignment of the transfer machine to be positioned to the next side of the bed, reducing the link of medical staff manually pushing the transfer machine to be positioned, which is conducive to the realization of the automatic alignment mechanism and improving the user experience of medical staff and target patients.

[0048] Specifically, the target obstacle may be luggage or other debris placed on the ground. The specific determination of the target obstacle may be based on the above-mentioned image recognition technology, so it is not described in detail; the reserved space information is used to describe the space reserved for the shift machine to be positioned, and the specific size of the reserved space information may refer to the specific size of the shift machine to be positioned; the target position information is used to describe the target position of the shift machine to be positioned.

[0049] In some possible implementations, to further improve the user experience, please refer to Figure 5 After step S400, the method further includes but is not limited to the following steps:

[0050] In S500, candidate quantity information of target location information is obtained.

[0051] Specifically, the terminal device may first obtain candidate quantity information of the target location information. For example, when a specific application scenario is as follows: Figure 2 As shown in the figure, when there is no target obstacle around the target bed, the number of options is 2; when the specific application scenario is as follows Figure 4 As shown, when there is a target obstacle around the target bed, the alternative quantity information is 1.

[0052] In S510, it is determined whether the candidate quantity information is greater than 1.

[0053] Specifically, after the terminal device obtains the candidate quantity information, the terminal device can determine whether the candidate quantity information is greater than 1.

[0054] In S520, if the candidate quantity information is greater than 1, the injury location information of the target patient is obtained.

[0055] Specifically, if the number of alternative information is greater than 1, the terminal device can obtain the target patient's injury position information, where the target patient is located on the lift to be positioned; the injury position information is used to describe the target patient's injury position. Exemplarily, the injury position information can be the target patient's left hand, right hand, left foot or right foot.

[0056] In S530, for each target position information: based on a preset Euclidean formula, relative distance information is generated according to the patient position information and the real-time position information.

[0057] Specifically, after the terminal device obtains the target patient's injury location information, the terminal device can perform this processing for each target location information: based on the preset Euclidean formula, generate relative distance information according to the injury location information and the real-time location information, wherein the relative distance information is used to describe the shortest distance between the injury location information and the real-time location information.

[0058] In S540, the target position information with the largest relative distance information is determined as the final position information.

[0059] Specifically, since the contact part between the target patient and the target bed is subjected to relatively greater force at the moment when the target patient is transferred from the positioning lift to the target bed, after the terminal device generates the relative spacing information, the terminal device can determine the target position information with the largest relative spacing information as the final position information, thereby reducing the situation where the injured position directly contacts the target bed and improving the user experience of the target patient.

[0060] In some possible implementations, in order to facilitate the implementation of the automatic alignment mechanism, after step S540, the method further includes but is not limited to the following steps:

[0061] In S550, a lift movement instruction is generated based on the final position information.

[0062] Specifically, the terminal device may generate a transfer machine movement instruction based on the final position information, wherein the transfer machine movement instruction is used to instruct the transfer machine to be positioned to automatically move to the final position information.

[0063] Without loss of generality, in addition to the depth camera pre-installed at the bedside railing of the medical lift, two cameras can also be pre-installed on the side of the medical lift, so that when the medical lift is subsequently accurately aligned with the target bed, the distance between the medical lift and the target bed can be accurately measured to determine the most appropriate orientation of the medical lift. It should be noted that the height corresponding to the telescopic plate of the medical lift is greater than the height of the pillow and / or bedding of the target bed, thereby reducing the possibility of the pillow and bedding blocking the telescopic plate from horizontal movement.

[0064] It should be noted that a plurality of sensors may be pre-installed on the side of the medical lift. For example, two laser sensors may be pre-installed on the side of the medical lift. The laser sensor may be located on the same side as the camera. The laser sensor may measure the distance between the medical lift and the target bed in real time. Thus, after the medical lift automatically moves to the final position information, it may be able to move closer to the target bed as much as possible, thereby completing the intelligent, automatic and accurate positioning and docking of the medical lift and the target bed, so that the positioning error is within the allowable range of 1 cm.

[0065] Specifically, in order to further enable the telescopic plate to better dock with the target bed, more laser sensors can be installed on the side of the medical transfer machine to improve the accuracy of longitudinal positioning. By real-time measurement of the longitudinal distance between the target bed, it is convenient to make fine adjustments in multiple dimensions to ensure that the docking process is smoother and more accurate, effectively improve the docking ability of the medical transfer machine in various environments, and ensure the safety and reliability of the transfer process.

[0066] It should be noted that the specific number and specific positions of the above-mentioned cameras and laser sensors are not limited and can be adjusted arbitrarily according to actual needs.

[0067] In some possible implementations, in order to further improve the user experience of the target patients, please refer to Figure 6 After step S550, the method further includes but is not limited to the following steps:

[0068] In S600, in response to a patient transfer instruction, real-time distance information of the patient is obtained.

[0069] Specifically, after the to-be-positioned transfer machine automatically moves to the final position information, the to-be-positioned transfer machine can execute the patient transfer instruction to transfer the target patient from the to-be-positioned transfer machine to the target bed. The terminal device can continuously obtain the real-time distance information of the injured patient in response to the patient transfer instruction, wherein the patient transfer instruction is used to instruct the target patient to be transferred from the to-be-positioned transfer machine to the target bed, and the real-time distance information of the injured patient is used to describe the real-time distance between the position information of the injured patient and the target bed.

[0070] In S610, the real-time distance information of the patient is compared with the preset cautious distance information.

[0071] Specifically, after the terminal device obtains the real-time distance information of the injured person, the terminal device can compare the real-time distance information of the injured person with the preset cautious distance information.

[0072] In S620, if the real-time distance information of the patient is less than or equal to the caution distance information, a deceleration transfer instruction is generated.

[0073] Specifically, if the real-time distance information of the injured person is less than or equal to the cautious distance information, the terminal device can generate a deceleration transfer instruction, thereby slowing down the transfer process and improving the comfort of the target patient during the transfer process, wherein the deceleration transfer instruction is used to instruct to reduce the transfer rate of the transfer machine to be positioned.

[0074] The implementation principle of the multi-sensor fusion positioning method based on the shift machine in the embodiment of the present application is: the terminal device can first quickly obtain the real-time image information of the target bed based on the camera, and then effectively obtain the real-time position information and each side area information of the target bed based on the real-time image information, and then perform the processing for each side area information: determine whether there is a target obstacle in the side area information. If there is no target obstacle in the side area information, quickly generate the target position information according to the real-time position information and the reserved space information, so as to determine the target position of the shift machine to be positioned, which is conducive to the subsequent automatic alignment of the shift machine to be positioned to the next door of the bed, and is conducive to omitting the step of medical staff manually pushing the shift machine to be positioned, and is conducive to realizing the automatic alignment mechanism, thereby improving the user experience of medical staff and target patients.

[0075] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0076] The embodiment of the present application also provides a multi-sensor fusion positioning system based on a transfer machine, which is applied to the transfer machine to be positioned. The transfer machine to be positioned is equipped with a camera. For ease of description, only the parts related to the present application are shown, such as Figure 7 As shown, the system 70 includes:

[0077] Real-time image information acquisition module 71: used to acquire real-time image information of the target bed based on a camera;

[0078] The real-time position information acquisition module 72 is used to acquire the real-time position information and each side area information of the target bed based on the real-time image information, wherein the side area information is used to describe the side of the target bed except the head side and the foot side;

[0079] The target obstacle judgment module 73 is used to judge whether there is a target obstacle in each side area information;

[0080] The target position information generating module 74 is used to generate target position information according to the real-time position information and the preset reserved space information if there is no target obstacle in the side area information, wherein the target position information is used to describe the target position of the transfer machine to be positioned.

[0081] Optionally, the above-mentioned real-time location information acquisition module includes:

[0082] Real-time position information determination submodule: used to determine the real-time position information and characteristic corner point information of the target bed based on the image recognition technology and the real-time image information;

[0083] Side area information determination submodule: used to determine the side area information of the target bed based on the feature corner point information.

[0084] Optionally, the system 70 further includes:

[0085] Alternative quantity information acquisition module: used to obtain alternative quantity information of target location information;

[0086] Alternative quantity information judgment module: used to judge whether the alternative quantity information is greater than 1;

[0087] The patient location information acquisition module is used to obtain the patient location information of the target patient if the candidate quantity information is greater than 1;

[0088] Relative distance information generation module: for each target position information: based on a preset Euclidean formula, according to the patient position information and the real-time position information, generate relative distance information, wherein the relative distance information is used to describe the shortest distance between the patient position information and the real-time position information;

[0089] Final position information determination module: used to determine the target position information with the largest relative spacing information as the final position information.

[0090] Optionally, the system 70 further includes:

[0091] A transfer machine movement instruction generation module is used to generate a transfer machine movement instruction based on the final position information, wherein the transfer machine movement instruction is used to instruct the transfer machine to be positioned to move to the final position information.

[0092] Optionally, the system 70 further includes:

[0093] The patient real-time distance information acquisition module is used to obtain the patient real-time distance information in response to the patient transfer instruction, wherein the patient transfer instruction is used to instruct the target patient to be transferred from the to-be-positioned transfer machine to the target bed, and the patient real-time distance information is used to describe the real-time distance between the patient position information and the target bed;

[0094] Real-time distance information comparison module for injured persons: used to compare the real-time distance information of injured persons with the preset cautious distance information;

[0095] The deceleration transfer instruction generating module is used to generate a deceleration transfer instruction if the real-time distance information of the injured person is less than or equal to the cautious distance information, wherein the deceleration transfer instruction is used to instruct to reduce the transfer rate of the transfer machine to be positioned.

[0096] It should be noted that the information interaction, execution process and other contents between the above-mentioned modules are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0097] The present application also provides a terminal device, such as Figure 8 As shown, the terminal device 80 of this embodiment includes: a processor 81, a memory 82, and a computer program 83 stored in the memory 82 and executable on the processor 81. When the processor 81 executes the computer program 83, the steps in the above-mentioned multi-sensor fusion positioning method embodiment are implemented, such as Figure 1 Steps S100 to S400 shown; or, when the processor 81 executes the computer program 83, the functions of each module in the above device are realized, for example Figure 7 The functions of the modules 71 to 74 are shown.

[0098] The terminal device 80 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server, and the terminal device 80 includes but is not limited to a processor 81 and a memory 82. Those skilled in the art will appreciate that Figure 8 It is only an example of the terminal device 80 and does not constitute a limitation of the terminal device 80. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device 80 may also include input and output devices, network access devices, buses, etc.

[0099] Among them, the processor 81 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.; the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0100] The memory 82 may be an internal storage unit of the terminal device 80, such as a hard disk or memory of the terminal device 80, or the memory 82 may be an external storage device of the terminal device 80, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the terminal device 80; further, the memory 82 may also include both an internal storage unit and an external storage device of the terminal device 80, and the memory 82 may also store a computer program 83 and other programs and data required by the terminal device 80, and the memory 82 may also be used to temporarily store data that has been output or is to be output.

[0101] One embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of each of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc.; the computer-readable medium may include: any entity or device that can carry computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0102] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, all equivalent changes made according to the methods, principles, and structures of the present application should be included in the protection scope of the present application.

Claims

1. A multi-sensor fusion positioning method based on a transfer machine, applied to a transfer machine to be positioned, wherein the transfer machine to be positioned is equipped with a camera, characterized in that: The method comprises: Based on the camera, real-time image information of the target bed is obtained; Based on the real-time image information, the real-time position information and each side area information of the target bed are acquired, wherein the side area information is used to describe the side of the target bed except the head side and the foot side; For each of the side area information: determining whether there is a target obstacle in the side area information; If the target obstacle does not exist in the side area information, target position information is generated according to the real-time position information and the preset reserved space information, wherein the target position information is used to describe the target position of the transfer machine to be positioned.

2. The method according to claim 1, characterized in that The step of acquiring the real-time position information and each side area information of the target bed based on the real-time image information includes: Based on the image recognition technology, the real-time position information and characteristic corner point information of the target bed are determined according to the real-time image information; The side area information of the target bed is determined according to the feature corner point information.

3. The method according to claim 1, characterized in that After generating target position information according to the real-time position information and the preset reserved space information if the target obstacle does not exist in the side area information, the method further includes: Acquire candidate quantity information of the target location information; Determine whether the candidate quantity information is greater than 1; If the candidate quantity information is greater than 1, the target patient's injury location information is obtained; For each of the target position information: based on a preset Euclidean formula, relative distance information is generated according to the patient position information and the real-time position information, wherein the relative distance information is used to describe the shortest distance between the patient position information and the real-time position information; The target position information with the largest relative distance information is determined as the final position information.

4. The method according to claim 3, characterized in that After determining that the target position information with the largest relative spacing information is the final position information, the method further includes: Based on the final position information, a transfer machine movement instruction is generated, wherein the transfer machine movement instruction is used to instruct the transfer machine to be positioned to move to the final position information.

5. The method according to claim 4, characterized in that After generating a transfer machine movement instruction based on the final position information, the method further includes: In response to a patient transfer instruction, obtaining real-time distance information of the patient, wherein the patient transfer instruction is used to instruct the target patient to be transferred from the to-be-positioned transfer machine to the target bed, and the real-time distance information of the patient is used to describe the real-time distance between the position information of the patient and the target bed; Comparing the real-time distance information of the injured person with the preset cautious distance information; If the real-time distance information of the injured person is less than or equal to the cautious distance information, a deceleration transfer instruction is generated, wherein the deceleration transfer instruction is used to instruct to reduce the transfer rate of the transfer machine to be positioned.

6. A multi-sensor fusion positioning system based on a transfer machine, applied to a transfer machine to be positioned, wherein the transfer machine to be positioned is equipped with a camera, characterized in that: The system comprises: Real-time image information acquisition module: used to acquire real-time image information of the target bed based on the camera; A real-time position information acquisition module: used to acquire the real-time position information and each side area information of the target bed based on the real-time image information, wherein the side area information is used to describe the side of the target bed except the head side and the foot side; A target obstacle judgment module: used for judging, for each of the side area information, whether there is a target obstacle in the side area information; Target position information generating module: used to generate target position information according to the real-time position information and preset reserved space information if the target obstacle does not exist in the side area information, wherein the target position information is used to describe the target position of the transfer machine to be positioned.

7. The system according to claim 6, characterized in that The real-time location information acquisition module includes: A real-time position information determination submodule: used to determine the real-time position information and characteristic corner point information of the target bed according to the real-time image information based on image recognition technology; Side area information determination submodule: used to determine the side area information of the target bed according to the characteristic corner point information.

8. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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