Medical electric displacement bed control method and system

Abstract

The invention relates to the technical field of medical electric displacement beds, in particular to a medical electric displacement bed control method and system, and the method comprises the following steps: the system collects data including the inclination angle of a displacement bed rack, the weight of a patient, the extension distance of a horizontal motor push rod, and the included angle of a balancing weight to the displacement bed rack; the torque of the patient to the shifting bed rack is calculated through the extending distance of a horizontal motor push rod and the weight of the patient, and the torque of the balancing weight to the shifting bed rack is calculated through the included angle of the balancing weight to the shifting bed rack and the trigonometric function relation; according to the torque data and the weight and structure data of the static part, the stress condition of the displacement bed rack in the movement process is calculated; when the system detects that the displacement bed rack reaches a dumping critical value, the horizontal motor push rod stops moving, and a dumping alarm is given; otherwise, the horizontal motor push rod continuously moves; according to the invention, the framework of the electric displacement bed rack does not need to be changed, the gravity center change of the moving part can be detected in real time and the toppling alarm can be given in time.

Description

Technical Field

[0001] The present invention relates to the technical field of medical electric transfer beds, and in particular to a control method and system for a medical electric transfer bed. Background Art

[0002] As electric transfer beds are increasingly used in hospitals (especially rehabilitation hospitals), they have brought great convenience to medical staff. Figure 1 As shown, the electric transfer bed mainly includes a frame 1, rollers 2, a horizontal motor push rod 3, a counterweight 4 and a bed. During the operation of the electric transfer bed, there are two movable objects: one is the patient, who lies on the bed and is connected to the horizontal motor push rod 3 on the top by a hanging rope, and the horizontal motor push rod 3 is extended and retracted to perform an extension or retraction movement; the other is the counterweight 4, which moves around the rotating fulcrum. During the process of the horizontal motor push rod 3 extending or retracting the bed, the center of gravity of the moving object will be offset, and the electric transfer bed will often tip over. Therefore, how to effectively control the electric transfer bed during use is a technical problem that needs to be solved urgently.

[0003] At present, the existing control methods for electric transfer beds have the following main deficiencies: (1) The power control system is simple and only controls the movement of a few groups of push rods. It is unable to identify the tipping phenomenon and is unable to provide tipping warnings to operators; (2) It is unable to detect the changes in the center of gravity of the moving parts in real time, such as changes in the patient's position or the position of the counterweight; (3) It relies on too many sensors to detect the operating status, resulting in a significant increase in the number of sensor signal cables, which is not conducive to installation and maintenance, and is costly; (4) It is necessary to change the structure of the electric transfer bed or simply rely on simple and crude methods to ensure balance, such as significantly increasing the volume and weight of the electric transfer bed frame to achieve frame balance, resulting in the entire machine being bulky, taking up space, being too heavy, and being inconvenient to move and transport over long distances. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a low-cost medical electric transfer bed control method and system that does not require changing the structure of the electric transfer bed frame, can detect the center of gravity changes of moving parts in real time and give a tipping alarm in time.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a medical electric shift bed control method, comprising the following steps:

[0006] S1. Data acquisition: The system collects data including the tilt angle of the bed frame, the weight of the patient, the extension distance of the horizontal motor push rod, and the angle between the counterweight block and the bed frame;

[0007] S2. Calculate the torque: Calculate the torque of the patient on the bed frame by the extension distance of the horizontal motor push rod and the weight of the patient, and calculate the torque of the counterweight on the bed frame by the angle between the counterweight and the bed frame and using the trigonometric function relationship;

[0008] S3. Force analysis: Calculate the force of the shift bed frame during movement through the moment data and the weight and structure data of the stationary parts;

[0009] S4. Balance judgment: When the system detects that the shift bed frame reaches the tipping critical value, the horizontal motor push rod stops moving and gives a tipping alarm; otherwise, the horizontal motor push rod continues to move.

[0010] Furthermore, in step S3, when the horizontal motor push rod performs the extension movement, the following force-torque balance formula must be satisfied:

[0011] F1·(L1-L3-L4)=F3·L4+2·F2·L2·sinθ

[0012] When the horizontal motor push rod performs the retraction movement, the following force and torque balance formula must be satisfied:

[0013] F1·L1+F3·L3=2·F2·L2·sinθ

[0014] In the formula, F1=(m 1 +m 2 )·g,F2=2m 3 g, F3 = m 4 g;

[0015] Where F1 represents the downward pulling force of the patient, m 1 represents the quality of the patient, m 2 represents the mass of the bed, F2 represents the downward pulling force of the counterweight, m 3 Indicates the mass of the counterweight block, F3 indicates the base weight of the shift bed frame, m 4 It represents the mass of the frame base, L1 represents the total length of the horizontal motor push rod after it is extended, L2 represents the length from the center of gravity of the counterweight block to the rotation fulcrum C of the counterweight block, L3 represents the length of the lever arm from the center of gravity of the base to the fulcrum B, L4 represents the length of the lever arm from the center of gravity of the base to the fulcrum A, and θ represents the angle between the counterweight block and the shift bed frame.

[0016] A medical electric shift bed control system includes a microprocessor, a data module, a drive module, a display module and a power module. The data module is installed on the electric shift bed and is used to collect various data and transmit them to the microprocessor. The microprocessor is connected to the data module and is used to perform torque calculation, force analysis and balance judgment according to various data, and control the drive module according to the balance judgment result. The drive module is connected to the microprocessor and is used to control the horizontal motor push rod to perform extension and retraction movements. The display module is connected to the microprocessor and is used to display tipping alarm information. The power module is connected to the microprocessor.

[0017] Furthermore, the data module includes a posture sensor, a weighing sensor, a Hall encoder and an angle sensor. The posture sensor is used to detect the inclination angle of the shift bed frame, the weighing sensor is used to detect the weight of the patient, the Hall encoder is used to calculate the extension distance of the horizontal motor push rod, and the angle sensor is used to calculate the angle between the counterweight block and the shift bed frame.

[0018] The beneficial effects of the present invention are:

[0019] (1) The present invention collects data in real time during the entire movement process, and performs torque calculation, force analysis and balance judgment on the shift bed frame in real time according to the collected data, thereby realizing real-time detection of changes in the center of gravity of the moving parts. When it is predicted that the shift bed frame has the possibility of tipping over, a tipping alarm is given in time, which can effectively prevent the electric shift bed from tipping over without changing the structure of the electric shift bed. The present invention has strong practicality and versatility, and does not affect the movement and long-distance transportation of the electric shift bed.

[0020] (2) The sensors in the present invention only involve posture sensors, weighing sensors, Hall encoders and angle sensors, which greatly reduces the number of sensors, thereby reducing the number of signal cables, reducing costs, and bringing great convenience to installation, production and after-sales maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 It is a side schematic diagram of an electric transfer bed in the prior art;

[0023] Figure 2 is a flow chart of a method for controlling a Chinese medical electric transfer bed according to the present invention;

[0024] Figure 3 It is a schematic diagram of the forces acting on the horizontal motor push rod during its extension movement in the present invention;

[0025] Figure 4 It is a schematic diagram of the forces during the retraction movement of the horizontal motor push rod in the present invention;

[0026] Figure 5 It is a flow chart of the control system of the electric transfer bed for medical use of the present invention.

[0027] In the figure: 100, microprocessor; 200, data module; 300, drive module; 400, display module; 500, power module. DETAILED DESCRIPTION

[0028] The present invention will now be further described in conjunction with the accompanying drawings and preferred embodiments. 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.

[0029] There are two main ways to tilt the electric transfer bed: one is to use the front roller (i.e. Figure 3 One is to tilt forward with the rear roller (i.e. Figure 3 Point B in the middle is the backward tilting of the rotation fulcrum.

[0030] Example 1

[0031] like Figure 2 As shown, a medical electric transfer bed control method comprises the following steps:

[0032] S1. Acquisition of data: The system collects data including the tilt angle of the bed frame, the weight of the patient, the extension distance of the horizontal motor push rod, and the angle between the counterweight block and the bed frame.

[0033] Specifically, the tilt angle of the shift bed frame is used to detect whether the placement ground is flat, so as to determine whether the electric shift bed can be used in the ground environment. If the tilt angle exceeds the specified value, the electric shift bed cannot be used; the patient's weight range is 0 to 150kg; there are two counterweight blocks, and the weight of each counterweight block is 20kg.

[0034] S2. Calculate the torque: Calculate the torque of the patient on the bed frame by the extension distance of the horizontal motor push rod and the weight of the patient. Calculate the torque of the counterweight on the bed frame by the angle between the counterweight and the bed frame and using the trigonometric function relationship.

[0035] S3. Force analysis: Calculate the force of the shift bed frame during movement through the torque data and the weight and structure data of the stationary parts (frame, battery pack).

[0036] S4. Balance judgment: When the system detects that the shift bed frame reaches the tipping critical value, the horizontal motor push rod stops moving and gives a tipping alarm; otherwise, the horizontal motor push rod continues to move.

[0037] Real-time data collection is performed throughout the entire movement process, and torque calculation, force analysis and balance judgment are performed on the electric bed frame in real time based on the collected data, so as to realize real-time detection of changes in the center of gravity of the moving parts. When it is predicted that the electric bed frame may tip over, a tipping alarm is given in time, which can effectively prevent the electric bed from tipping over without changing the structure of the electric bed. It has strong practicality and versatility and does not affect the movement and long-distance transportation of the electric bed.

[0038] like Figure 3 and Figure 4 As shown, in step S3, when the horizontal motor push rod performs the extension movement, the L1 distance becomes larger and larger, and there is a possibility of tipping with point A as the rotation axis. To ensure that the electric transfer bed does not tip outward, the force and torque balance at point A must be ensured, and the following force and torque balance formula must be satisfied:

[0039] F1·(L1-L3-L4)=F3·L4+2·F2·L2·sinθ

[0040] When the horizontal motor push rod performs the retraction movement, the L1 distance becomes smaller and smaller, and there is a possibility of tipping with point B as the rotation axis. To ensure that the electric transfer bed does not tip inward, the force and torque balance at point B must be ensured, and the following force and torque balance formula must be satisfied:

[0041] F1·L1+F3·L3=2·F2·L2·sinθ

[0042] In the formula, F1=(m 1 +m 2 )·g,F2=2m 3 g, F3 = m 4 g;

[0043] Where F1 represents the downward pulling force of the patient, m 1 represents the quality of the patient, m 2 represents the mass of the bed, F2 represents the downward pulling force of the counterweight, m 3 Indicates the mass of the counterweight block, F3 indicates the base weight of the shift bed frame, m 4 It represents the mass of the frame base, L1 represents the total length of the horizontal motor push rod after it is extended, L2 represents the length from the center of gravity of the counterweight block to the rotation fulcrum C of the counterweight block, L3 represents the length of the lever arm from the center of gravity of the base to the fulcrum B, L4 represents the length of the lever arm from the center of gravity of the base to the fulcrum A, and θ represents the angle between the counterweight block and the shift bed frame.

[0044] Specifically, the weight of the rack base, including the weight of the structural parts and the battery pack, is about 60 kg.

[0045] Example 2

[0046] like Figure 5As shown, a medical electric shift bed control system includes a microprocessor 100, a data module 200, a drive module 300, a display module 400 and a power module 500. The data module 200 is installed on the electric shift bed, and is used to collect various data and transmit them to the microprocessor 100. The microprocessor 100 is connected to the data module 200, and is used to perform torque calculation, force analysis and balance judgment according to various data, and control the drive module 300 according to the balance judgment result. The drive module 300 is connected to the microprocessor 100, and is used to control the horizontal motor push rod to perform extension and retraction movements. The display module 400 is connected to the microprocessor 100, and is used to display tipping alarm information. The power module 500 is connected to the microprocessor 100.

[0047] like Figure 5 As shown, the data module 200 includes a posture sensor, a weighing sensor, a Hall encoder and an angle sensor. The posture sensor is used to detect the tilt angle of the shift bed frame, the weighing sensor is used to detect the weight of the patient, the Hall encoder is used to calculate the extension distance of the horizontal motor push rod, and the angle sensor is used to calculate the angle between the counterweight block and the shift bed frame. The sensors only involve posture sensors, weighing sensors, Hall encoders and angle sensors, which greatly reduces the number of sensors, thereby reducing the number of signal cables, reducing costs, and bringing great convenience to installation, production and after-sales maintenance.

[0048] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it. They cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling a medical electric transfer bed, characterized in that: The steps include: S1. Data acquisition: The system collects data including the tilt angle of the bed frame, the weight of the patient, the extension distance of the horizontal motor push rod, and the angle between the counterweight block and the bed frame; S2. Calculate the torque: Calculate the torque of the patient on the bed frame by the extension distance of the horizontal motor push rod and the weight of the patient, and calculate the torque of the counterweight on the bed frame by the angle between the counterweight and the bed frame and using the trigonometric function relationship; S3. Force analysis: Calculate the force of the shift bed frame during movement through the moment data and the weight and structure data of the stationary parts; S4. Balance judgment: When the system detects that the shift bed frame reaches the tipping critical value, the horizontal motor push rod stops moving and gives a tipping alarm; otherwise, the horizontal motor push rod continues to move.

2. The medical electric transfer bed control method according to claim 1, characterized in that: In step S3, when the horizontal motor push rod performs the extension movement, the following force and torque balance formula must be satisfied: F1·(L1-L3-L4)=F3·L4+2·F2·L2·sinθ When the horizontal motor push rod performs the retraction movement, the following force and torque balance formula must be satisfied: F1·L1+F3·L3=2·F2·L2·sinθ Wherein, F1 = (m1 + m2) g, F2 = 2m3g, F3 = m4g; Among them, F1 represents the downward pulling force of the patient, m1 represents the mass of the patient, m2 represents the mass of the bed, F2 represents the downward pulling force of the counterweight block, m3 represents the mass of the counterweight block, F3 represents the base gravity of the shift bed frame, m4 represents the mass of the frame base, L1 represents the total length of the horizontal motor push rod after extension, L2 represents the length from the center of gravity of the counterweight block to the counterweight block rotation fulcrum C, L3 represents the lever arm length from the center of gravity of the base to the fulcrum B, L4 represents the lever arm length from the center of gravity of the base to the fulcrum A, and θ represents the angle between the counterweight block and the shift bed frame.

3. A medical electric transfer bed control system, characterized in that: The invention comprises a microprocessor (100), a data module (200), a drive module (300), a display module (400) and a power module (500); the data module (200) is installed on the electric shift bed and is used to collect various data and transmit the data to the microprocessor (100); the microprocessor (100) is connected to the data module (200) and is used to perform torque calculation, force analysis and balance judgment according to various data, and control the drive module (300) according to the balance judgment result; the drive module (300) is connected to the microprocessor (100) and is used to control the horizontal motor push rod to perform extension and retraction movement; the display module (400) is connected to the microprocessor (100) and is used to display tipping warning information; and the power module (500) is connected to the microprocessor (100).

4. The medical electric transfer bed control system according to claim 3, characterized in that: The data module (200) comprises a posture sensor, a weighing sensor, a Hall encoder and an angle sensor, wherein the posture sensor is used to detect the tilt angle of the shift bed frame, the weighing sensor is used to detect the weight of the patient, the Hall encoder is used to calculate the extension distance of the horizontal motor push rod, and the angle sensor is used to calculate the angle between the counterweight block and the shift bed frame.

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