Medical displacement machine driving method and system based on pushing mode perception
By adopting a driving method based on push mode perception in medical shift machines, using gyroscopes to obtain real-time angle information and adjust power output, the problem of low intelligence level of existing medical shift machines is solved and the handling efficiency is improved.
Patent Information
- Application Number
- CN202411588851.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-08
- Publication Date
- 2025-03-25
AI Technical Summary
The existing medical shifters lack real-time power adjustment mechanism and cannot automatically adjust power output according to specific terrain conditions, resulting in low handling efficiency of medical staff and low intelligence level.
Using a driving method based on push mode perception, the real-time pitch angle and yaw angle information of the target shifter is obtained through a gyroscope, the motion state information is determined, and the power wheel control command is generated to intelligently adjust the output power of the power wheel.
The intelligent level of medical shifters is improved, and the power output can be intelligently adjusted according to specific terrain conditions and movement status, which improves the handling efficiency of medical staff.
Smart Images
Figure CN119679593A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of medical transfer machines, and in particular, to a medical transfer machine driving method and system based on push mode perception. Background Art
[0002] Transporting patients is a vital part of medical services. It is not only directly related to the patient's life safety, but also has a profound impact on the treatment effect and recovery progress.
[0003] Currently, medical transfer machines lack a real-time power adjustment mechanism and cannot automatically adjust power output according to specific terrain conditions. This is not conducive to improving the efficiency of medical staff's handling. There is also a problem of low intelligence level, which needs further improvement. Summary of the Invention
[0004] Based on this, the embodiments of the present application provide a medical transfer machine driving method and system based on push mode perception to solve the problem of low intelligence level in the existing technology.
[0005] In a first aspect, an embodiment of the present application provides a method for driving a medical lift based on push mode perception, the method comprising:
[0006] In response to entering the power-assisted pushing mode, real-time pitch angle information and real-time yaw angle information of the target lift are obtained based on a preset gyroscope;
[0007] determining motion state information of the target lift according to the real-time pitch angle information and the real-time yaw angle information;
[0008] generating target auxiliary power information according to the motion state information;
[0009] A power wheel control instruction is generated based on the target auxiliary power information, wherein the target lift includes power wheels, and the power wheel control instruction is used to instruct to control the output power of the power wheels.
[0010] Compared with the prior art, the beneficial effect is that the medical lift driving method based on pushing mode perception provided by the embodiment of the present application, the terminal device can first respond to entering the power-assisted pushing mode, and use the gyroscope to obtain the real-time pitch angle information and real-time yaw angle information of the target lift, and then accurately determine the motion state information of the target lift based on the real-time pitch angle information and real-time yaw angle information, and then accurately generate the target auxiliary power information based on the motion state information, and finally effectively generate the power wheel control instruction based on the target auxiliary power information, so as to intelligently control the output power of the power wheel under the premise of fully considering the specific motion state of the target lift, thereby improving the intelligence level of the target lift and solving the problem of the current low intelligence level to a certain extent.
[0011] In a second aspect, an embodiment of the present application provides a medical lift drive system based on push mode perception, the system comprising:
[0012] Real-time pitch angle information acquisition module: used for obtaining real-time pitch angle information and real-time yaw angle information of the target lift based on a preset gyroscope in response to entering the power-assisted pushing mode;
[0013] A motion state information determination module is configured to determine the motion state information of the target lift according to the real-time pitch angle information and the real-time yaw angle information;
[0014] Target auxiliary power information generation module: used for generating target auxiliary power information according to the motion state information;
[0015] A power wheel control instruction generating module is used to generate a power wheel control instruction based on the target auxiliary power information, wherein the target lift includes a power wheel, and the power wheel control instruction is used to indicate the output power of the power wheel.
[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 following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art.
[0020] Figure 1 This is a flow chart of a medical lift driving method provided in one embodiment of the present application;
[0021] Figure 2 This is a first flow chart of step S200 in the medical lift driving method provided in one embodiment of the present application;
[0022] Figure 3 This is a second flow chart of step S200 in the medical lift driving method provided in one embodiment of the present application;
[0023] Figure 4 1 is a flow chart of step S300 in the medical lift driving method provided in one embodiment of the present application;
[0024] Figure 5 This is a module block diagram of a medical lift drive system provided in one embodiment of the present application;
[0025] Figure 6 This is a schematic diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION
[0026] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may 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 avoid obscuring the description of the present application with unnecessary detail.
[0027] In the description of this 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.
[0028] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.
[0029] In order to illustrate the technical solution described in this application, specific embodiments are provided below.
[0030] See also Figure 1 , Figure 1 This is a flow chart of a medical lift driving method based on push mode sensing, as provided in an embodiment of the present application. In this embodiment, the medical lift driving method is executed by a terminal device. It is understood that terminal device types include, but are not limited to, mobile phones, tablet computers, laptop computers, ultra-mobile personal computers (UMPCs), netbooks, and personal digital assistants (PDAs). This embodiment of the present application does not impose any restrictions on the specific type of terminal device.
[0031] See also Figure 1 The medical lift driving method provided in the embodiment of the present application includes but is not limited to the following steps:
[0032] In S100 , in response to entering the power-assisted pushing mode, real-time pitch angle information and real-time yaw angle information of the target lift are acquired based on a preset gyroscope.
[0033] Without loss of generality, the target lift is used to describe a medical lift to be moved; the target lift may include a sensor module, a power module, an edge processing module, and a power module, wherein the sensor module may include a stereo camera, a weight sensor, a pressure sensor, a gyroscope, and an infrared proximity sensor; the stereo camera is pre-installed at the front end of the target lift; the weight sensor is pre-installed on the bearing surface of the target lift, that is, the area on the target lift for the patient to lie down, and the weight sensor is used to measure the additional weight of the target lift; the pressure sensor may be a handle pressure sensor, which is pre-installed on the handle of the target lift; the gyroscope may be a six-axis gyroscope, which is pre-installed at the front end of the target lift, and is used to collect the position and change of the target lift; the number of infrared proximity sensors may be multiple, and for example, one infrared proximity sensor may be installed at the front end and the rear end of the target lift respectively. The infrared proximity sensor located at the front end of the target lift is used to assist the stereo camera in determining the distance to the obstacle, and the infrared proximity sensor located at the rear end of the target lift is used to assist the pressure sensor in determining whether someone is pushing it.
[0034] Exemplarily, the power module may include a power wheel, which is pre-installed at the bottom of the target lift; the edge processing module can collect interaction data between various sensors in the sensor module, and provide computing power and storage functions; the power module can supply power to the sensor module, the power module and the edge processing module.
[0035] Specifically, in response to entering the power-assisted pushing mode, the terminal device can use a preset gyroscope to obtain real-time pitch angle information and real-time yaw angle information of the target lift, wherein the real-time pitch angle information is used to describe the real-time detected pitch angle, and the real-time yaw angle information is used to describe the real-time detected yaw angle.
[0036] In some possible implementations, in order to enter the power-assisted pushing mode, before step S100, the method further includes but is not limited to the following steps:
[0037] In S101 , in response to a high level signal from the handle pressure sensor and a high level signal from the infrared proximity sensor, the target lift is controlled to enter a power-assisted pushing mode.
[0038] Specifically, the terminal device can control the target lift to enter the power-assisted pushing mode in response to the high-level signal of the handle pressure sensor and the high-level signal corresponding to the infrared proximity sensor located at the rear end of the target lift, so that when it senses that there is a large thrust on the pushing handle and the infrared proximity sensor is activated because there is a person in the close range of the target lift, the target lift automatically enters the power-assisted pushing mode; illustratively, when the output voltage of the handle pressure sensor exceeds 3.5 volts, the handle pressure sensor can generate a high-level signal; when the output voltage corresponding to the infrared proximity sensor located at the rear end of the target lift exceeds 3.5 volts, the infrared proximity sensor located at the rear end of the target lift can generate a high-level signal.
[0039] It should be noted that, after the target lift enters the power-assisted pushing mode, the target lift may have a power control function; during the movement of the target lift, the medical staff may be responsible for pushing and controlling the direction of the target lift.
[0040] In S200, the motion state information of the target lift is determined based on the real-time pitch angle information and the real-time yaw angle information.
[0041] Specifically, after the terminal device controls the target lift to enter the power-assisted pushing mode, the terminal device can accurately determine the motion state information of the target lift based on the real-time pitch angle information and the real-time yaw angle information, wherein the motion state information includes normal pushing state information, uphill state information, downhill state information and turning state information; the normal pushing state information is used to describe that the target lift is in a normal pushing state; the uphill state information is used to describe that the target lift is in an uphill pushing state; the downhill state information is used to describe that the target lift is in a downhill pushing state; and the turning state information is used to describe that the target lift is in a turning pushing state.
[0042] In some possible implementations, in order to accurately determine the general promotion status information, please refer to Figure 2 Step S200 includes but is not limited to the following steps:
[0043] In S210 , the real-time pitch angle information is compared with the preset pitch angle limit value information, and the real-time yaw angle information is compared with the preset yaw angle limit value information.
[0044] Specifically, the terminal device can compare the real-time pitch angle information with the preset pitch angle limit value information, and compare the real-time yaw angle information with the preset yaw angle limit value information. The pitch angle limit value information and the yaw angle limit value information are both preset values, and the specific values are not limited. For example, the pitch angle limit value information can be 2 degrees, and the yaw angle limit value information can be 15 degrees.
[0045] In S220, if the real-time pitch angle information is less than the pitch angle limit value information, and the real-time yaw angle information is less than the yaw angle limit value information, it is determined that the motion state information of the target lift is normal pushing state information.
[0046] Specifically, if the real-time pitch angle information is less than the pitch angle limit value information, and the real-time yaw angle information is less than the yaw angle limit value information, it indicates that the pitch angle and yaw angle of the gyroscope are both small, and the terminal device can accurately determine that the motion state information of the target lift is normal pushing state information, which is conducive to the subsequent control of the power wheel to output basic power, that is, basic auxiliary power.
[0047] Without loss of generality, after determining that the motion state information of the target lift is conventional pushing state information, the terminal device can detect the change in pitch angle and the change in yaw angle according to a certain detection period, and thereby intelligently adjust the conventional pushing state information to uphill state information, downhill state information, or turning state information based on the change.
[0048] In some possible implementations, in order to more accurately determine the motion state information, before step S200, the method further includes but is not limited to the following steps:
[0049] In S201, historical pitch angle information and historical yaw angle information of the target lift are obtained.
[0050] Specifically, the terminal device can obtain the historical pitch angle information and historical yaw angle information of the target lift, wherein the collection time of the historical pitch angle information is earlier than the collection time of the real-time pitch angle information, and the time interval value between the historical pitch angle information and the real-time pitch angle information is a preset fixed value, and the time interval value can be the time interval repeated in the above time period, and the collection time of the historical yaw angle information is earlier than the collection time of the real-time yaw angle information, and the time interval value between the historical yaw angle information and the real-time yaw angle information is a fixed value.
[0051] Accordingly, see Figure 3 Step S200 includes but is not limited to the following steps:
[0052] In S230 , pitch angle acceleration information is generated according to the real-time pitch angle information, the historical pitch angle information, and the time interval value, and yaw angle acceleration information is generated according to the real-time yaw angle information, the historical yaw angle information, and the time interval value.
[0053] Specifically, the terminal device can accurately generate pitch angle acceleration information based on real-time pitch angle information, historical pitch angle information and time interval value, and accurately generate yaw angle acceleration information based on real-time yaw angle information, historical yaw angle information and time interval value.
[0054] For example, the terminal device may first calculate the difference between the real-time pitch angle information and the historical pitch angle information, and then divide the difference by the time interval value to determine the pitch angle acceleration information; the process of determining the yaw angle acceleration information is similar, so it will not be repeated.
[0055] In S240 , the pitch angle acceleration information is compared with the preset minimum acceleration limit information.
[0056] Specifically, after the terminal device generates the pitch angle acceleration information and the yaw angle acceleration information, the terminal device may compare the pitch angle acceleration information with preset minimum acceleration limit information, wherein the minimum acceleration limit information may be a preset value.
[0057] In S250, if the pitch angle acceleration information is greater than the acceleration minimum limit information, it is determined that the motion state information of the target lift is uphill state information.
[0058] Specifically, if the pitch angle acceleration information is greater than the minimum acceleration limit information, the terminal device can accurately determine that the motion state information of the target lift is uphill state information.
[0059] In S260, if the pitch angle acceleration information is less than the negative value of the acceleration minimum limit information, it is determined that the motion state information of the target lift is downhill state information.
[0060] Specifically, if the pitch angle acceleration information is less than the negative value of the acceleration minimum limit information, the terminal device can accurately determine that the motion state information of the target lift is downhill state information.
[0061] In S270 , the absolute value of the yaw acceleration information is compared with the acceleration minimum limit information.
[0062] Specifically, the terminal device may compare the absolute value of the yaw angle acceleration information with the acceleration minimum limit information.
[0063] In S280, if the absolute value of the yaw angle acceleration information is greater than the minimum acceleration limit information, it is determined that the motion state information of the target lift is turning state information.
[0064] Specifically, if the absolute value of the yaw angle acceleration information is greater than the minimum acceleration limit information, the terminal device can accurately determine that the motion state information of the target lift is turning state information.
[0065] In S300 , target auxiliary power information is generated according to the motion state information.
[0066] Specifically, after the terminal device determines the motion state information of the target lift, the terminal device can effectively generate target auxiliary power information based on the motion state information, wherein the target auxiliary power information is the first auxiliary power information, the second auxiliary power information, the third auxiliary power information or the fourth auxiliary power information; the first auxiliary power information corresponds to the conventional pushing state information; the second auxiliary power information corresponds to the uphill state information; the third auxiliary power information corresponds to the downhill state information; and the fourth auxiliary power information corresponds to the turning state information.
[0067] In some possible implementations, in order to intelligently generate target auxiliary power information, see Figure 4 Step S300 includes but is not limited to the following steps:
[0068] In S310 , if the motion state information is normal pushing state information, first auxiliary power information is generated based on a preset first auxiliary power information calculation formula.
[0069] Specifically, if the motion state information is conventional pushing state information, the terminal device can effectively generate the first auxiliary power information based on a preset first auxiliary power information calculation formula, thereby being applicable to application scenarios where the motion state information of the target lift is conventional pushing state information.
[0070] In a possible implementation, the first auxiliary power information calculation formula may be:
[0071] P normal=k normal (G+G0),
[0072] Where, P normal represents the first auxiliary power information, which may be slightly smaller than the force for moving the target lift in the hospital; k normal represents a preset conventional pushing power coefficient, which is a preset value; G represents the weight corresponding to the person on the target transfer lift, and illustratively, G can be the weight of the patient; G0 represents the weight of the target transfer lift when there is no person on it, and illustratively, G0 can be the weight of the target transfer lift itself.
[0073] In S320 , if the motion state information is uphill state information, an incremental power value is generated based on a preset incremental power value calculation formula.
[0074] Specifically, if the motion state information is uphill state information, the terminal device can generate an incremental power value based on a preset incremental power value calculation formula, thereby providing incremental power based on the pitch angle value on the basis of the basic assist power.
[0075] In a possible implementation, the above incremental power value calculation formula may be:
[0076] ΔP up =k up φ(G+G0),
[0077] Where, ΔP up Indicates the incremental power value; k up Indicates the preset uphill power coefficient, which is the preset value; φ indicates the real-time pitch angle information; G indicates the weight of the person on the target lift; G0 indicates the weight when there is no person on the target lift.
[0078] In S330 , second auxiliary power information is generated based on a preset second auxiliary power information calculation formula and the incremental power value.
[0079] Specifically, after the terminal device generates the incremental power value, the terminal device can generate second auxiliary power information based on a preset second auxiliary power information calculation formula and the incremental power value, thereby being applicable to an application scenario where the motion state information of the target lift is uphill state information.
[0080] In a possible implementation, the second auxiliary power information calculation formula may be:
[0081] P up =P normal +ΔP up ,
[0082] Where, Pup Indicates the second auxiliary power information; P normal Indicates the first auxiliary power information; ΔP up Indicates the incremental power value.
[0083] Without loss of generality, if a large pitch angle acceleration in the opposite direction occurs or the pitch angle value is small enough, the terminal device may control the target lift to adjust from the uphill state information to the normal pushing state information.
[0084] In S340 , if the motion state information is downhill state information, a power reduction value is generated based on a preset power reduction value calculation formula.
[0085] Specifically, if the motion state information is downhill state information, the terminal device can generate a power reduction value based on a preset power reduction value calculation formula.
[0086] In a possible implementation, the above power reduction value calculation formula may be:
[0087] ΔP down =k down |φ|(G+G0),
[0088] Where, ΔP down Indicates the power reduction value; k down represents the preset downhill power coefficient, which is the preset value; |φ| represents the absolute value of the real-time pitch angle information; G represents the weight of the person on the target lift; G0 represents the weight when there is no person on the target lift.
[0089] In S350 , third auxiliary power information is generated based on a preset third auxiliary power information calculation formula and the power reduction value.
[0090] Specifically, the terminal device may generate the third auxiliary power information based on a preset third auxiliary power information calculation formula and the power reduction value, so as to be applicable to an application scenario where the motion state information of the target lift is downhill state information.
[0091] In a possible implementation, the third auxiliary power information calculation formula may be:
[0092] P down =P normal -ΔP down ,
[0093] Where, P down Indicates the third auxiliary power information; P normal Indicates the first auxiliary power information; ΔP down Indicates the power reduction value.
[0094] Without loss of generality, if a large positive pitch angle acceleration occurs or the pitch angle value is small enough, the terminal device may control the target lift to adjust from the downhill state information to the normal pushing state information.
[0095] In S360 , if the motion state information is turning state information, fourth auxiliary power information is generated based on a preset fourth auxiliary power information calculation formula.
[0096] Specifically, if the motion state information is turning state information, the fourth auxiliary power information is generated based on a preset fourth auxiliary power information calculation formula, thereby being applicable to application scenarios where the motion state information of the target lift is turning state information. It should be noted that when the motion state information of the target lift is turning state information, the terminal device can control the upper limit of the speed of the power wheel and reduce the output power of the power wheel as the speed increases.
[0097] In a possible implementation, the fourth auxiliary power information calculation formula may be:
[0098]
[0099] Where, P block Indicates the fourth auxiliary power information; d mean Indicates target distance information, which is used to describe the distance between the target lift and the obstacle; U near_front Indicates the output level value of the infrared proximity sensor, which may be an infrared proximity sensor located at the front end of the target lift; d near The preset lower limit of the distance is used to describe the minimum safe distance between the target lift and the obstacle. For example, the lower limit of the distance may be 0.2 meters. far Indicates a preset upper distance limit value, which is used to describe the maximum safe interval between the target lift and the obstacle. For example, the upper distance limit value may be 1 meter. Both the lower distance limit value and the upper distance limit value are preset values.
[0100] Specifically, during the promotion of the target lift, the terminal device can use a stereo camera to capture visible light images and depth images, and then input the visible light images and depth images into the preset ward environment stereo vision convolutional neural network target detection model to detect obstacles in the image, and then calculate the relative position of the obstacle and the front end of the target lift.
[0101] For example, after the relative distance between the obstacle and the front end of the target lift decreases, the terminal device may start to control the power wheels to reduce power, and gradually brake as the distance gets closer, while sending prompt signals in the form of sound and light. For example, when the target distance information is less than 0.2 meters or the infrared proximity sensor located at the front end of the target lift generates a high-level signal, no auxiliary power is provided.
[0102] Without loss of generality, the terminal device may continuously detect the change in the yaw angle when the target lift is in a turning state. When the yaw angle is stable, the terminal device may control the target lift to adjust from the turning state information to the normal pushing state information.
[0103] In S400 , a power wheel control command is generated based on the target auxiliary power information.
[0104] Specifically, after the terminal device generates the target auxiliary power information, the terminal device can effectively generate a power wheel control instruction based on the target auxiliary power information, wherein the power wheel control instruction is used to indicate the output power of the power wheel.
[0105] The implementation principle of the medical lift driving method based on pushing mode perception in the embodiment of the present application is as follows: the terminal device can first respond to entering the power-assisted pushing mode, use the gyroscope to obtain the real-time pitch angle information and real-time yaw angle information of the target lift, and then accurately determine the motion state information of the target lift based on the real-time pitch angle information and real-time yaw angle information, and then accurately generate target auxiliary power information based on the motion state information. Finally, based on the target auxiliary power information, effectively generate power wheel control instructions, thereby combining the specific motion state of the target lift to intelligently control the output power of the power wheel and improve the intelligence level of the target lift.
[0106] 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 this application.
[0107] The embodiment of the present application further provides a medical transfer machine driving system based on pushing mode perception. For ease of description, only the parts related to the present application are shown, such as Figure 5 As shown, the system 50 includes:
[0108] The real-time pitch angle information acquisition module 51 is configured to acquire the real-time pitch angle information and the real-time yaw angle information of the target lift based on a preset gyroscope in response to entering the power-assisted pushing mode;
[0109] Motion state information determination module 52: used to determine the motion state information of the target lift according to the real-time pitch angle information and the real-time yaw angle information;
[0110] Target auxiliary power information generating module 53: used to generate target auxiliary power information according to motion state information;
[0111] The power wheel control instruction generating module 54 is configured to generate a power wheel control instruction based on the target auxiliary power information, wherein the target lift includes a power wheel, and the power wheel control instruction is configured to indicate the output power of the power wheel.
[0112] Optionally, the motion state information includes conventional pushing state information; the motion state information determination module 52 includes:
[0113] Real-time pitch angle information comparison submodule: used to compare real-time pitch angle information with preset pitch angle limit value information, and to compare real-time yaw angle information with preset yaw angle limit value information;
[0114] Conventional pushing state information determination submodule: for determining that the motion state information of the target lift is conventional pushing state information if the real-time pitch angle information is less than the pitch angle limit value information and the real-time yaw angle information is less than the yaw angle limit value information.
[0115] Optionally, the motion state information further includes uphill state information, downhill state information, and turning state information; the system 50 further includes:
[0116] A historical pitch angle information acquisition module is used to acquire historical pitch angle information and historical yaw angle information of the target lift, wherein the historical pitch angle information is collected earlier than the real-time pitch angle information, and the time interval between the historical pitch angle information and the real-time pitch angle information is a preset fixed value; the historical yaw angle information is collected earlier than the real-time yaw angle information, and the time interval between the historical yaw angle information and the real-time yaw angle information is a fixed value;
[0117] Accordingly, the motion state information determination module 52 includes:
[0118] Pitch angle acceleration information generation submodule: used to generate pitch angle acceleration information based on real-time pitch angle information, historical pitch angle information and time interval value, and generate yaw angle acceleration information based on real-time yaw angle information, historical yaw angle information and time interval value;
[0119] Pitch angle acceleration information comparison submodule: used to compare pitch angle acceleration information with preset acceleration minimum limit information;
[0120] Uphill state information determination submodule: configured to determine that the motion state information of the target lift is uphill state information if the pitch angle acceleration information is greater than the minimum acceleration limit information;
[0121] Downhill state information determination submodule: for determining that the motion state information of the target lift is downhill state information if the pitch angle acceleration information is less than the negative value of the acceleration minimum limit information;
[0122] Yaw angle acceleration information comparison submodule: used to compare the absolute value of yaw angle acceleration information and the minimum acceleration limit information;
[0123] The turning state information determination submodule is configured to determine that the motion state information of the target lift is turning state information if the absolute value of the yaw angle acceleration information is greater than the minimum acceleration limit information.
[0124] Optionally, the target auxiliary power information is the first auxiliary power information, the second auxiliary power information, the third auxiliary power information or the fourth auxiliary power information; the target lift further includes an infrared proximity sensor; the target auxiliary power information generating module 53 includes:
[0125] If the motion state information is normal pushing state information, the first auxiliary power information is generated based on a preset first auxiliary power information calculation formula, wherein the first auxiliary power information calculation formula is:
[0126] P normal =k normal (G+G0),
[0127] Where, P normal is the first auxiliary power information, k normal is the preset normal pushing power coefficient, G is the weight of the person on the target lift, and G0 is the weight of the target lift when there is no person on it;
[0128] If the motion state information is uphill state information, an incremental power value is generated based on a preset incremental power value calculation formula, wherein the incremental power value calculation formula is:
[0129] ΔP up =k up φ(G+G0),
[0130] Where, ΔP up is the incremental power value, k up is the preset uphill dynamic coefficient, φ is the real-time pitch angle information;
[0131] The second auxiliary power information is generated based on a preset second auxiliary power information calculation formula and the incremental power value, wherein the second auxiliary power information calculation formula is:
[0132] P up =P normal +ΔP up ,
[0133] Where, P up is the second auxiliary power information;
[0134] If the motion state information is downhill state information, a power reduction value is generated based on a preset power reduction value calculation formula, wherein the power reduction value calculation formula is:
[0135] ΔP down =k down |φ|(G+G0),
[0136] Where, ΔP down is the power reduction value, k down is the preset downhill power coefficient;
[0137] Based on the preset third auxiliary power information calculation formula and the power reduction value, the third auxiliary power information is generated, wherein the third auxiliary power information calculation formula is:
[0138] P down =P normal -ΔP down ,
[0139] Where, P down The third auxiliary power information;
[0140] If the motion state information is turning state information, the fourth auxiliary power information is generated based on a preset fourth auxiliary power information calculation formula, wherein the fourth auxiliary power information calculation formula is:
[0141]
[0142] Where, P block is the fourth auxiliary power information, d mean The target distance information is used to describe the distance between the target lift and the obstacle. near_front is the output level value of the infrared proximity sensor, d near is the preset lower limit of distance, d far The preset upper limit of the distance.
[0143] Optionally, the target lift further includes a handle pressure sensor; the system 50 further includes:
[0144] Power-assisted pushing mode control module: used to control the target lift to enter the power-assisted pushing mode in response to the high-level signal of the handle pressure sensor and the high-level signal of the infrared proximity sensor.
[0145] It should be noted that the information interaction, execution process and other contents between the above modules are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.
[0146] The present application also provides a terminal device, such as Figure 6 As shown, the terminal device 60 of this embodiment includes: a processor 61, a memory 62, and a computer program 63 stored in the memory 62 and executable on the processor 61. When the processor 61 executes the computer program 63, the steps in the above-mentioned medical lift driving method embodiment are implemented, such as Figure 1 Steps S100 to S400 shown; or, when the processor 61 executes the computer program 63, the functions of each module in the above device are realized, for example Figure 5 The functions of modules 51 to 54 are shown.
[0147] The terminal device 60 can be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server, and the terminal device 60 includes but is not limited to a processor 61 and a memory 62. Those skilled in the art will understand that Figure 6 It is merely an example of the terminal device 60 and does not constitute a limitation of the terminal device 60. The terminal device 60 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 60 may also include input and output devices, network access devices, buses, etc.
[0148] Among them, the processor 61 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.
[0149] The memory 62 can be an internal storage unit of the terminal device 60, such as a hard disk or memory of the terminal device 60, or an external storage device of the terminal device 60, 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 60; further, the memory 62 can also include both an internal storage unit of the terminal device 60 and an external storage device, and the memory 62 can also store a computer program 63 and other programs and data required by the terminal device 60, and the memory 62 can also be used to temporarily store data that has been output or is to be output.
[0150] One embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, which, when executed by a processor, can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form; the computer-readable medium can include: any entity or device capable of carrying 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), electrical carrier signal, telecommunication signal, and software distribution medium.
[0151] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the methods, principles, and structures of the present application should be included in the scope of protection of the present application.
Claims
1. A medical lift driving method based on pushing mode perception, characterized in that: The method comprises: In response to entering the power-assisted pushing mode, real-time pitch angle information and real-time yaw angle information of the target lift are obtained based on a preset gyroscope; Determining the motion state information of the target lift according to the real-time pitch angle information and the real-time yaw angle information; generating target auxiliary power information according to the motion state information; Based on the target auxiliary power information, a power wheel control instruction is generated, wherein the target lift includes a power wheel, and the power wheel control instruction is used to instruct to control the output power of the power wheel.
2. The method according to claim 1, characterized in that The motion state information includes conventional pushing state information; the motion state information of the target lift is determined according to the real-time pitch angle information and the real-time yaw angle information, including: Comparing the real-time pitch angle information with preset pitch angle limit value information, and comparing the real-time yaw angle information with preset yaw angle limit value information; If the real-time pitch angle information is smaller than the pitch angle limit value information, and the real-time yaw angle information is smaller than the yaw angle limit value information, it is determined that the motion state information of the target lift is the conventional pushing state information.
3. The method according to claim 2, characterized in that The motion state information further includes uphill state information, downhill state information and turning state information; before determining the motion state information of the target lift according to the real-time pitch angle information and the real-time yaw angle information, the method further includes: Acquire historical pitch angle information and historical yaw angle information of the target shifting machine, wherein the collection time of the historical pitch angle information is earlier than the collection time of the real-time pitch angle information, and the time interval value between the historical pitch angle information and the real-time pitch angle information is a preset fixed value, and the collection time of the historical yaw angle information is earlier than the collection time of the real-time yaw angle information, and the time interval value between the historical yaw angle information and the real-time yaw angle information is the fixed value; Accordingly, determining the motion state information of the target lift according to the real-time pitch angle information and the real-time yaw angle information includes: Generate pitch angle acceleration information according to the real-time pitch angle information, the historical pitch angle information and the time interval value, and generate yaw angle acceleration information according to the real-time yaw angle information, the historical yaw angle information and the time interval value; Comparing the pitch angle acceleration information with preset acceleration minimum limit information; If the pitch angle acceleration information is greater than the acceleration minimum limit information, determining that the motion state information of the target lift is the uphill state information; If the pitch angle acceleration information is less than the negative value of the acceleration minimum limit information, determining that the motion state information of the target lift is the downhill state information; comparing the absolute value of the yaw angle acceleration information with the acceleration minimum limit information; If the absolute value of the yaw angle acceleration information is greater than the acceleration minimum limit information, it is determined that the motion state information of the target lift is the turning state information.
4. The method according to claim 3, characterized in that The target auxiliary power information is the first auxiliary power information, the second auxiliary power information, the third auxiliary power information or the fourth auxiliary power information; The target lift also includes an infrared proximity sensor; the target auxiliary power information is generated according to the motion state information, including: If the motion state information is the conventional pushing state information, the first auxiliary power information is generated based on a preset first auxiliary power information calculation formula, wherein the first auxiliary power information calculation formula is: P normal =k normal (G+G0), Where P normal is the first auxiliary power information, k normal is a preset conventional propulsion power coefficient, G is the weight of a person on the target lift, and G0 is the weight of the target lift when there is no person on the lift; If the motion state information is the uphill state information, an incremental power value is generated based on a preset incremental power value calculation formula, wherein the incremental power value calculation formula is: ΔP up =k up φ(G+G0), In the formula, ΔP up is the incremental power value, k up is the preset uphill dynamic coefficient, and φ is the real-time pitch angle information; The second auxiliary power information is generated based on a preset second auxiliary power information calculation formula and the incremental power value, wherein the second auxiliary power information calculation formula is: P up =P normal +ΔP up , Where P up The second auxiliary power information; If the motion state information is the downhill state information, a power reduction value is generated based on a preset power reduction value calculation formula, wherein the power reduction value calculation formula is: ΔP down =k down |φ|(G+G0), In the formula, ΔP down is the power reduction value, k down is the preset downhill dynamic coefficient; The third auxiliary power information is generated based on a preset third auxiliary power information calculation formula and the power reduction value, wherein the third auxiliary power information calculation formula is: P down =P normal -ΔP down , Where P down is the third auxiliary power information; If the motion state information is the turning state information, the fourth auxiliary power information is generated based on a preset fourth auxiliary power information calculation formula, wherein the fourth auxiliary power information calculation formula is: Where P block is the fourth auxiliary power information, d mean is the target distance information, which is used to describe the distance between the target lift and the obstacle. near_front is the output level value of the infrared proximity sensor, d near is the preset lower limit of distance, d far The preset upper limit of the distance.
5. The method according to claim 4, characterized in that The target lift further includes a handle pressure sensor; before obtaining real-time pitch angle information and real-time yaw angle information of the target lift based on a preset gyroscope in response to entering the power-assisted pushing mode, the method further includes: In response to the high level signal of the handle pressure sensor and the high level signal of the infrared proximity sensor, the target lift is controlled to enter a power-assisted pushing mode.
6. A medical lift driving system based on pushing mode perception, characterized in that: The system comprises: A real-time pitch angle information acquisition module: used for acquiring the real-time pitch angle information and the real-time yaw angle information of the target lift based on a preset gyroscope in response to entering the power-assisted pushing mode; A motion state information determination module: used to determine the motion state information of the target lift according to the real-time pitch angle information and the real-time yaw angle information; A target auxiliary power information generating module is used to generate target auxiliary power information according to the motion state information; A power wheel control instruction generating module is used to generate a power wheel control instruction based on the target auxiliary power information, wherein the target lift includes a power wheel, and the power wheel control instruction is used to indicate the output power of the power wheel.
7. The system according to claim 6, characterized in that The motion state information includes conventional pushing state information; the motion state information determination module includes: A real-time pitch angle information comparison submodule: used to compare the real-time pitch angle information with the preset pitch angle limit value information, and to compare the real-time yaw angle information with the preset yaw angle limit value information; Conventional pushing state information determination submodule: for determining that the motion state information of the target lift is the conventional pushing state information if the real-time pitch angle information is smaller than the pitch angle limit value information and the real-time yaw angle information is smaller than the yaw angle limit value 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.