Human body supporting device with dangerous object detection imaging device and use method of human body supporting device

Abstract

An apparatus includes a controller configured to: analyze image data within an area; determining the presence of an object in the region based on the image data; determining whether the object is a potential hazard based on the image data; a projection beam is emitted onto a surface of the area to illuminate the object in response to determining that the object is potentially dangerous.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit of pending U.S. provisional patent application No. 63 / 402,518, filed August 31, 2022, and pending U.S. non-provisional patent application No. 18 / 454,426, filed August 23, 2023, both of which are entitled “Person Support Apparatuses Including Imaging Devices For Detecting Hazardous Objects And Methods For Using Same,” the entire text of which (including drawings) is incorporated herein by reference. Technical Field

[0003] The present disclosure generally relates to a human support device for detecting dangerous objects, and more particularly, to a method of alerting and / or notifying others of dangerous objects. Background Art

[0004] Inpatient falls are both a major clinical problem and a leading cause of preventable patient injuries. Patient falls also impact hospital compensation issues and performance ratings. In addition, slips, trips, and falls are the second most common type of injury that causes healthcare workers to miss work. Falls often occur around hospital beds, in bathrooms, and on the paths between them. Common causes of falls are slipping or tripping over potential hazards such as liquids, cables, wiring, bed sheets, disposables, personal items, and trash. Some challenges faced by patients and caregivers can exacerbate the severity of such problems, such as unfamiliarity with the environment, failure to notice changes in the environment, and slow visual adaptation from light to dark. Failure to detect these potential hazards around hospital beds can also cause challenges for patient transfers due to the large number of hospital beds and crowded hospital environments.

[0005] In view of this, there is a great need for improved systems and methods to detect potential hazards and alert others to potential hazards, thereby reducing the likelihood of falls. Summary of the invention

[0006] In one embodiment, a device includes a controller configured to: analyze image data within an area; determine the presence of an object in a room based on the image data; determine whether the object is a potential hazard based on the image data; and emit a projection light beam onto a surface of the room to illuminate the object in response to determining that the object is a potential hazard.

[0007] In another embodiment, an apparatus includes a controller configured to: determine that the apparatus is moving based on movement data; and instruct an image projection device to emit a projection light beam to indicate a movement direction of the apparatus based on the movement data.

[0008] In another embodiment, a method includes: capturing image data within a room; analyzing the captured image data; determining the presence of an object in the room based on the captured image data; determining whether the object is a potential hazard based on the captured image data; and emitting a projection light beam onto a surface of the room to illuminate the object in response to determining that the object is a potential hazard.

[0009] These and additional features provided by the embodiments described herein will be more fully understood in view of the following detailed description taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The embodiments illustrated in the accompanying drawings are illustrative and exemplary in nature and are not intended to limit the subject matter defined in the claims. The following detailed description of the illustrative embodiments can be understood when read in conjunction with the accompanying drawings, in which like reference numerals refer to like structures, in which:

[0011] Figure 1 schematically depicts a perspective view of a human body support device according to one or more embodiments illustrated and described herein;

[0012] Figure 2 Schematically depicts a schematic diagram of a device according to one or more embodiments described herein. Figure 1 A partial side view of the human body support device shown;

[0013] Figure 3 Schematically depicts a device including one or more embodiments described herein. Figure 1 System components of the human support device shown;

[0014] Figure 4 Schematically depicts an embodiment according to one or more embodiments described herein. Figure 1 A controller module of the human body support device shown;

[0015] Figure 5 Schematically depicts a device including one or more embodiments described herein. Figure 1 a room plan view of the human support device shown, wherein a projection beam is emitted to illuminate an object in the room;

[0016] Figure 6 Schematically depicts a device including one or more embodiments described herein. Figure 1 a room plan view of the human support device shown, wherein a projection beam is emitted to project a walking path that avoids the object;

[0017] Figure 7 Depicting a flow chart of a method for emitting a projection beam to illuminate an object classified as a hazard and transmitting a path to avoid the object according to one or more embodiments illustrated and described herein;

[0018] Figure 8 Schematically depicts a device including one or more embodiments described herein. Figure 1 A corridor plan view of the human support device shown, wherein a projection beam is emitted to project the movement path of the human support device;

[0019] Fig. 9 Schematically depicts a device including one or more embodiments described herein. Figure 1 A corridor plan view of the human support device shown, wherein a projection beam is emitted to project the movement path of the human support device and the movement path of the moving obstacle;

[0020] Fig.10 Depicts emitting a projection beam to project a Figure 1 A flow chart of the method for the movement path of the human body support device shown;

[0021] Fig.11 schematically depicts a perspective view of another embodiment of a human body support device according to one or more embodiments illustrated and described herein;

[0022] Fig.12 Schematically depicts an embodiment according to one or more embodiments described herein. Fig.11 A perspective view of the lacing assembly of the human body support device shown in the walking state;

[0023] Fig.13 Schematically depicts a device including one or more embodiments described herein. Fig.11 System components of the human support device shown;

[0024] Fig.14 Schematically depicts an embodiment according to one or more embodiments described herein. Fig.11 A side view of the person support device shown in a receiving state and positioned against a bed to receive a person;

[0025] Fig.15 Schematically depicts an embodiment according to one or more embodiments described herein. Fig.11 A side view of the human body support device shown in a supporting state;

[0026] Fig.16 Schematically depicts an embodiment according to one or more embodiments described herein. Fig.11 A side view of the human body support device in a walking state;

[0027] Fig.17 Describes one or more embodiments described herein. Fig.11 Flow chart of the operating method of the human body support device shown. DETAILED DESCRIPTION

[0028] Embodiments of the present disclosure relate to a human support device that can identify objects within a room or area where the human support device is located and provide a warning when the object is classified as a potential hazard.

[0029] The human body support device may include an image capture device for capturing image data within an area, an image projection device for emitting a projection light beam to the ground of the area, and a controller coupled to the image capture device and the image projection device. The controller is configured to: analyze the image data captured by the image capture device; determine the presence of an object in the area based on the image data captured by the image capture device; determine whether the object is a potential hazard based on the captured image data; and emit a projection light beam to the ground of the area to illuminate the object in response to determining that the object is a potential hazard. Various embodiments of the operation of the human body support device of the human body support device are detailed herein. Regardless, the same reference numerals are used to refer to the same or similar parts throughout the drawings.

[0030] As described herein, "danger" or "potential hazard" refers to any object in an area that is in a bad orientation, state, or position, such as scattered medical lines on the ground in the area near the patient support device, spilled liquid on the ground, etc. As described herein, danger or potential hazard may also refer to the state of people in the area, such as people's shoes and socks. In addition, danger or potential hazard may also refer to moving objects or non-moving objects close to the human support device, such as when the human support device moves along a corridor. Although this article combines the room where the human support device and the potential hazard area are located, it should be understood that reference may also be made to any area that does not deviate from the scope of the present disclosure.

[0031] Directional terms used herein (eg, up, down, right, left, front, back, top, bottom) are used only with reference to the drawings and are not intended to imply absolute directions.

[0032] Any method described herein is in no way intended to be construed as requiring that method steps be performed in a particular order, nor is it intended to require a particular orientation of any apparatus, unless expressly stated otherwise. Accordingly, if a method claim does not actually recite the order in which its steps are to be followed, or if any apparatus claim does not actually recite the order or orientation of individual components, or if the claim or specification does not otherwise specifically limit the steps to a particular order or recite a particular order or orientation of apparatus components, no order or orientation is intended to be implied in any way. This applies to any possible non-express basis for interpretation, including: logical issues related to the arrangement of steps, operational flow, order of components, or orientation of components; ordinary meaning derived from grammatical organization or punctuation, and the number or type of embodiments recited in the specification.

[0033] As used herein, the singular indefinite article includes plural referents unless the context clearly dictates otherwise. Thus, for example, reference to "a" component includes aspects having two or more such components unless the context clearly dictates otherwise.

[0034] Now refer to Figure 1 , shows a human body support device 100 according to one or more embodiments described herein. The human body support device 100 may be, for example, a hospital bed, a stretcher, a subject lift, a chair, an operating table, or a similar support device commonly used in medical facilities such as hospitals, nursing homes, and rehabilitation centers. Figure 1 As shown, the human body support device 100 includes a base frame 102, and the base frame 102 includes a plurality of rollers or casters 104 that can move along the ground. Although not shown, one or more lifting members can extend from the base frame 102 and support a support frame 106 positioned above the base frame 102. The first end of each lifting member is coupled to the base frame 102, and the other end of each lifting member is coupled to the support frame 106. Therefore, the support frame 106 is supported by the lifting member above the base frame 102, so that the support frame 106 can move relative to the base frame 102. In the embodiment of the present disclosure, the two ends of the lifting member are rotatably attached to the base frame 102 and the support frame 106 to allow the two ends of the lifting member to rotate relative to the base frame 102 and the support frame 106 when the support frame 106 is raised. In the embodiment of the present disclosure, the support frame 106 has a head 108, a seat 110 and a tail 112, and the seat 110 is located between the head 108 and the tail 112. The head portion 108 and the tail portion 112 are pivotable relative to the seat portion 110 .

[0035] In the disclosed embodiment, the human support device 100 may be a manual carrier, so that the human support device 100 can be moved by an operator pushing or pulling the human support device 100. In the present embodiment, the casters 104 operate passively, allowing the human support device 100 to roll along the ground. In other embodiments, the human support device 100 may include a drive mechanism 113 for controlling the movement of the human support device 100. Specifically, the drive mechanism 113 may be coupled to the controller 306 ( Figure 3 ) and includes a motor 114 operably connected to each caster 104 directly or through a transmission mechanism. The drive mechanism 113 can send instructions to the motor 114 to rotate the caster 104 forward or backward to move the human support device 100 in response to an operator's command or (in the embodiment of the present disclosure) in response to receiving a navigation instruction. In this way, in the embodiment of the present disclosure, the human support device 100 can be an autonomously or semi-autonomously driven vehicle. In the embodiment of the present disclosure, the human support device 100 may include four motors 114, each motor 114 is coupled to a corresponding caster 104. In the embodiment of the present disclosure, the drive mechanism 113 may include an accelerometer, a gyroscope, or a similar motion detection device to detect the movement of the human support device 100.

[0036] In the disclosed embodiment, the human support device 100 may further include an alarm device 116. As described herein, the alarm device 116 may include an audio emission device for issuing an auditory warning when an alarm condition is met (such as when a potential hazard or other potentially dangerous condition is detected). In the disclosed embodiment, one or more of the frequency and volume of the auditory warning may increase over time after the potential hazard is first detected. In the disclosed embodiment, the alarm device 116 may further include a visual alarm device for displaying a visual warning when an alarm condition is met. The visual warning may include flashing lights, text indicating the potential hazard and / or the location of the potential hazard.

[0037] As shown, the alarm device 116 is mounted to the person support device 100 near the tail portion 112. However, it should be understood that the alarm device 116 can be mounted to any suitable location on the person support device 100. In other embodiments, the alarm device 116 can be located at a remote location from the support frame 106. As described in detail herein, the alarm device 116 can provide an audible warning and / or a visual warning of a potential hazard or condition that a person, such as a patient or a medical provider, should be aware of. Thus, in the disclosed embodiments, the alarm device 116 can be located in any suitable location to notify someone of a condition that requires attention in the room or area where the person support device 100 is located.

[0038] Now refer to Figure 2, showing a partial side view of the human support device 100. As shown, the support frame 106 is positioned above the base frame 102 and includes a lower surface 200 facing the base frame 102. In the disclosed embodiment, the optical projection system 202 is positioned between the support frame 106 and the base frame 102. As described in detail herein, the optical projection system 202 detects objects around the human support device 100 that may be determined to be a potential danger to an occupant in the area where the human support device 100 is located, and illuminates the object to alert the occupant to the object and / or display a path to avoid the object.

[0039] In the disclosed embodiment, the optical projection system 202 is mounted to the lower surface 200 of the support frame 106. In the disclosed embodiment, the optical projection system 202 includes a mirror dome 204 mounted to the lower surface 200 of the support frame 106 via a mounting panel 205. In this way, the mounting panel 205 can be mounted to the lower surface 200 of the support frame 106, and the mirror dome 204 can be mounted to the mounting panel 205 by any suitable means (such as fasteners, adhesives, etc.). The mirror dome 204 includes an outer reflective surface 206, allowing the mirror dome 204 to reflect light within a 360-degree full field of view around the human body support device 100.

[0040] The optical projection system 202 also includes an imaging device 208, which is positioned between the support frame 106 and the base frame 102 and has a field of view toward the mirror dome 204. Specifically, the imaging device 208 is located directly below the mirror dome 204, between the mirror dome 204 and the base frame 102, and is oriented so that the field of view of the imaging device 208 faces the mirror dome 204 vertically upward.

[0041] The imaging device 208 can be mounted below the mirror dome 204 via a mounting arm 210 extending from the support frame 106 (more specifically, extending from the lower surface 200 of the support frame 106). As shown, the mounting arm 210 includes a first portion 212 extending vertically from the lower surface 200 of the support frame 106 and a second portion 214 extending laterally from one end of the first portion 212 (opposite to the lower surface 200 of the support frame 106). The imaging device 208 is then mounted to one end of the second portion 214 of the mounting arm 210 (opposite to the first portion 212 of the mounting arm 210). However, it should be understood that the first portion 212 and the second portion 214 of the mounting arm 210 can extend from the lower surface 200 of the support frame 106 in any suitable direction to position the imaging device 208 below the mirror dome 204. It should also be appreciated that the mounting arm 210 may be thin in cross-section or constructed of a transparent material to prevent light directed toward or reflected from the mirrored dome 204 from being severely obstructed.

[0042] The imaging device 208 includes an image capture device 216 and an image projection device 218. The image capture device 216 can be a camera or similar device configured to capture image data reflected from the mirror dome 204 within the field of view of the image capture device 216. In some embodiments, the image capture device 216 may include one or more optical components, such as a reflector, a fisheye lens, or any other type of lens. In some embodiments, the image capture device 216 includes one or more imaging sensors configured to operate in the visible spectrum and / or the infrared spectrum to sense visible light and / or infrared light. In addition, although the specific embodiments described herein are described in conjunction with hardware that senses light in the visible spectrum and / or the infrared spectrum, it is understood that other types of sensors are conceivable. For example, the sensors described herein may include one or more LiDAR sensors, radar sensors, sonar sensors, or other types of sensors, which can be integrated or supplemented to the data collection described herein.

[0043] As shown, the image capture device 216 has a field of view F toward the mirror dome 204 that is wide enough to capture image data of the entire outer surface 206 of the mirror dome 204. The field of view F of the image capture device 216 extends across the entire diameter of the mirror dome 204, so that the image capture device 216 can observe the entire outer surface 206 of the mirror dome 204. Accordingly, the image capture device 216 is able to "observe" any objects in the area surrounding the human body support device 100 below the plane of the support frame 106 based on the incident light on the outer surface 206 of the mirror dome 204. It should be understood that light from certain objects may be blocked by the mounting arm 210 extending between the support frame 106 and the base frame 102 or other components of the human body support device 100, and cannot be incident on and reflected from the outer surface 206 of the mirror dome 204. Accordingly, the image capture device 216 collects image data in the area surrounding the human body support device 100 below the plane of the support frame 106. As described in detail herein, the image data is transmitted to the controller 306 ( Figure 3 ) for it to process image data.

[0044] The image projection device 218 can be a projector, such as a digital light processing (DLP) projector, a liquid crystal display (LCD) projector, a light emitting diode (LED) projector, a liquid crystal on silicon (LCOS) projector, a laser projector, etc., which can project an image onto the floor of the room around the human support device 100. The mirror dome 204 can reflect a 360-degree full viewing angle, so the image projection device 218 can project a display or illuminate a specific part of the floor by emitting a projection at a corresponding position of the mirror dome 204 (corresponding to the floor area to which the projection is to be directed). It should be understood that the image projection device 218 can include any suitable projection control device, such as a motor, etc., for controlling the angle of the projection beam emitted from the image projection device 218 relative to the mirror dome 204. In the embodiment of the present disclosure, the projection control device can adjust the orientation of the image projection device 218 itself relative to the mirror dome 204, or in the embodiment of the present disclosure, the projection control device can control the orientation of the emitted projection beam through the lens of the image projection device 218. Therefore, the projection beam emitted from the image projection device 218 can be directed toward any specific position of the outer surface 206 of the mirror dome 204, which corresponds to the position of a specific object or a position on the ground. For example, the image projection device 218 can emit a first projection beam A1 at a first position B1 on the outer surface 206 of the mirror dome 204. Then, the first projection beam A1 is reflected from the outer surface 206 of the mirror dome 204 at the first position B1 and redirected to the first position on the ground. Similarly, the image projection device 218 can emit a second projection beam A2 at a second position B2 on the outer surface 206 of the mirror dome 204. Then, the second projection beam A2 is reflected from the outer surface 206 of the mirror dome 204 at the second position B2 and redirected to the second position on the ground. The first position B1 on the outer surface 206 of the mirror dome 204 is spaced apart from the second position B2 on the outer surface 206 of the mirror dome 204, so the projection displayed at the first position on the ground is also spaced apart from the projection displayed at the second position on the ground. It should be understood that the image projection device 218 can simultaneously emit the first projection light beam A1 and the second projection light beam A2 to be separately projected and displayed on the ground.

[0045] In the disclosed embodiment, the image projection device 218 can be integrated into the image capture device 216, so that the image capture device 216 and the image projection device 218 each have a field of view toward the mirror dome 204. In other embodiments, the image projection device 218 and the image capture device 216 can be separated and spaced. In the present disclosure, although the optical projection system 202 is mounted or coupled to the human body support device 100, it should be understood that the optical projection system 202 can be set on any suitable support structure, such as an overhead lift, a bedside chair, an infusion stand of a human body support device or a cart, etc. In addition, the image capture device 216 can be located or mounted on a support device and the image projection device 218 can be located on a separate support device, such as a support device at a different position in the room. This allows for greater detection of objects and projection at a separate position from the detected object.

[0046] The optical projection system 202 may be located at any suitable position along the lower surface 200 of the support frame 106. For example, the optical projection system 202 may be located near one end of the human support device 100, such as the tail 112. However, it should be understood that the optical projection system 202 may be located at the head 108 or the seat 110 instead. It should also be understood that multiple optical projection systems 202 may be provided at each corner of the lower surface 200 of the support frame 106, each optical projection system 202 including a mirror dome 204, an imaging device 208 for capturing image data reflected from the mirror dome 204, and an image projection device 218 for emitting a projection beam to the corresponding mirror dome 204. In this embodiment, the size of the outer surface 206 of each mirror dome 204 can be narrowed or reduced to limit the ground area that allows the corresponding image projection device 218 to emit a projection beam. Thus, each image capture device 216 is responsible for detecting objects within a specific quadrant of the room where the person support device 100 is located, and each image projection device 218 is limited to emitting a projection beam on a specific quadrant of the floor near the person support device 100 .

[0047] Although it is mentioned herein that the image projection device 218 includes a mirror dome 204 for reflecting a projection beam onto the floor of the room, it should be understood that the image capture device 216 or the plurality of image capture devices 216 can capture image data of the room without the mirror dome 204. In addition, the image projection device 218 can project the projection beam directly onto the floor without reflecting the projection beam from the mirror dome 204.

[0048] In addition, one or more sensors 220 may be provided to further detect objects around the human support device 100. It should be understood that the sensor 220 may include a conventional optical camera, a LiDAR sensor, a depth imager, a millimeter wave camera, a thermal imager, or a combination thereof to detect objects that may pose a potential danger to people in the room. Figure 2As shown, the sensor 220 is disposed at the lower surface 200 of the support frame 106 of the human body support device 100. However, it should be understood that the sensor 220 may be disposed at any suitable position of the human body support device 100, and may also be separate from the human body support device 100.

[0049] Now refer to Figure 3 , shows a system 300 according to one or more embodiments described herein. As shown, the system 300 generally includes a human support device 100 configured to communicate with a central monitoring station 302 via a network 304 .

[0050] The human body support device 100 also includes a controller 306, which includes one or more processors 308 and one or more memory modules 310. The one or more processors 308 can be any device capable of executing machine-readable executable instructions. Accordingly, the one or more processors 308 can be integrated circuits, microchips, computers, or any other computing devices. The one or more processors 308 are coupled to a communication path 312 that provides signal interconnection between the various modules of the system 300. Accordingly, the communication path 312 can enable any number of processors 308 to be communicatively coupled to each other, and allow modules to be coupled to the communication path 312 to operate in a distributed computing environment. Specifically, each module can operate as a node that can send and / or receive data. As used herein, the term "communicative coupling" means that the coupling components can exchange data signals with each other, such as electrical signals via a conductive medium, electromagnetic signals via air, optical signals via optical waveguides, etc.

[0051] Accordingly, the communication path 312 may be formed by any medium capable of transmitting a signal, such as a wire, a conductive trace, an optical waveguide, etc. In some embodiments, the communication path 312 may facilitate the transmission of wireless signals, such as WiFi, Near Field Communication (NFC), etc. In addition, the communication path 312 can be formed by a combination of media capable of transmitting signals. In one embodiment, the communication path 312 includes a combination of conductive traces, wires, connectors, and buses that cooperate to allow electrical data signals to be transmitted to components such as processors, memories, sensors, input devices, output devices, and communication devices. It should also be noted that the term "signal" refers to a waveform (e.g., an electrical, optical, magnetic, mechanical, or electromagnetic waveform) that can be propagated through a medium, such as direct current, alternating current, a sine wave, a triangle wave, a square wave, vibration, etc.

[0052] As described above, the system 300 includes one or more memory modules 310 coupled to the communication path 312. The one or more memory modules 310 may include RAM, ROM, flash memory, a hard drive, or any device capable of storing machine-readable executable instructions so that the one or more processors 308 can access the machine-readable executable instructions. The machine-readable executable instructions may include logic or algorithms written in any programming language of any generation (e.g., 1GL, 2GL, 3GL, 4GL, or 5GL), such as a machine language that can be directly executed by a processor, or an assembly language, object-oriented programming (OOP), scripting language, microcode, etc. that can be compiled or assembled into machine-readable executable instructions and stored on one or more memory modules 310. Alternatively, the machine-readable executable instructions may be written in a hardware description language (HDL), such as logic implemented by a field programmable gate array (FPGA) configuration or an application-specific integrated circuit (ASIC) or its equivalent. Accordingly, the methods described herein may be implemented in any conventional computer programming language, as a pre-programmed hardware element, or as a combination of hardware and software components.

[0053] Still refer to Figure 3 , the human support device 100 includes network interface hardware 314 for communicatively coupling the human support device 100 to the central monitoring station 302. The network interface hardware 314 can be communicatively coupled to the communication path 312 and can be any device capable of transmitting and receiving data via the network 304. Accordingly, the network interface hardware 314 can include a communication transceiver for sending and / or receiving any wired or wireless communication. For example, the network interface hardware 314 can include an antenna, a modem, a LAN port, a Wi-Fi card, a WiMax card, mobile communication hardware, near field communication hardware, satellite communication hardware, and / or any wired or wireless hardware for communicating with other networks and / or devices. In one embodiment, the network interface hardware 314 includes a device configured to communicate according to The hardware that makes wireless communication protocols work.

[0054] Still refer to Figure 3 , the central monitoring station 302 may be a remote server, such as a cloud server, etc. In some embodiments, the central monitoring station 302 may be a local server, including but not limited to an edge server, etc. The human body support device 100 may communicate with the central monitoring station 302 within the area covered by the central monitoring station 302. In the embodiment of the present disclosure, the central monitoring station 302 may communicate with other servers covering different areas. The central monitoring station 302 may communicate with a remote server and transmit information collected by the central monitoring station 302 (such as image data collected by the human body support device 100) to the remote server.

[0055] The human support device 100 can be communicatively coupled to the central monitoring station 302 via a network 304. In one embodiment, the network 304 can include one or more computer networks (e.g., personal area networks, local area networks, or wide area networks), cellular networks, satellite networks, and / or global positioning systems, and combinations thereof. Accordingly, the central monitoring station 302 can be communicatively coupled to the network 304 via a wide area network, a local area network, a personal area network, a cellular network, a satellite network, and the like. Suitable local area networks can include wired Ethernet and / or wireless technologies, such as wireless fidelity (Wi-Fi), and the like. Suitable personal area networks can include, for example, IrDA, Wireless technologies such as Wireless USB, Z-Wave, ZigBee and / or other near field communication protocols. Suitable cellular networks include, but are not limited to, technologies such as LTE, WiMAX, UMTS, CDMA and GSM.

[0056] As described herein, in the disclosed embodiment, the human support device 100 includes a drive mechanism 113 for controlling the rotation of the caster 104. The drive mechanism 113 is communicatively coupled to other components of the human support device 100, particularly the controller 306, via a communication path 312. In the disclosed embodiment, the network interface hardware 314 of the human support device 100 can receive a navigation request from the central monitoring station 302, the navigation request indicating that the human support device 100 is navigated to a destination. In response, the network interface hardware 314 can transmit the navigation request to the controller 306, which identifies the route to the destination and sends a control instruction containing the navigation instruction to the drive mechanism 113 of the human support device 100.

[0057] As described herein, in the disclosed embodiment, the human support device 100 includes an alarm device 116. The alarm device 116 is communicatively coupled to other components of the human support device 100, particularly the controller 306, via a communication path 312. In response to the controller 306 detecting an object and classifying the object as a hazard, the controller 306 may operate the alarm device 116 to issue an audible warning and / or a visual warning.

[0058] As described herein, the human support device 100 includes an image capture device 216. The image capture device 216 is communicatively coupled to other components of the human support device 100, particularly the controller 306, via a communication path 312. Image data collected by the image capture device 216 is transmitted to the controller 306, which analyzes the collected image data, as described in detail herein, to determine whether an object is present.

[0059] As described herein, the human support device 100 includes an image projection device 218. The image projection device 218 is communicatively coupled to other components of the human support device 100, particularly the controller 306, via a communication path 312. In response to the controller 306 determining whether an alarm condition is met and whether an alarm action should be taken, the controller 306 may send an instruction to the image projection device 218 to emit one or more projection beams. In the disclosed embodiment, a first projection beam may be emitted to illuminate an object identified as a potential hazard. In the disclosed embodiment, a second projection beam may be emitted to display a path to avoid potential hazards. Although the image projection device 218 is mentioned herein as emitting a projection "beam", it should be understood that the projection beam may include multiple projection beams to display any suitable shape, design, text, etc. on the ground.

[0060] In the disclosed embodiment, the human support device 100 includes a position sensor 316 that is communicatively coupled to other components of the human support device 100 via a communication path 312. The position sensor 316 may be, for example, a GPS module that is configured to capture position data indicating the position of the human support device 100, which may be transmitted to the central monitoring station 302. The position data may be used to determine an appropriate path for the image projection device 218 to project so that potential hazards may be avoided.

[0061] Now refer to Figure 4 , showing Figures 1 to 3 Controller 306 of human body support device 100 shown. In the embodiment of the present disclosure, controller 306 generally includes position detection module 400, object detection module 402, artificial intelligence (AI) analysis module 404, danger notification module 406, path planning module 408 and data collection module 410. Position detection module 400, object detection module 402, artificial intelligence (AI) analysis module 404, danger notification module 406, path planning module 408, data collection module 410 can all be program modules in the form of operating system, application module and other program modules stored in controller 306. Such program modules may include but are not limited to the following routines, subroutines, programs, objects, components, data structures, etc. for performing specific tasks or executing specific data types.

[0062] The position detection module 400 determines the position of the human support device 100. In the embodiment of the present disclosure, the position detection module 400 determines the position of the human support device 100 based on the position data collected by the position sensor 316. In the embodiment of the present disclosure, the image capture device 216 can be used to determine and / or confirm the position of the human support device 100. For example, the image capture device 216 can identify the position of one or more position indicators in the room where the human support device 100 is located. The position indicator can be a matrix bar code, such as a quick response (QR) code on the wall of the room or the floor of the room or on any object in the room where the human support device 100 is located. The position indicator is reflected on the mirror dome 204 and captured by the image capture device 216. The position indicators can each be assigned a specific position, so that the position detection module 400 can determine the specific orientation of the human support device 100 based on the collected image data captured by the image capture device 216 and transmitted to the controller 306. Specifically, the position of the human support device 100 can be determined based on the specific position of each position indicator reflected on the mirror dome 204.

[0063] The object detection module 402 determines whether there is an object in the room. In the embodiment of the present disclosure, when it is determined that there is no object or danger in the room, the object detection module 402 can collect the initial image data captured by the image capture device 216. Thereafter, the image capture device 216 will continue to collect additional image data and transmit the collected image data to the object detection module 402. The object detection module 402 then compares the additional collected image data with the initial collected image data to determine whether an object that was not present in the room during the initial collection of image data is present in the room. If the object detection module 402 determines that an object that is not present in the initial collected image data is present in the additional collected image data, object data for the measured object can be extracted from the image data and transmitted to the AI ​​analysis module 404. In the embodiment of the present disclosure, the image data collected by the image capture device 216 (or in the embodiment of the present disclosure, the sensor 220) is converted to the frequency domain via Fourier transform. A frequency threshold can be selected to allow (e.g., pass) frequencies below the frequency threshold, while filtering out frequencies equal to or above the frequency threshold. The captured image data can then be converted to the spatial domain and a threshold point, such as grayscale, can be applied. The total area of ​​the airspace is calculated, and if the total area is greater than a predetermined value, it can be determined that an object is detected in the captured image data and should be classified as a potential hazard. As described herein, one or more sensors 220 can be used to supplement the image data captured by the image capture device 216. For example, if the sensor 220 includes a thermal imager, the temperature of the measured object can be measured. In the disclosed embodiment, the thermal imager can be used to determine whether the temperature of an object (such as a person in a room, etc.) exceeds a predetermined threshold indicating a fever.

[0064] Then, the AI ​​analysis module 404 analyzes the object data to identify the objects detected in the object data and classifies the objects as potentially dangerous or non-dangerous. The AI ​​analysis module 404 includes a database of potentially dangerous objects and features for determining whether the measured object is potentially dangerous. Example objects classified as potentially dangerous may include, for example, liquids on the ground, wires or cables extending along the support frame 106 of the human support device 100, lack of appropriate footwear, etc. For example, the AI ​​analysis module 404 may determine the presence of liquid on the ground based on the detected reflection level on the ground relative to other areas of the ground. Liquids on the ground may increase the possibility of slipping, so such objects may be classified as potentially dangerous. In addition, the AI ​​analysis module 404 may determine the type of footwear worn by the person entering the room. Specifically, the AI ​​analysis module 404 may determine whether the person in the room is wearing footwear on his feet. If the AI ​​analysis module 404 determines that the person is not wearing appropriate footwear, such as anti-slip socks, this may be classified as potentially dangerous. An example feature for determining whether an object should be classified as a potentially dangerous object is the size of the object. If it is determined that the size of the measured object exceeds a predetermined threshold, the object may be classified as potentially hazardous.

[0065] In response to the AI ​​analysis module 404 classifying the object as a potential hazard, the hazard notification module 406 determines an appropriate response. For example, in the disclosed embodiment, the hazard notification module 406 sends a signal to the alarm device 116 to emit an audible alarm and / or display a warning. In the disclosed embodiment, when the human support device 100 is in motion, the hazard notification module 406 can also control the movement of the human support device 100. For example, the hazard notification module 406 can send a signal to the drive mechanism 113 to slow down or stop the movement of the human support device 100. In the disclosed embodiment, the hazard notification module 406 sends a signal to the image capture device 216 and / or the sensor 220 to record the environment around the human support device 100 so as to capture image data before a potential hazard occurs, such as a person falling or colliding with an obstacle in the room when the human support device 100 is moving. In the disclosed embodiment, the hazard notification module 406 sends a signal to the image projection device 218. The signal sent from the hazard notification module 406 to the image projection device 218 may, for example, include an instruction to cause the image projection device 218 to emit a projection beam to illuminate an object classified as a potential hazard. As described herein, the projected light beam is initially directed toward the mirrored dome 204 and is reflected toward the object to the ground.

[0066] In the disclosed embodiment, it can be determined that a person entering or leaving the human support device 100 has an increased risk of encountering the object. In this way, the path planning module 408 determines an appropriate path for the person to walk in the room so that the object can be avoided. When determining an appropriate path for the person to walk, the path planning module 408 takes into account the position of the human support device 100 determined by the position detection module 400 and the known features of the room, such as the location of the door, bathroom, etc. The path planning module 408 then determines a path to avoid the object and sends the path to the hazard notification module 406. Thereafter, the signal sent from the hazard notification module 406 to the image projection device 218 may, for example, include an instruction to cause the image projection device 218 to emit a projection beam to project a path for the person to walk from one location (such as a room door or bathroom door) to a second location (such as the human support device 100) while avoiding the object.

[0067] The data collection module 410 collects relevant hazard data of the room where the human support device 100 is located, such as for evaluating the response time to correct the potential hazard. In the disclosed embodiment, the data collection module 410 may include a timer that determines the amount of time that the potential hazard exists, such as when there is a splash on the ground. For example, the data collection module 410 can determine the length of time between the first time when the object detection module 402 determines that the object is detected and the second time when the object detection module 402 determines that the object is no longer detected (e.g., corrected or cleared). The data collection module 410 can transmit the hazard data to the central monitoring station 302 via the network 304 to track which rooms may need additional attention based on whether the period of time during which objects classified as potential hazards exist exceeds a predetermined threshold or whether the number of potential hazards detected within a predetermined period exceeds a predetermined threshold.

[0068] In the disclosed embodiment, the data collection module 410 can assist in creating a real-time map of potential hazards detected throughout a building (e.g., a hospital). In other embodiments, the central monitoring station 302 can create a real-time map based on the hazard data received from the data collection module 410. In this way, a personalized report can be created to identify which rooms (i.e., areas or rooms that identify information transmitted by the human support device 100 to the central monitoring station 302) have an increased probability of potential hazards occurring or the slowest response time for handling potential hazards, the most common potential hazard locations that lead to slips and falls (e.g., when walking to a bathroom or close to the human support device 100), demographic data of people injured in relation to potential hazards, and environmental conditions in the room (e.g., lights out in the room, ill-fitting shoes and socks, etc.).

[0069] Now refer to Figure 5, depicting a human support device 100 positioned on a floor 501 of the room 500 within an area or room 500. As shown, the room 500 includes a door 502, a bathroom 504, and a plurality of items 506 within the room 500. The items 506 may be any typical items found in a standard medical room, such as a bedside table, a medical IV stand, medical computer equipment, etc. As shown, a position indicator 508 may be disposed on any one or more of the items 506, as well as on a wall 510 of the bathroom 504 and a wall 512 near the door 502 or on the door 502 itself. As described herein, the image capture device 216 may detect one or more of the position indicators 508 and transmit the location of the position indicators 508 to the position detection module 400 so that the location of the human support device 100 may be determined.

[0070] As described herein, image capture device 216 captures image data within room 500. As shown, object 514 is present within room 500 and is within the field of view of image capture device 216 based on object 514 reflecting from outer surface 206 of mirrored dome 204 mounted below support frame 106. Object data captured by image capture device 216 is transmitted to object detection module 402 and AI analysis module 404 to determine whether object 514 should be classified as a potential hazard. Figure 5 As shown, when the object 514 is classified as a potential hazard, the image projection device 218 emits a projection beam 516 toward the floor 501 of the room 500. As shown, the projection beam 516 projects, for example, a hazard icon 517 that surrounds the entire object 514 and is displayed above the object 514. Illuminating the object 514 helps to focus on the object 514 so that people who enter or are already in the room 500 (such as a person 518 who walks towards the human support device 100 in the room 500) can avoid the object 514.

[0071] Now refer to Figure 6 , depicting a room 500. However, in this embodiment, instead of illuminating an object 514, the image projection device 218 emits a projection beam 600 to project a path 604, so that the person 518 walks from the door 502 of the room 500 to the human support device 100 and avoids the object 514 classified as a potential hazard. In addition, the path 604 is designed or drawn to avoid any object 506 in the room 500 detected by the object detection module 402 based on the position of the human support device 100 determined by the position detection module 400.

[0072] Specifically, the image projection device 218 can emit multiple projection beams 600A, 600B, and 600C to different positions of the floor 501 of the room 500. It should be understood that the projection beams 600A, 600B, and 600C can be emitted from a single image projection device 218, or in the embodiment of the present disclosure, the projection beams 600A, 600B, and 600C can be emitted from multiple image projection devices 218 located at various positions of the human support device 100 or other positions in the room 500. As shown in the figure, each projection beam 600A, 600B, and 600C projects one or more arrows 602, defining a path 604 for the person 518 to walk from the door 502 to the human support device 100 to avoid the object 514. Specifically, the projection beam 600A displays an arrow 602A, the projection beam 600B displays an arrow 602B, and the projection beam 600C displays a pair of arrows 602C1 and 602C2. It should be understood that although the projection beams 600A, 600B, 600C and 600B indicating the walking path of the person are not shown, Figure 5 Projection beam 516 is shown combined, but image projection device 218 is capable of emitting projection beam 516 and projection beams 600A, 600B, 600C simultaneously to notify personnel of object 514 and indicate a walking path to avoid object 514.

[0073] Although the possible projection examples described herein include a projection beam 516 that defines a hazard icon 517 to illuminate a hazard and projection beams 600A, 600B, and 600C that indicate a walking path, it should be understood that projection beams can be projected to illuminate objects other than hazard objects. In the disclosed embodiment, in response to the image capture device 216 or one or more other sensors coupled to the human support device 100 determining that a person has left the human support device 100, the image projection device 218 can be instructed to take a specific action. For example, if the stored emergency medical records of the person indicate that the person is designated as a person with walking ability, the image projection device 218 can project a projection beam toward a walking assistance device (such as a walker) detected by the image capture device 216 to illuminate the walking assistance device of the person. As another non-limiting example, if it is determined based on the stored emergency medical records of the person that the person is at risk of falling and is not allowed to stand alone, the image projection device 218 can project a projection beam to a location in the room that is clearly visible to the person to indicate that the person should return to the human support device 100. In the above embodiments, the projected beam may define a stop sign or some other marking indicating that the person should not stand.

[0074] In addition to projecting projection beams 600A, 600B, 600C to define a person's walking path, it should also be understood that the projection beams 600A, 600B, 600C can alternatively or in combination indicate the caregiver's walking path toward the relevant object. For example, in the disclosed embodiment, the image capture device 216 can detect the position of a specific caregiver in the room 500 and project the walking path of the specific caregiver. In addition, the real-time positioning system associated with the specific caregiver can help determine the specific caregiver who has entered the room 500. As another non-limiting example, if it is determined based on the image capture device 216 and / or the real-time positioning system that a physical therapist has entered the room 500, the image projection device 218 can emit a projection beam to project a walking path from the physical therapist's current position (such as the door 502) to the walker or gait belt. As another non-limiting example, if it is determined based on the image capture device 216 and / or the real-time positioning system that a nurse has entered the room 500, the image projection device 218 can emit a projection beam to project a walking path from the nurse's current location (e.g., door 502) to a walker, gait belt, catheter bag, medication, etc. As another non-limiting example, if it is determined based on the image capture device 216 and / or the real-time positioning system that a non-clinical staff member has entered the room 500, the image projection device 218 can emit a projection beam to project a walking path from the non-clinical staff member's current location (e.g., door 502) to a food tray. In any of the above embodiments, it should be understood that the image projection device 218 only illuminates a specific object and does not project a walking path toward a specific object. The image projection device 218 can also be used to illuminate forgotten items of a person or caregiver detected by the image capture device 216, such as a mobile phone, a mobile phone charger, a water bottle, etc.

[0075] Figure 7 A method 700 is described for alerting a person to an object classified as potentially dangerous so that the person can avoid and deal with the object. Figures 1 to 6 Method 700 is described.

[0076] First, the method 700 begins at step 702, activating the imaging device 208 of the human support device 100. Specifically, activating the imaging device 208 includes at least powering on the image capture device 216 so that image data around the human support device 100 can be collected and potential dangerous objects can be identified. At step 704, the image capture device 216 collects initial image data of the room 500 and transmits the initial image data to the controller 306. Subsequently, the image capture device 216 continues to collect additional image data of the room 500, and the additional image data is also transmitted to the controller 306 for comparison with the initial image data. It should be understood that throughout the method 700, additional image data is continuously captured and analyzed to determine whether there is a potential dangerous object and how long the potential dangerous object exists.

[0077] At step 706, the object detection module 402 analyzes the image data collected by the image capture device 216, wherein the initial image data in which the object is determined not to be detected is compared with the additional image data. The AI ​​analysis module 404 further analyzes the additional image data for the absence of any newly identified objects to determine whether the object should be classified as a potential hazard. In the disclosed embodiment, the AI ​​analysis module 404 uses a machine learning algorithm to determine whether the object should be classified as a potential hazard. The operator can train the AI ​​analysis module 404 in real time by confirming or denying that the detected object is actually a potential hazard.

[0078] Step 708, once the AI ​​analysis module 404 determines that the object should be classified as a potential hazard, the danger notification module 406 sends an instruction to start the danger notification. The danger notification can take the following forms: an auditory alarm and / or a visual alarm in the room 500, an alarm sent to the central monitoring station 302, a projected light beam emitted to the potentially dangerous object, etc. or any combination thereof. For example, step 710, the danger notification module 406 sends a signal to the alarm device 116 to issue an auditory alarm and / or display a visual alarm. In the embodiment of the present disclosure, the auditory alarm may only last for a predetermined period of time. In other embodiments, the auditory alarm may continue until the alarm device 116 is manually deactivated or the object detection module 402 determines that there is no longer an object classified as a potential hazard. In the embodiment of the present disclosure, the alarm device 116 can display a visual alarm (separately or in combination with the auditory alarm), such as a flashing colored light or text showing the nature of the potential hazard (e.g., the location of the potential hazard). Step 712, the danger notification module 406 sends an alarm to the central monitoring station 302. This will notify the appropriate personnel that a potential hazard exists within room 500 so that appropriate steps can be taken to correct the potential hazard, such as cleaning up a spill.

[0079] Step 714, operate the image projection device 218 to emit a projection beam toward the mirror dome 204, and in particular, to emit a projection beam toward an object reflected from the outer surface 206 of the mirror dome 204. As described herein, the image projection device 218 can emit a projection beam 516 toward the mirror dome 204, so that the projection beam 516 is reflected on the floor 501 of the room 500 to indicate the presence of an object 514 classified as a potential hazard. In the disclosed embodiment, the projection beam 516 defines a hazard icon 517 that covers and / or surrounds the object 514 so as to focus on the object 514. In the disclosed embodiment, the projection beam 516 emitted by the image projection device 218 is static in its brightness and position so that it does not change over time. In other embodiments, the image projection device 218 can be operated to cause the projection beam 516 to change the appearance of the hazard icon 517 over time. For example, the projection beam 516 can alternately increase and decrease in brightness. As another non-limiting example, the position of the projection beam 516 can be changed to change the position or size of the hazard icon 517. Any display changes of the projection beam 516 will increase over time, thereby enhancing the attention of the object of interest 514.

[0080] It should be understood that the various hazard notification examples described in steps 710-714 can be performed individually or in combination with each other in no particular order. For example, the alarm device 116 can be operated simultaneously with the projection beam 516 being displayed.

[0081] At step 716, controller 306 determines whether a stop condition has been satisfied. A non-limiting example of a stop condition being satisfied may include an operator sending a command to human support device 100, such as via central monitoring station 302, indicating that the potentially hazardous object has been corrected, such as cleared or removed. Another non-limiting example of a stop condition being satisfied is object detection module 402 determining that the potentially hazardous object is no longer present in room 500. It should be understood that other stop conditions are contemplated within the scope of the present disclosure.

[0082] If the stop condition has been met, then proceeding to step 718, the hazard notification module 406 stops the hazard notification. For example, once the stop condition is met, the alarm device 116 may be deactivated (if already in operation), a second alert may be sent to the central monitoring station 302 indicating that the potential hazard has been corrected, such as by removing the object 514 from the room 500, and / or the image projection device 218 may be deactivated so that the projection beam 516 is no longer emitted. In addition, at step 720, the data collection module 410 continues to send hazard data to the central monitoring station 302, indicating detailed information about the presence of the potential hazard in the room 500. For example, the hazard data transmitted to the central monitoring station 302 may include the specific location of the potential hazard in the room 500, the duration of the potential hazard, the type of the potential hazard, etc. This information may be used to determine which rooms require more attention based on the frequency of potential hazards occurring in the room and / or the duration of the potential hazards existing.

[0083] Alternatively, if the stop condition is not satisfied in step 716, the method proceeds to step 722, where the object detection module 402 further determines whether there is a person, such as person 518, in the room 500 based on the image data captured by the image capture device 216. If there is no person 518 in the room 500, the method 700 returns to step 716 to determine whether the stop condition is satisfied. In this way, the danger notification continues until the stop condition is finally satisfied. Alternatively, if it is determined that there is a person 518 in the room 500, it is further determined to identify the position of the human support device 100 in the room 500. As described herein, the human support device 100 may include a position sensor 316 configured to capture position data indicating the position of the human support device 100. In addition, in the disclosed embodiment, the image data captured by the image capture device 216 may include one or more position indicators 508 placed around the room 500 (such as on the walls 510, 512 of the room 500 or on the object 506). The image data including the presence position indicator 508 and the position data captured by the position sensor 316 may be sent to the position detection module 400 to determine the specific location and specific orientation of the human support device 100 within the room 500 .

[0084] At step 724, the position and orientation of the person support device 100 may be determined based on the known positions of various room features (e.g., door 502 and bathroom 504) stored in the position detection module 400 relative to the person support device 100. Specifically, the position of the person support device 100 may be determined by capturing image data of the position indicator 508 and transmitting the image data to the controller 306, and in particular to the position detection module 400 for determining the position of the person support device 100. In this way, the path planning module 408 may determine a path to and from the person support device 100, the door 502, and the bathroom 504 based on the detected position of the person 518. For example, if the object detection module 402 determines that the person 518 is located near the door 502, the path planning module 408 may determine a path between the person 518 and the person support device 100. By way of another non-limiting example, if object detection module 402 determines that person 518 is located near human support device 100 and is walking toward bathroom 504 or door 502, path planning module 408 may determine a path between person 518 and bathroom 504 or door 502. It should be appreciated that the path determined by path planning module 408 takes into account the known location of object 514 that is classified as potentially dangerous so that person 518 avoids object 514 when walking toward a predetermined destination.

[0085] Once the path planning module 408 determines the appropriate path for the person 518, the process proceeds to step 726 where the path planning module 408 sends a signal to the image projection device 218 to project the path onto the floor 501 of the room 500. For example, Figure 6 As shown, the image projection device 218 projects a path 604 including a plurality of arrows 602 that depict the walking direction that the person 518 should follow to walk from the door 502 to the human support device 100 while avoiding the object 514. The path 604 continues to be displayed, and the method 700 returns to step 722, and the object detection module 402 confirms that the person 518 is still in the room 500. If the object detection module 402 determines that the person 518 is no longer in the room 500, the method 700 returns to step 716 and repeats until the stop condition is met.

[0086] Now refer to Figure 8 , depicting human support device 100 moving along corridor 800. As described herein, human support device 100 may be an autonomous driving vehicle that moves to a target destination in response to receiving navigation instructions. In other embodiments, such as Figure 8As shown, operator 802 can manipulate human support device 100 to push human support device 100 along corridor 800. When human support device 100 moves through corridor 800, image projection device 218 can be operated to emit projection beam 804 to ground 806 of corridor 800 in front of human support device 100. Projection beam 804 can define arrow 808, indicating the direction of movement of human support device 100 determined based on movement data transmitted to controller 306. In the disclosed embodiment, drive mechanism 113 can determine the direction of movement of caster 104 and / or the rotation speed of caster 104. In other embodiments, movement data can be collected based on the speed of movement from ground 806 to human support device 100 detected by image capture device 216 and / or using environmental reference objects. As described in detail herein, image projection device 218 adjusts the appearance of arrow 808 based on one or more factors (e.g., the direction of movement and / or rotation speed of caster 104, the presence of an incoming obstacle, etc.).

[0087] When the human support device 100 is in motion, the image capture device 216 is operated to capture image data in front of the human support device 100. The captured image data is transmitted to the object detection module 402 to determine whether there are obstacles such as people or other human support devices in the moving path of the human support device 100, so that the obstacles should be informed of the moving direction and speed of the human support device 100. Figure 8 As shown, based on the image data captured by the image capture device 216, the object detection module 402 in front of the human support device 100 can detect the first obstacle 810. In response to detecting the first obstacle 810, the object detection module 402 determines it as a non-moving obstacle, such as a stationary person, and the path planning module 408 determines the path that the human support device 100 should take to avoid the first obstacle 810. Once the path is determined, a signal is transmitted to the image projection device 218 to adjust the arrow 808 projected on the ground 806 of the corridor 800.

[0088] like Figure 8As shown, arrow 808 can be adjusted to define adjustment arrow 812. As shown, adjustment arrow 812 faces away from first obstacle 810. In addition, based on the moving speed of human support device 100, the length of adjustment arrow 812 can be increased compared to the length of arrow 808. For example, as shown, the length of adjustment arrow 812 is greater than the length of arrow 808 to indicate that the moving speed of human support device 100 determined by drive mechanism 113 is accelerated or moves at a first speed. In addition, the position of adjustment arrow 812 relative to human support device 100 can be further away from human support device 100 to indicate that the moving speed of human support device 100 is accelerated or moves at a first speed. Alternatively, it should be understood that the length of adjustment arrow 812 can be shortened to indicate that the moving speed of human support device 100 determined by drive mechanism 113 is slowed down or moves at a second speed lower than the first speed. In addition, the position of adjustment arrow 812 relative to human support device 100 can be further close to human support device 100 to indicate that the moving speed of human support device 100 is slowed down or moves at a second speed. It should also be understood that the direction of adjustment arrow 812 may be controlled based on the direction of movement of person support device 100 determined by drive mechanism 113. Similarly, in response to detecting second obstacle 814 located on the opposite side of corridor 800 in front of person support device 100, image projection device 218 may project adjustment arrow 816 indicating the direction of movement of person support device 100 opposite to the direction of movement depicted by adjustment arrow 812 in response to detecting first obstacle 810.

[0089] Now refer to Fig. 9 , depicting a person support device 100 moving along a corridor 900, with an operator 902 positioned behind the person support device 100 to monitor or control the movement of the person support device 100. In addition, as shown, a moving obstacle 904 and an operator 906 positioned behind the moving obstacle 904 move along the corridor 900 toward the person support device 100. Fig. 9As shown, the mobile obstacle 904 is a human support device. However, it should be understood that the mobile obstacle 904 can be any type of mobile device, such as a patient transfer bed, a wheelchair, etc. In the disclosed embodiment, the image capture device 216 captures image data around the human support device 100, and as described herein, transmits the image data to the object detection module 402, which determines whether there is an object (or the mobile obstacle 904 in this example) and whether it is located within the moving path of the human support device 100. In the disclosed embodiment, the AI ​​analysis module 404 helps to determine whether the object detected by the object detection module 402 is moving or not moving. In response to the object detection module 402 and the AI ​​analysis module 404 determining that the measured object is a mobile obstacle, such as the mobile obstacle 904, a signal is sent to the path planning module 408 to determine the respective paths of the human support device 100 and the mobile obstacle 904 to avoid collision.

[0090] Once the path of the human support device 100 and the path of the moving obstacle 904 are determined, a signal is transmitted to the image projection device 218 to project an arrow indicating the path. Fig. 9 As shown, the image projection device 218 of the human support device 100 emits a projection beam 908 to the ground 901 of the corridor 900, and the projection beam 908 defines a first arrow 910 indicating the path of the human support device 100 determined by the path planning module 408, and defines a second arrow 912 indicating the path of the moving obstacle determined by the path planning module 408. By projecting the first arrow 910 and the second arrow 912 onto the ground 901 of the corridor 900, the operator 902 of the human support device 100 and the operator 906 of the moving obstacle 904 are informed how to respectively manipulate the human support device 100 and the moving obstacle 904 to avoid collision. By separately specifying the paths, it is possible to reduce the possibility that the human support device 100 and the moving obstacle 904 each attempt to move in the same direction to avoid collision with each other.

[0091] Fig.10 A method 1000 is described for transmitting a path identifying a direction in which a human support device is expected to move to avoid a collision. Figures 1 to 4 , Figure 8 and Fig. 9 To describe method 1000.

[0092] First, method 1000 begins at step 1002, where imaging device 208 and drive mechanism 113 of human support device 100 are activated. At step 1004, movement data of human support device 100 is collected to determine whether human support device 100 is moving. As described herein, movement data may be collected by drive mechanism 113 and / or image capture device 216.

[0093] Step 1006, as Figure 8 As shown, the image projection device 218 is operated to emit a projection beam, such as projection beam 804, toward the floor 806 of the corridor 800. The projection beam 804 defines an arrow, such as arrow 808, indicating the direction in which the human support device 100 moves.

[0094] In step 1008, in some embodiments, the drive mechanism 113 may determine the speed and direction at which the human support device 100 moves by monitoring the casters 104 of the human support device 100. The movement data indicating the movement speed and / or movement direction of the human support device 100 collected by the drive mechanism 113 may be transmitted to the controller 306.

[0095] At step 1010, image projection device 218 may adjust the display of arrow 808 based on the movement data collected by drive mechanism 113. For example, image projection device 218 may project an adjustment arrow, such as adjustment arrow 812 or adjustment arrow 816, to indicate that human support device 100 is turning or is about to turn. In addition, image projection device 218 may increase or decrease the length of an adjustment arrow, such as adjustment arrow 812 or adjustment arrow 816, to indicate that the speed of human support device 100 is increasing or decreasing.

[0096] In step 1012, the image capture device 216 is continuously operated to capture image data in front of and around the human support device 100 to identify whether there are obstacles that may interfere with the movement of the human support device 100. Specifically, the image capture device 216 transmits the collected image data to the object detection module 402, and the object detection module 402 analyzes the collected image data alone or in combination with the AI ​​analysis module 404 to determine whether there are obstacles in the moving path of the human support device 100. In addition, in step 1014, the object detection module 402 further analyzes the collected image data transmitted from the image capture device 216 alone or in combination with the AI ​​analysis module 404 to determine whether the detected obstacle is moving or not moving. If it is determined that the obstacle is not moving, it can proceed to step 1016, and the image projection device 218 projects an adjustment arrow to define a corrected path for the human support device 100 to avoid the obstacle. For example, if Figure 8 As shown, if a first obstacle 810 is detected, an adjustment arrow 812 pointing in a first direction may be projected to indicate the actual or expected direction of movement of the human support device 100 away from the first obstacle 810. Alternatively, as Figure 8 As shown, if a second obstacle 814 is detected, an adjustment arrow 816 pointing in a second direction different from the first direction may be projected to indicate the actual or intended movement direction of the body support device 100 away from the second obstacle 814 .

[0097] Alternatively, if it is determined that the obstacle is moving, the method 1000 proceeds to step 1018. At step 1018, the projection beam emitted by the image projection device 218 is adjusted to define an arrow indicating the direction of movement of the human support device 100 and an arrow indicating the direction of movement of the moving obstacle. Fig. 9 As shown, the projection beam 908 emitted by the image projection device 218 defines a first arrow 910 to indicate the moving path of the human support device 100, and the projection beam 908 defines a second arrow 912 to indicate the moving path of the moving obstacle 904. Accordingly, the operator 902 can manipulate the human support device 100, and the operator 906 can manipulate the moving obstacle 904 to move along the paths of the first arrow 910 and the second arrow 912, respectively, so as to avoid collision with each other.

[0098] The first arrow 910 and the second arrow 912 may be projected until a stop condition is determined to be satisfied in step 1020. A non-limiting example of a stop condition being satisfied is that the object detection module 402 determines that there are no more obstacles (e.g., obstacles 810, 814, 906) in the direction of movement of the human support device 100 based on the analyzed image data captured by the image capture device 216. Another non-limiting example of a stop condition being satisfied is that the image projection device 218 receives a deactivation instruction. The instruction may be sent by the operator 802, 902 of the human support device 100. In response to determining that the stop condition is satisfied in step 1020, the method 1000 continues to step 1022, and no longer emits a projection beam from the image projection device 218. In the event that the stop condition is not determined to be satisfied in step 1020, the method 1000 continues back to step 1006.

[0099] As described herein, the human body support device 100 may be a hospital bed, a stretcher, a subject lift, a chair, an operating table, or a similar support device commonly used in medical facilities such as hospitals, nursing homes, rehabilitation centers, etc. Figure 1 The human body support device 100 is depicted as a hospital bed. Fig.11 , human support device 1100 is depicted as a walking device. As described herein, human support device 1100 may be used to provide support to a person during a walking exercise or routine, guide a person supported by human support device 1100 along a walking path or movement path, and / or detect a walking pattern of a person. When detecting a walking pattern of a person, corrective action may be taken in response to detecting that the person may be falling and / or data on the person's walking may be collected to develop a treatment plan and achieve treatment goals.

[0100] The body support device 1100 includes a base 1114 , a mast 1116 extending upward from the base 1114 , a neck 1118 pivotally coupled to the mast 1116 , and a pair of arms 1160 , 1162 extending in opposite directions from the mast 1116 .

[0101] With respect to embodiments of the disclosed human support device 1100, the base 1114 may include a pair of base legs 1124a, 1124b pivotally coupled to a cross brace 1128 at a pair of base leg axles 1126a, 1126b such that the base legs 1124a, 1124b are pivotally adjustable relative to the mast 1116. The base legs 1124a, 1124b may additionally include a pair of front casters 1130, 1132 and a pair of rear casters 1134, 1136. The rear casters 1134, 1136 may include caster brakes (not shown).

[0102] In the disclosed embodiment, the mast 1116 is fixedly coupled to the base 1114. In other embodiments, the mast 1116 may be movably coupled to the base 1114 so that the mast 1116 may be raised or lowered relative to the base 1114 to increase the height of the human support device 1100. It should be understood that the position of the mast 1116 may be adjusted vertically relative to the base 1114 by repositioning the mast 1116 within the base 1114 (e.g., Fig.11 Z direction on the coordinate axis shown).

[0103] The neck 1118 has a first end 1146 and a second end 1148 opposite the first end. In the disclosed embodiment, the first end 1146 of the neck 1118 is fixed to the upper end 1142 of the mast 1116, so that the neck 1118 does not rotate relative to the mast 1116. In other embodiments, the first end 1146 of the neck 1118 is pivotally coupled to the upper end 1142 of the mast 1116 at the neck pivot 1158, so that the neck 1118 can be pivoted relative to the base 1114 (for example, the second end 1148 of the neck 1118 is raised and lowered).

[0104] The human support device 1100 includes a personnel image capture device 1120 (disposed at the second end 1148 of the neck 1118) and an obstacle image capture device 1122 (disposed at an end of one of the base legs 1124a, 1124b opposite the mast 1116). The personnel image capture device 1120 has a field of view toward the base 1114 and the mast 1116 so as to capture image data of a person using the human support device 1100. However, the personnel image capture device 1120 can be disposed at any suitable position to capture images of a person using the human support device 1100. The obstacle image capture device 1122 faces away from the mast 1116 so as to capture images of potential obstacles within the moving path of the human support device 1100. However, the obstacle image capture device 1122 can be disposed at any suitable position to capture images of potential obstacles within the moving path of the human support device 1100. The personnel image capture device 1120 and the obstacle image capture device 1122 can be respectively similar to Figure 5The image capture device 216 depicted. For example, the personnel image capture device 1120 and the obstacle image capture device 1122 may each include one or more optical components, such as a reflector, a fisheye lens, or any other type of lens. In some embodiments, the personnel image capture device 1120 and the obstacle image capture device 1122 each include one or more imaging sensors configured to operate in the visible spectrum and / or the infrared spectrum to sense visible light and / or infrared light. In addition, although the specific embodiments described herein are described in conjunction with hardware that senses light within the visible spectrum and / or the infrared spectrum, it is to be understood that other types of sensors are contemplated. For example, the sensors described herein may include one or more LiDAR sensors, radar sensors, sonar sensors, or other types of sensors, which may be integrated or supplemented to the data collection described herein. In addition, in the disclosed embodiments, the personnel image capture device 1120 and / or the obstacle image capture device 1122 may include an image projection device, such as Figure 2 The image projection device 218 is depicted.

[0105] In addition, the human body support device includes a first arm portion 1160 and a second arm portion 1162 extending from the mast 1116. Each arm portion 1160, 1162 includes a first arm segment and a second arm segment. With respect to the first arm portion 1160, the first arm segment 1164 has a first end 1164a extending from a first side of the mast 1116 and a second end 1164b opposite the first end 1164a. The second arm segment 1166 of the first arm portion 1160 has a first end 1166a rotationally coupled to the second end 1164b of the first arm segment 1164 and a second end 1166b opposite the first end 1166a. The first arm segment 1164 is accommodated in an arm rail 1168 formed in the mast 1116, allowing vertical adjustment relative to the base 1114 (e.g., Fig.11 In addition, the second arm segment 1166 is allowed to rotate from the closed position (as shown by the solid line) to the low position P1 or the open position P2 (as shown by the dotted line) relative to the first arm segment 1164. In the low position P1, the second arm segment 1166 rotates to be parallel to the mast 1116. In the open position P2, the second arm segment 1166 rotates to be parallel to the first arm segment 1164.

[0106] The second arm 1162 is similar in structure to the first arm 1160. As such, the first arm segment 1170 of the second arm 1162 has a first end 1170a extending from a second side of the mast 1116 and a second end 1170b opposite the first end 1170a. The second arm segment 1172 of the second arm 1162 has a first end 1172a rotatably coupled to the second end 1170b of the first arm segment 1170 and a second end 1172b opposite the first end 1172a. The first arm segment 1170 is received within an arm rail (similar to the arm rail 1168) formed in the mast 1116, allowing for vertical adjustment relative to the base 1114 (e.g., Fig.11 In addition, the second arm segment 1172 is allowed to rotate from the closed position (as shown by the solid line) to the low position P3 or the open position P4 (as shown by the dotted line) relative to the first arm segment 1170. In the low position P3, the second arm segment 1172 rotates to be parallel to the mast 1116. In the open position P4, the second arm segment 1172 rotates to be parallel to the first arm segment 1170.

[0107] The arm rail 1168 may include any suitable component for vertically moving the first arm and the second arm, such as a worm gear, an actuator, a motor, a rack and pinion, etc. or a combination thereof. In the disclosed embodiment, the arm rail 1168 formed in the mast 1116 and extending from the first arm portion 1160 may be the same arm rail extending from the second arm portion 1162, so that the first arm portion 1160 and the second arm portion 1162 move vertically synchronously with each other. In other embodiments, the arm rail 1168 may include separate arm rail components so that the first arm portion 1160 and the second arm portion 1162 move vertically independently of each other.

[0108] The human support device 1100 also includes a tether assembly 1174 that is slidably movable within the mast 1116, as described in detail below. The tether assembly 1174 is mounted within a tether track 1176 formed in the mast 1116, allowing the tether assembly 1174 to be vertically adjusted relative to the base 1114 (e.g., Fig.11 The tether track 1176 may include any suitable component for moving the tether assembly 1174, such as a worm gear, an actuator, a motor, a rack and pinion, or the like, or a combination thereof. In the disclosed embodiment, the tether track 1176 formed in the mast 1116 and extending from the tether assembly 1174 may be integrally formed with the arm track 1168, so that the tether assembly 1174 moves synchronously with the first arm portion 1160 and the second arm portion 1162. In other embodiments, the tether track 1176 may be separate from the arm track 1168, so that the tether assembly 1174 moves vertically independently of the first arm portion 1160 and the second arm portion 1162.

[0109] In the embodiment of the present disclosure, the human body support device 1100 includes a user interface 1178 for controlling various components of the human body support device 1100. Fig.11 As shown, the user interface 1178 is disposed on the mast 1116. However, it should be understood that the user interface 1178 can be disposed at any suitable location of the human body support device 1100. In addition, in the disclosed embodiment, the user interface 1178 can be a separate device coupled to the human body support device 1100 via any suitable wire communication, or alternatively, can also be wirelessly coupled to the human body support device 1100. The user interface 1178 can be used to position the first arm 1160 and / or the second arm 1162, the strap assembly 1174, or provide a set of instructions for performing a walking routine. In this way, the user interface 1178 can include any suitable input device, such as a button, a knob, or a touch pad for inputting instructions. The user interface 1178 can also include a display screen for displaying the status of the human body support device 1100, such as data about previous walking routines, future walking routines, etc.

[0110] Now refer to Fig.12 , an enlarged view of the tie assembly 1174 is depicted within the mast 1116. As shown, the tie assembly 1174 is disposed within a tie track 1176. As described herein, the tie track 1176 may include any suitable mechanism for vertically moving the tie assembly 1174. For example, as shown, the tie track 1176 includes an externally threaded rod 1201 extending within the mast 1116 and an internally threaded plate 1203 mounted to the tie assembly 1174. The rod is rotatably fixed to the opposite end of the mast 1116. The plate 1203 is fixed to the tie assembly 1174 within the mast 1116 to prohibit rotation relative to the mast 1116, but to allow rotation relative to the rod 1201. Accordingly, when the rod 1201 is rotated in a first rotational direction, such as by a motor or the like, the plate 1203 translates in a first vertical direction. Since the plate 1203 is fixed to the tie assembly 1174, vertical movement of the plate 1203 in the first vertical direction causes vertical movement of the tie assembly 1174 in the first vertical direction. Alternatively, when the rod 1201 is rotated in a second rotational direction opposite to the first rotational direction, the plate 1203 translates in a second vertical direction opposite to the first vertical direction. Since the plate 1203 is fixed to the tie assembly 1174, vertical movement of the plate 1203 in the second vertical direction causes vertical movement of the tie assembly 1174 in the second vertical direction. As described herein, the tie assembly 1174 can be adjusted in view of the height of the person using the human support device 1100.

[0111] Still refer to Fig.12, showing that the tether assembly 1174 generally includes a housing 1200 and a reel 1202 disposed within the housing 1200. The housing 1200 includes one or more walls 1204, and the one or more walls 1204 define an open interior 1206 in which the reel 1202 is disposed. A slot 1208 is formed in a front wall 1210 of the one or more walls 1204 of the housing 1200. The reel 1202 is rotatably fixed within the open interior 1206 of the housing 1200. The reel 1202 includes a drum 1212 and a tether 1214 that is at least partially wound or wrapped around the drum 1212. The tether 1214 is fixed to the first end 1216 of the drum 1212 and is fed through the slot 1208 formed in the front wall 1210 of the housing 1200 so that the tether 1214 can be accessed from the outside of the mast 1116 ( Fig.11 ). The harness 1214 includes an attachment mechanism 1218 disposed at a second end 1220 of the harness 1214, and the attachment mechanism 1218 is accessible from the outside of the mast 1116. As described herein, the attachment mechanism 1218 is used to fasten to a wearable device, such as a harness, vest, sling, etc. worn by a person. The attachment mechanism 1218 may include any suitable mechanism, such as a buckle, a clip, a snap, etc. In the disclosed embodiment, a receiving portion such as a harness, a basket, a seat, etc. may be provided on the human body support device 1100, and a person may be accommodated in the receiving portion, such as by extending their legs through the receiving portion so as to be supported by the human body support device 1100.

[0112] In the disclosed embodiment, the lacing assembly 1174 further includes a motor 1222 for controlling the rotation of the drum 1212. Accordingly, the motor 1222 can be operated to prohibit the drum 1212 from rotating in one or two directions or to allow the drum 1212 to rotate freely and / or in a controlled manner. In this way, the drum 1212 can be operated by the motor 1222 to roll in a first rotational direction to allow additional slack in the lacing 1214 to be fed through the slot 1208, and to roll the drum 1212 in a second rotational direction opposite to the first rotational direction to pull the lacing 1214 back to the mast 1116 through the slot 1208, thereby reducing the amount of slack.

[0113] In the disclosed embodiment, the lace assembly 1174 further includes a tension sensor 1224 for detecting the tension amount of the lace 1214 provided in the reverse direction of the roller 1212. Specifically, the tension sensor 1224 detects the tension amount applied to the motor 1222 at the attachment mechanism 1218 of the lace 1214. In other embodiments, the tension sensor 1224 can detect the rotational force applied to the roller 1212. The tension sensor 1224 can be any suitable device, such as a weighing sensor, a force sensor, a force converter, etc. As described herein, an increase in tension applied to the motor 1222 may indicate that a person falls to the ground in a fall event. The tension sensor 1224 can be communicatively coupled to the motor 1222 so that the motor 1222 can be used to perform corrective actions in the event of a fall event being detected. For example, when the tension sensor 1224 detects an increase in tension indicating a fall event, the motor 1222 can prohibit the rotation of the roller 1212 so as not to allow additional loosening of the lace 1214, thereby preventing the person from falling further.

[0114] Now refer to Fig.13 , a system 1300 according to one or more embodiments described herein is shown. As shown, system 1300 generally includes a human support device 1100, which is configured to communicate with a central monitoring station 1302 via a network 1304. It should be understood that central monitoring station 1302 and network 1304 are similar to central monitoring station 302 and network 304, respectively. As such, central monitoring station 1302 and network 1304 will not be described in detail herein.

[0115] The human body support device 1100 also includes a controller 1306, which includes one or more processors 1308 and one or more memory modules 1310. The one or more processors 1308 can each be any device capable of executing machine-readable executable instructions. The one or more processors 1308 are coupled to a communication path 1312 that provides signal interconnection between the various modules of the system 1300. The human body support device 1100 includes a network interface hardware 1314 for communicatively coupling the human body support device 1100 to the central monitoring station 1302. The network interface hardware 1314 can be communicatively coupled to the communication path 1312 and can be any device capable of sending and receiving data via the network 1304. The controller 1306, processor 1308, memory module 1310, network interface hardware 1314, and communication path 1312 are similar to the controller 306, processor 308, memory module 310, network interface hardware 314, and communication path 312, respectively. As such, the controller 1306 , processor 1308 , memory module 1310 , network interface hardware 1314 , and communication path 1312 are not further described herein.

[0116] As described herein, the human body support device 1100 may be a passive movable device, such that the human body support device 1100 moves only when pulled and / or pushed by a person. However, in the disclosed embodiment, the human body support device 1100 includes a drive mechanism 1113 for controlling the rotation of casters 1130, 1132, 1134, 1136. The drive mechanism 1113 is similar to the drive mechanism 113. Accordingly, the drive mechanism 1113 is not described in detail herein. In the disclosed embodiment, the human body support device 1100 also includes an alarm device 1318 (such as the alarm device 116) and a position sensor 1316 (such as the position sensor 316). Accordingly, the alarm device 1318 and the positioning sensor 1316 are not described in detail herein.

[0117] Now refer to Fig.14 , showing that the human support device 1100 is in a receiving state and close to the bed 1400, so as to allow the person P to get off the bed 1400 and position himself in the human support device 1100. Specifically, in the receiving state, the first arm 1160 is lowered relative to the base 1114 via the arm rail 1168 in the mast 1116. In addition, Fig.14 Although not shown, the second arm 1162 still maintains Fig.11 The second arm 1162 is moved from the same vertical position shown in FIG. 1400 to the open position P3 so as to extend behind the person P on the bed 1400. In other embodiments, the second arm 1162 can be lowered below the mattress 1402 of the bed 1400. In any case, this allows the mast 1116 of the person support device 1100 to be pushed upward against the bed 1400 and closer to the person P. Fig.14 As shown, person P wears harness 1404, which is coupled to harness 1214, and in particular to attachment mechanism 1218 of harness 1214, so as to secure person P to person support device 1100. When person support device 1100 is in the receiving state, obstacle image capture device 1122 detects whether there is an obstacle 1600 in the movement path. If obstacle 1600 is detected, person support device 1100 performs an avoidance maneuver to avoid obstacle 1600, as described herein.

[0118] Now refer to Fig.15 , showing the person support device 1100 in a supported state. Specifically, in the supported state, the first arm portion 1160 is raised via the arm rail 1168. This allows the person P to support himself / herself when moving from the bed 1400 to the person support device 1100. By raising the first arm portion 1160, the person P can grasp the second arm segment 1166 and ensure that the person support device 1100 is properly positioned relative to the bed 1400, which helps support the weight of the person P when the person P attempts to move to a standing position.

[0119] Now refer to Fig.16, showing that the human body support device 1100 is in a walking state. Specifically, in the walking state, the first arm 1160 and the second arm 1162 ( Fig.11 ) is moved to a relative position of person P via the arm rail 1168. Using the person image capture device 1120, the height of person P can be determined so that the first arm 1160 and the second arm 1162 are appropriately positioned below the arms of person P to a vertical height corresponding to the elbows of person P, so that person P can support his forearms on the first arm 1160 and the second arm 1162 of the human body support device 1100. In addition, in response to determining the height of person P, the lace track 1176 can be adjusted to appropriately position the lace assembly 1174 relative to person P. In the walking state, person P is positioned between the first arm 1160 and the second arm 1162, and the legs of person P are positioned between the base legs 1124a and the base legs 1124b. In this way, the person image capture device 1120 collects data about the person's walking routine toward person P, as described in detail below. In addition, the obstacle image capture device 1122 is facing away from the person P, such as the mast 1116, and is directed in the direction of the moving path of the human support device 1100 (such as the walking path of the person P).

[0120] Now refer to Fig.17 , depicts a method 1700 for operating a human support device 1100. Figures 11 to 16 1700. First, the method 1700 begins at step 1702 by receiving a walking routine execution instruction. The walking routine can be provided to the human support device 1100 by a caregiver or a walking routine seeker. Alternatively, the walking routine can be provided to the human support device 1100 wirelessly from the central monitoring station 1302 via the network 1304 and the network interface hardware 1314 or directly through the user interface 1178.

[0121] Step 1704, position the human support device 1100 to the bed 1400 where the person P is located. In embodiments where the human support device 1100 has autonomous or semi-autonomous capabilities, the human support device 1100 may be instructed to move to the location of the bed 1400 based on the known location of the bed 1400 in the room where the human support device 1100 is located. In addition, the human support device 1100 may be manually positioned along a side of the bed 1400 so that the person P can easily reach the human support device 1100.

[0122] Step 1706, the human support device 1100 receives and / or engages the person P at the bed 1400. Specifically, once the human support device 1100 reaches the bed 1400, or in some embodiments, when the human support device 1100 moves toward the bed 1400, the human support device 1100 is positioned in a receiving state. As described herein, reference Fig.14, the person support device 1100 is positioned in a receiving state by lowering the first arm 1160 and positioning the second arm 1162 to the open position P2, P4. Alternatively, the second arm 1162 can be lowered together with the first arm 1160 so that the arms 1160, 1162 are placed under the mattress 1402 of the bed 1400. This allows the person P to slide off the bed 1400 and enter the person support device 1100 without being blocked by the first arm 1160 or the second arm 1162. In addition, the strap 1404 worn by the person P is connected to the attachment mechanism 1218 of the strap 1214, so that the person P is coupled to the person support device 1100. Thereafter, the person support device 1100 is moved into a supporting state by raising the first arm 1160 to allow the person P to support his or her own weight. While the person P is supporting himself / herself on the person support device 1100, the person P leaves the bed 1400 and stands between the base legs 1124a and 1124b. Once properly positioned within the person support device 1100, the person support device 1100 enters a walking state by rotating the second arm 1162 to the closed position. It should be understood that the position of the person support device 1100 relative to the bed 1400 determines the operation of the first arm 1160 and the second arm 1162. For example, if the person support device 1100 is positioned on the opposite side of the bed 1400 or facing in the opposite direction (e.g., head of the bed to foot of the bed), the operation of the first arm 1160 and the second arm 1162 may be opposite.

[0123] In step 1708, the human support device 1100 assists in performing a walking routine or walking exercise. Specifically, in an embodiment where the human support device 1100 is a passive operating system, the human support device 1100 is moved under the force of the person P using the human support device 1100. For example, the person P can grasp the first arm 1160 and the second arm 1162 of the human support device 1100 to pull the human support device 1100 in the walking direction of the person P. Alternatively, in an embodiment where the human support device 1100 has autonomous or semi-autonomous driving capabilities, as described herein, the human support device 1100 can guide the person P to walk along the movement path indicated in the instruction received in step 1702. In addition, the guidance provided by the human support device 1100 can meet any time requirement provided in the instruction received in step 1702, for example, guiding the person P for 3 minutes, 5 minutes, 10 minutes, or any other time.

[0124] During passive or autonomous / semi-autonomous operation of human support device 1100, at step 1710, obstacle image capture device 1122 is operated to capture image data in front of human support device 1100 and within the path of movement of human support device 1100. Subsequently, obstacles 1600 ( Fig.16) is located in the moving path of the human body support device 1100. It should be understood that step 1710 is similar to step 1012 and step 1014 described herein ( Fig.10 ). Specifically, the obstacle image capture device 1122 transmits the collected image data to the processor, and the processor analyzes the collected image data alone or in combination with the AI ​​analysis module to determine whether there is an obstacle 1600 in the moving path of the human support device 1100. In addition, step 1710 can determine whether the obstacle 1600 is moving, as described herein.

[0125] If it is determined in step 1710 that obstacle 1600 is in the path of movement of person support device 1100, then the process proceeds to step 1712 where person support device 1100 performs an avoidance maneuver. In embodiments where person support device 1100 is passively moved by person P, the avoidance maneuver may include displaying an indication on the ground in front of person support device 1100 to draw attention to obstacle 1600. For example, obstacle image capture device 1122 (which, as described herein, may include an image projection device) may project a marker highlighting the obstacle on the ground and / or display an expected path of movement for person support device 1100 to follow to avoid obstacle 1600, as described in step 1018 ( Fig.10 In embodiments where the human support device 1100 has autonomous or semi-autonomous driving capabilities, the human support device 1100 may initiate one or more avoidance maneuvers to redirect the movement path of the human support device 1100, as described in step 1016 ( Fig.10 For example, the human support device 1100 may change the direction of movement of the casters 1130, 1132, 1134, 1136 to change the direction of movement of the human support device 1100, or apply caster brakes to the casters 1130, 1132, 1134, 1136 to prevent the human support device 1100 from further movement.

[0126] Alternatively, if it is determined in step 1710 that there are no obstacles in the movement path of the human support device 1100, the method 1700 proceeds to step 1714, where the human support device 1100 determines whether a fall of the person P is detected. As described herein, during the operation of the human support device 1100, the person image capture device 1120 continuously captures image data of the person P. For example, the person image capture device 1120 captures the gait of the person P, the height of the person P, etc. During the use of the human support device 1100, changes in the gait of the person P (e.g., swaying, irregular center of gravity, incorrect position of the feet and / or legs of the person P, etc.) may indicate that the person P is about to fall. Similarly, changes in the height of the person P (i.e., the vertical position of the head of the person P) may indicate that the person P is falling. As described herein, a fall is also detected based on the detection by the strap assembly 1174 that the tension on the strap 1214 exceeds the threshold force, causing the person P to pull the strap 1214 through the strap 1404 on the attachment mechanism 1218.

[0127] If it is detected in step 1714 that the person P is falling based on the data collected by the person image capture device 1120 and / or the tension applied to the tether assembly 1174 (i.e., the tension detected by the tension sensor 1224) being equal to or higher than the predetermined threshold, then the process proceeds to step 1716, and the human support device 1100 performs a recovery action. In the disclosed embodiment, the recovery action may, for example, include applying caster brakes to the casters 1130, 1132, 1134, 1136, sounding an alarm, operating the motor 1222 of the tether assembly 1174 to prevent the roller 1212 from rotating, and / or operating the motor 1222 to rotate the roller 1212 in the opposite direction to pull the tether 1214 back into the housing 1200 of the tether assembly 1174.

[0128] Alternatively, if it is detected in step 1714 that the person P has not fallen based on the data collected by the person image capture device 1120 and / or the tension applied to the strap assembly 1174 (i.e., the tension detected by the tension sensor 1224) being less than a predetermined threshold, the method 1700 proceeds to step 1718 to determine whether the destination has been reached. The destination may be provided by the instruction received in step 1702 or may be indicated by the person P operating the person support device 1100 when arriving at the destination. If it is determined in step 1718 that the destination has been reached, the method 1700 ends in step 1720 and the person support device 1100 ceases further operation. Alternatively, if it is determined in step 1718 that the destination has not been reached, the method 1700 returns to step 1708 to continue assisting in the performance of the walking routine or walking exercise.

[0129] In summary, it should be understood that the present disclosure provides a human support device and a method for using the human support device, which can identify an object in the room where the human support device is located and warn relevant personnel when the object is classified as a potential hazard, so as to reduce the possibility that the person may slip and fall on the object. The human support device includes an image capture device for capturing image data in the room, an image projection device for emitting a projection beam to the floor of the room, and a controller coupled to the image capture device and the image projection device. The controller is configured to analyze the image data captured by the image capture device, determine the existence of an object in the room based on the image data captured by the image capture device, and in response to classifying the object as a potential hazard, instruct the image projection device to emit a projection beam to the floor of the room to illuminate the object classified as a potential hazard. Accordingly, attention can be paid to the object on the ground so that the potential hazard object can be corrected, such as cleared or removed, and anyone walking in the room can be warned to avoid the potential hazard object.

[0130] Other aspects of the embodiments described herein are provided by the subject matter of the following clauses:

[0131] Item 1. A device comprising a controller configured to: analyze image data; determine, based on the image data, that an object exists in the area; determine, based on the image data, whether the object is a potential hazard; and in response to determining that the object is a potential hazard, emit a projection light beam onto a surface of the area to illuminate the object.

[0132] Item 2. The device according to Item 1 also includes a human body support device, including: an image capture device for capturing image data within the area; an image projection device for emitting the projection light beam onto the surface of the area; a support frame having a bottom surface; and a mirror dome mounted on the bottom surface of the support frame, wherein the image capture device and the image projection device are mounted on the human body support device below the mirror dome and have a field of view facing upward toward the mirror dome.

[0133] Clause 3. The device of clause 2, further comprising an alarm device, wherein the controller is coupled to the alarm device and configured to operate the alarm device to provide an audible alert in response to determining that an object classified as a potential hazard is present.

[0134] Clause 4. The apparatus of clause 3, wherein one or more of the frequency and volume of the audible alert increases over time since detection of an object classified as potentially dangerous.

[0135] Clause 5. An apparatus according to any one of clauses 2 to 4, wherein the controller is further configured to determine the presence of a person in the area, and in response to determining the presence of the person, operate the image projection device to project a second projection beam onto a surface of the area to indicate a path for the person to avoid potential danger, wherein the surface is the ground.

[0136] Clause 6. The device of clause 5, wherein the controller is further configured to determine a position of the human support device within the area.

[0137] Clause 7. The apparatus of clause 6, wherein the controller is configured to detect the presence of one or more position indicators within the region and determine the position of the human support device based on the known positions of the one or more position indicators within the region.

[0138] Clause 8. The device of clause 5 or 6, wherein the second projected light beam indicates a path between the human support device and at least one of a door or a bathroom within the area.

[0139] Clause 9. An apparatus according to any one of clauses 1 to 8, wherein the controller is further configured to: determine that an object classified as a potential hazard no longer exists; determine the length of time that the object classified as a potential hazard exists; and transmit the area identification information and the length of time to a central monitoring station.

[0140] Clause 10. An apparatus comprising a controller configured to: determine, based on movement data, that the apparatus is moving; and instruct an image projection device to emit a projection light beam to indicate a direction of movement of the apparatus, based on the movement data.

[0141] Clause 11. The device of Clause 10, further comprising a drive mechanism and a plurality of casters, the drive mechanism communicatively coupled to one or more of the plurality of casters to detect movement of the device.

[0142] Clause 12. The device of clause 11, wherein the drive mechanism detects a speed of movement of the device, and wherein the controller is further configured to adjust the projection beam based on the speed of movement of the device.

[0143] Clause 13. An apparatus according to clause 12, wherein the controller is further configured to instruct the image projection apparatus to emit the projection beam at a first distance in front of the apparatus in response to the drive mechanism detecting that the apparatus is moving at a first speed, and wherein the controller is further configured to instruct the image projection apparatus to emit the projection beam at a second distance in front of the apparatus that is less than the first distance in response to the drive mechanism detecting that the apparatus is moving at a second speed that is less than the first speed.

[0144] Clause 14. The device of any one of clauses 11 to 13, wherein the drive mechanism detects a direction of movement of the device, and wherein the controller is further configured to adjust the projection beam based on the direction of movement of the device.

[0145] Clause 15. An apparatus according to Clause 14, wherein the controller is further configured to instruct the image projection device to emit the projection light beam to indicate a first turning direction in front of the apparatus in response to the drive mechanism detecting that the apparatus is turning in a first turning direction, and wherein the controller is further configured to instruct the image projection device to emit the projection light beam to indicate a second turning direction in front of the apparatus in response to the drive mechanism detecting that the apparatus is turning in a second turning direction.

[0146] Clause 16. The apparatus of any one of clauses 10 to 15, further comprising an image capture device for capturing image data, wherein the controller is further configured to determine the presence of an obstacle based on the captured image data.

[0147] Clause 17. The apparatus of clause 16, wherein the controller is further configured to determine whether the obstacle is moving based on the captured image data.

[0148] Clause 18. The apparatus of clause 17, wherein the controller is further configured to instruct the image projection apparatus to change the direction of the projection light beam to avoid the obstacle in response to determining that the obstacle is not moving.

[0149] Clause 19. The device according to clause 17 or 18, wherein the controller is further configured to instruct the image projection device to project a second projection light beam to indicate a moving direction of the obstacle to avoid the device.

[0150] Item 20. A method for detecting dangerous objects near a human support device, comprising: capturing image data within an area; analyzing the captured image data; determining that an object exists in the area based on the captured image data; determining whether the object is a potential hazard based on the captured image data; and in response to determining that the object is a potential hazard, emitting a projection light beam onto a surface of the area to illuminate the object.

[0151] Clause 21. The method according to Clause 20 further includes: guiding the image capture device and the image projection device so that the field of view of the image capture device and the field of view of the image projection device are upward toward the mirror dome mounted on the bottom surface of the support frame of the human body support device.

[0152] Clause 22. The method of clause 20 or 21, further comprising: operating an alarm device to provide an audible alert in response to determining that an object classified as potentially dangerous is present.

[0153] Clause 23. The method of clause 22, further comprising: increasing one or more of the frequency and volume of the auditory alert over time since the object classified as potentially dangerous is detected.

[0154] Clause 24. The method according to any one of clauses 20 to 23 further includes: determining that there is a person in the area; and in response to determining that there is a person in the area, operating the image projection device to emit a second projection beam to the surface of the area to indicate a path for the person to avoid the potential danger, wherein the surface is the ground.

[0155] Clause 25. The method of clause 24, further comprising: determining a position of the human support device within the area.

[0156] Clause 26. The method according to clause 25 further includes: detecting the presence of one or more position indicators in the area; and determining the position of the human support device based on the known positions of the one or more position indicators in the area.

[0157] Clause 27. The method of any one of clauses 24 to 26, wherein the second projected light beam indicates a path between the human support device and at least one of a door or a bathroom within the area.

[0158] Clause 28. The method according to any one of clauses 20 to 27 further includes: determining that the potential hazard no longer exists; determining the length of time that the potential hazard exists; and transmitting the area identification information and the length of time to a central monitoring station.

[0159] Item 29. A human support device comprising: a base including a pair of legs and a plurality of rollers mounted on each of the pair of legs; a mast extending upward from the base; a tether assembly extending from the mast, the tether assembly including a roller, a tether wrapped around the roller, and a tension sensor for detecting the amount of tension applied to the tether in the opposite direction of the roller; a pair of arms extending from the mast; and a personnel image capture device having a field of view toward the mast.

[0160] Clause 30. A human body support device according to Clause 29, wherein the strap includes a first end fixed to the roller and a second end opposite to the first end, and the second end of the strap is provided with an attachment mechanism for coupling the strap to a wearable device.

[0161] Clause 31. A body support device according to clause 29 or 30, wherein the lacing assembly includes a motor for controlling the rotation of the roller, the motor being communicatively coupled to the tension sensor.

[0162] Clause 32. The person support device of Clause 29, wherein the motor allows the roller to rotate in a first direction when the tension sensor detects that the tension is below a predetermined threshold.

[0163] Clause 33. The human support device of clause 32, wherein the motor inhibits the roller from rotating in the first direction when the tension sensor detects a tension equal to or greater than the predetermined threshold.

[0164] Clause 34. The human support device of any one of clauses 29 to 33, further comprising a neck extending from an end of a mast opposite the base, the person image capture device being mounted to the end of the neck opposite the mast.

[0165] Clause 35. A person support device as described in any of clauses 31 to 34, wherein the person image capture device collects data about the gait of a person using the person support device.

[0166] Clause 36. The human support device of clause 35, wherein the motor allows the roller to rotate in the first direction when the data collected by the person image capture device indicates that a fall event has not occurred.

[0167] Clause 37. The human support device of clause 36, wherein the motor inhibits the roller from rotating in the first direction when data collected by the person image capture device indicates that a fall event is occurring.

[0168] Clause 38. A human body support device according to any one of clauses 29 to 37, wherein each of the pair of arms comprises a first arm segment extending from the mast and a second arm segment extending from the first arm segment, the second arm segment being rotatable relative to the first arm segment, and the pair of arms being movable vertically along the mast.

[0169] Item 39. A method comprising: operating a human support device to engage a person, the human support device comprising: a base including a pair of legs and a plurality of rollers mounted on each of the pair of legs; a mast extending upward from the base; a tether assembly extending from the mast, the tether assembly including a roller, a tether wrapped around the roller, and a tension sensor for detecting an amount of tension applied to the tether in the opposite direction of the roller; a pair of arms extending from the mast; and a person image capture device having a field of view toward the mast; collecting data about a person engaged with the human support device at the person image capture device to detect a fall event; and controlling the rotation of the roller in response to detecting that a fall event is occurring.

[0170] Clause 40. The method of clause 39, wherein operating the body support device to engage a person comprises coupling an attachment mechanism disposed at an end of the strap opposite the roller to a wearable device worn by the person.

[0171] Clause 41. The method of clause 39 or 40, wherein the lacing assembly includes a motor for controlling rotation of the roller, the motor being communicatively coupled to the tension sensor.

[0172] Clause 42. The method of clause 41, further comprising: operating the motor to allow the drum to rotate in a first direction when the tension sensor detects that the tension is below a predetermined threshold.

[0173] Clause 43. The method of clause 42, further comprising: when the tension sensor detects a tension equal to or greater than the predetermined threshold, operating the motor to prohibit the drum from rotating in the first direction.

[0174] Clause 44. The method of any one of clauses 39 to 43, further comprising: mounting the personnel image capture device to an end of a neck extending from an end of a mast opposite the base.

[0175] Clause 45. The method of any one of clauses 41 to 44, further comprising: collecting data about the gait of the person at the person image capture device.

[0176] Clause 46. The method of clause 45, further comprising: when the data collected by the personnel image capture device indicates that a fall event has not occurred, operating the motor to allow the drum to rotate in a first direction.

[0177] Clause 47. The method of clause 46, further comprising: operating the motor to inhibit the drum from rotating in the first direction when data collected by the personnel image capture device indicates that a fall event is occurring.

[0178] Clause 48. A method according to any one of clauses 39 to 47, wherein each arm in the pair of arms comprises a first arm segment extending from the mast and a second arm segment extending from the first arm segment, the second arm segment being rotatable relative to the first arm segment, and the pair of arms being movable vertically along the mast.

[0179] It will be apparent to those skilled in the art that various modifications and variations may be made to the embodiments described herein without departing from the scope of the claimed subject matter. Therefore, this specification is intended to cover modifications and variations to the various embodiments described herein, as long as such modifications and variations fall within the scope of the appended claims and their equivalents.

Claims

1. A device comprising: Controller, configured as: Analyze image data within the area; Based on the image data, determining that an object exists in the area; Based on the image data, determining whether the object is a potential danger; as well as In response to determining that the object is a potential hazard, a projection light beam is emitted toward a surface of the area to illuminate the object.

2. The apparatus according to claim 1, further comprising: A human body support device, comprising: An image capturing device for capturing image data within the area; an image projection device for emitting said projection light beam onto a surface of said area; a support frame having a bottom surface; and A mirrored dome mounted on the bottom surface of the support frame, Wherein, the image capture device and the image projection device are mounted on the human body support device below the mirror dome and have a field of view facing upward toward the mirror dome.

3. The device according to claim 2, further comprising an alarm device, wherein: The controller is coupled to the alarm device and is configured to operate the alarm device to provide an audible alert in response to determining that an object classified as potentially hazardous is present.

4. The device according to claim 3, wherein: One or more of the frequency and volume of the audible alert increases over time from the time an object classified as potentially dangerous is detected.

5. The device according to claim 2, wherein: The controller is further configured to determine that a person exists in the area, and in response to determining that the person exists, operate the image projection device to project a second projection light beam onto the ground of the area to indicate a path for the person to avoid the potential danger.

6. The device according to claim 5, wherein: The controller is also configured to determine a position of the person-supporting device within the area.

7. The device according to claim 6, wherein: The controller is configured to detect the presence of one or more position indicators within the region and determine a position of the person support device based on known positions of the one or more position indicators within the region.

8. The device according to claim 5, wherein: The second projected light beam indicates a path between the human support device and at least one of a door or a bathroom within the area.

9. The device according to claim 1, wherein: The controller is also configured to: Determining that objects classified as potentially hazardous no longer exist; Determine the length of time that an object classified as potentially hazardous has been present; and The zone identification information and the duration are transmitted to a central monitoring station.

10. An apparatus comprising: Controller, configured as: Based on the movement data, determining that the device is moving; as well as Based on the movement data, the image projection device is instructed to emit a projection light beam to indicate the movement direction of the device.

11. The device of claim 10, further comprising a drive mechanism and a plurality of casters, the drive mechanism communicatively coupled to one or more of the plurality of casters to detect movement of the device.

12. The device according to claim 11, wherein The drive mechanism detects a speed of movement of the device, and wherein the controller is further configured to adjust the projection beam based on the speed of movement of the device.

13. The device according to claim 12, wherein: The controller is further configured to instruct the image projection device to emit the projection beam at a first distance in front of the device in response to the drive mechanism detecting that the device is moving at a first speed, and wherein the controller is further configured to instruct the image projection device to emit the projection beam at a second distance in front of the personal device that is less than the first distance in response to the drive mechanism detecting that the device is moving at a second speed that is less than the first speed.

14. The device according to claim 11, wherein: The drive mechanism detects a direction of movement of the device, and wherein the controller is further configured to adjust the projection beam based on the direction of movement of the device.

15. The device according to claim 14, wherein: The controller is also configured to instruct the image projection device to emit the projection light beam to indicate a first turning direction in front of the device in response to the drive mechanism detecting that the device is turning in a first turning direction, and wherein the controller is also configured to instruct the image projection device to emit the projection light beam to indicate a second turning direction in front of the device in response to the drive mechanism detecting that the device is turning in a second turning direction.

16. The apparatus of claim 10, further comprising an image capture device for capturing image data, wherein: The controller is also configured to determine the presence of an obstacle based on the captured image data.

17. The device according to claim 16, wherein: The controller is also configured to determine whether the obstacle is moving based on the captured image data.

18. The device according to claim 17, wherein: The controller is further configured to instruct the image projection device to change the direction of the projection light beam to avoid the obstacle in response to determining that the obstacle is not moving.

19. The device according to claim 17, wherein: The controller is further configured to instruct the image projection device to project a second projection light beam to indicate a moving direction of the obstacle to avoid the human body support device.

20. A method for detecting a dangerous object near a human support device, comprising: Capturing image data within the area; analyzing the captured image data; determining, based on the captured image data, that an object exists in the area; Determining whether the object is a potential hazard based on the captured image data; as well as In response to determining that the object is a potential hazard, a projection light beam is emitted toward a surface of the area to illuminate the object.

21. The method according to claim 20, further comprising: The image capture device and the image projection device are directed so that the field of view of the image capture device and the field of view of the image projection device are directed upward toward a mirrored dome mounted on the bottom surface of the support frame of the body support device.

22. The method according to claim 20, further comprising: The alarm device is operated to provide an audible alert in response to determining that an object classified as potentially dangerous is present.

23. The method according to claim 22, further comprising: One or more of a frequency and a volume of the audible alert is caused to increase over time from the time an object classified as potentially dangerous is detected.

24. The method of claim 20, further comprising: determining the presence of persons in said area; as well as In response to determining that a person exists in the area, the image projection device is operated to emit a second projection light beam onto a surface of the area to indicate a path for the person to avoid the potential danger, the surface being the ground.

25. The method according to claim 24, further comprising: A position of the body support device within the region is determined.

26. The method according to claim 25, further comprising: detecting the presence of one or more position indicators within the area; as well as The position of the person-supporting device is determined based on the known positions of the one or more position indicators within the area.

27. The method according to claim 24, wherein: The second projected light beam indicates a path between the human support device and at least one of a door or a bathroom within the area.

28. The method of claim 20, further comprising: Determine that the potential hazard no longer exists; Determine how long the potential hazard will exist; as well as The zone identification information and the duration are transmitted to a central monitoring station.

29. A human body support device, comprising: A base, comprising a pair of legs and a plurality of rollers mounted on each leg of the pair of legs; a mast extending upward from the base; a tether assembly extending from the mast, the tether assembly comprising a drum, a tether wound on the drum, and a tension sensor for detecting an amount of tension applied to the tether in the opposite direction of the drum; a pair of arms extending from the mast; as well as A personnel image capture device has a field of view toward the mast.

30. The human body support device of claim 29, wherein: The strap includes a first end fixed to the roller and a second end opposite to the first end, and the second end of the strap is provided with an attachment mechanism for coupling the strap to a wearable device.

31. The human body support device of claim 29, wherein: The lacing assembly includes a motor for controlling rotation of the roller, the motor being communicatively coupled to the tension sensor.

32. The human body support device of claim 31, wherein: When the tension sensor detects that the tension is lower than a predetermined threshold, the motor allows the drum to rotate in a first direction.

33. A human body support device according to claim 32, wherein: When the tension sensor detects that the tension is equal to or higher than the predetermined threshold, the motor prohibits the drum from rotating in the first direction.

34. The body support device of claim 29, further comprising a neck extending from an end of a mast opposite the base, the personnel image capture device being mounted to the end of the neck opposite the mast.

35. The human body support device of claim 31, wherein: The person image capture device collects data about the gait of a person using the body support device.

36. A human body support device according to claim 35, wherein: When the data collected by the personnel image capture device indicates that a fall event has not occurred, the motor allows the drum to rotate in a first direction.

37. A body support device according to claim 36, wherein: The motor inhibits the drum from rotating in the first direction when data collected by the personnel image capture device indicates that a fall event is occurring.

38. The human body support device of claim 29, wherein: Each arm of the pair of arms includes a first arm segment extending from the mast and a second arm segment extending from the first arm segment, the second arm segment is rotatable relative to the first arm segment, and the pair of arms is vertically movable along the mast.

39. A method comprising: Operating a human support device to engage a person, the human support device comprising: A base, comprising a pair of legs and a plurality of rollers mounted on each leg of the pair of legs; a mast extending upward from the base; a tether assembly extending from the mast, the tether assembly comprising a drum, a tether wound on the drum, and a tension sensor for detecting an amount of tension applied to the tether in the opposite direction of the drum; a pair of arms extending from the mast; and a personnel image capture device having a field of view toward the mast; collecting data about a person engaged with the body support device at the person image capture device to detect a fall event; and Rotation of the drum is controlled in response to detecting that a fall event is occurring.

40. The method of claim 39, wherein: Operating the body support device to engage a person includes coupling an attachment mechanism disposed at an end of the strap opposite the roller to a wearable device worn by the person.

41. The method of claim 39, wherein: The lacing assembly includes a motor for controlling rotation of the roller, the motor being communicatively coupled to the tension sensor.

42. The method of claim 41 further comprising: When the tension sensor detects that the tension is lower than a predetermined threshold, the motor is operated to allow the drum to rotate in a first direction.

43. The method of claim 42, further comprising: When the tension sensor detects that the tension is equal to or higher than the predetermined threshold, the motor is operated to prohibit the drum from rotating in the first direction.

44. The method of claim 39, further comprising: The personnel image capture device is mounted to the end of a neck extending from the end of the mast opposite the base.

45. The method of claim 41, further comprising: Data regarding the person's gait is collected at the person image capture device.

46. ​​The method of claim 45, further comprising: When the data collected by the personnel image capture device indicates that a fall event has not occurred, the motor is operated to allow the drum to rotate in a first direction.

47. The method of claim 46, further comprising: When the data collected by the personnel image capture device indicates that a fall event is occurring, the motor is operated to inhibit the drum from rotating in the first direction.

48. The method of claim 39, wherein: Each arm of the pair of arms includes a first arm segment extending from the mast and a second arm segment extending from the first arm segment, the second arm segment is rotatable relative to the first arm segment, and the pair of arms is vertically movable along the mast.

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