Prone position support device and control method thereof

Abstract

The embodiment of the invention discloses prone position supporting equipment and a prone position supporting equipment control method. The prone position supporting equipment comprises a bed body structure, a circular head supporting bin and a supporting bin transmission device, wherein a hollow groove is formed in one end of the top surface of the bed body structure; the head supporting bin is transversely arranged at the hollowed-out groove of the bed body structure and divided into an upper bin body and a lower bin body, the lower end bin body of the head supporting bin is fixed to the supporting bin transmission device, one end of the upper end bin body of the head supporting bin is connected with the lower end bin body through a rotating shaft, and a buckle is arranged at the other end of the upper end bin body of the head supporting bin. A plurality of groups of grooves are further formed in the two sides of the upper-end bin body and are used for embedding different types of transmission pipelines; the head supporting bin is in transmission connection with the supporting bin transmission device; the supporting bin transmission device is fixedly connected with the back face of the bed body structure. The embodiment can help the patient to adjust the head posture in time.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to a prone position support device, and more particularly to a prone position support device and a control method thereof. Background Art

[0002] During the treatment of tracheally intubated patients with severe lung diseases, the prone position is often adopted to improve blood oxygen levels and accelerate physical recovery. In the ward, the patient needs to lie on a common bed body in a prone position with the head turned to one side, usually for about 10 hours continuously. The long-term prone position can cause pressure sores or numbness in the patient's face and ears due to pressure, and the nursing staff needs to adjust the head position every 2 - 3 hours. Multiple adjustments also increase the risk of tube dislodgment and misplacement. In addition, since the patient is in a tracheally intubated state and has various treatment tubes inserted, any movement has the risk of tube dislodgment; due to individual differences among patients, there are strict requirements for the depth of tracheal intubation. Too deep or too shallow will affect the treatment effect of the patient. And because the tube is inserted into the patient's mouth and nose, the patient will naturally discharge secretions due to physiological reactions, and the secretions will make the tube slippery and the fixing adhesive tape loose, resulting in tube dislodgment or misplacement.

[0003] The above information disclosed in this background art section is only used to enhance the understanding of the background of the inventive concept, and thus, it may include information that does not form the prior art known to those of ordinary skill in the art in this country. Summary of the Invention

[0004] This summary of the disclosure is used to introduce concepts in a concise form, which will be described in detail in the following detailed implementation section. This summary of the disclosure is not intended to identify the key features or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.

[0005] Some embodiments of the present disclosure propose a prone position support device and a control method thereof to solve the technical problems mentioned in the above background art section.

[0006] In a first aspect, some embodiments of the present disclosure provide a prone position support device, which includes a bed body structure, a circular head support bin, and a support bin transmission device, where: One end of the top surface of the bed body structure is provided with a hollow groove, and the other end of the top surface of the bed body structure is inclined towards the end where the hollow groove is located. The top surface of the bed body structure serves as the bed for supporting the user's body; The head support bin is horizontally arranged at the hollow groove of the bed body structure. The head support bin is divided into upper and lower bins. The lower bin of the head support bin is fixed on the support bin transmission device to provide head support for the user on the bed. One end of the upper bin of the head support bin is rotationally connected to the lower bin, and the other end is provided with a buckle for fitting the upper and lower bins in the working state. Multiple groups of grooves are also provided on both sides of the upper bin for embedding transmission pipes of different models; The head support bin is in transmission connection with the support bin transmission device. The support bin transmission device provides power for the head support bin to rotate left or right in the working state to drive the head of the user on the bed to rotate; The support bin transmission device is fixedly connected to the back of the bed body structure.

[0007] Optionally, a network camera is additionally installed at the inner top end of the upper bin of the head support bin, and breathable memory foam is also arranged at the inner bottom end of the lower bin of the head support bin, where: In the working state, the breathable memory foam is used to receive the user's head. The user's head is equipped with auxiliary appliances, and the pipelines of the auxiliary appliances are inlaid in the grooves on the side of the upper bin for fixing the pipelines; In the working state, the network camera takes images of the lower bin and sends the captured bin images to an image processing device for storage.

[0008] Second aspect, some embodiments of the present disclosure provide a control method for a prone position support device for the prone position support device as described in the first aspect above, which is used to assist in adjusting the head posture of a patient. The control method for the prone position support device includes: in response to receiving a monitoring start instruction, controlling a network camera in the prone position support device to take an image to obtain a cabin image, and controlling a global camera to take an overall image of the prone position support device to obtain an overall device image; based on the cabin image, generating a set of human head feature point coordinates and a set of device pipeline feature point coordinates, wherein device pipeline detection is used to detect pipelines embedded in the prone position support device; performing face orientation detection on each human head feature point coordinate in the set of human head feature point coordinates to generate a face orientation vector; performing pipeline structure extraction on each device pipeline feature point coordinate in the set of device pipeline feature point coordinates to generate a pipeline structure vector diagram; detecting the humidity information of each pipeline through a pipeline external humidity detector to obtain a pipeline humidity information group, and obtaining a pipeline liquid flow rate information group by acquiring the liquid flow rate information of each pipeline through a liquid flow rate detector of the pipeline; based on the overall device image and the face orientation vector, controlling the head support cabin in the prone position support device to rotate left or right according to a preset human head rotation table to assist in adjusting the head posture of the patient; in response to detecting that there is pipeline liquid flow rate information or pipeline humidity information in the pipeline liquid flow rate information group or the pipeline humidity information group that meets the preset warning conditions, or the pipeline structure vector diagram does not meet the preset structure conditions, controlling an alarm device to issue an emergency alarm.

[0009] The above-mentioned various embodiments of the present disclosure have the following beneficial effects: Through the prone position support device of some embodiments of the present disclosure, it can automatically adjust the head posture of the patient, avoiding the risks of pressure sores, numbness, and tube dislodgment. Specifically, the reasons for the risks of pressure sores, numbness, and tube dislodgment are as follows: During the treatment of tracheal intubation patients with severe lung diseases, the prone position is often required to improve blood oxygen levels and accelerate physical recovery. In the ward, the patient needs to lie on a common bed body in a prone and side-facing head position, usually staying still for about 10 hours continuously. The long-term prone position will cause pressure sores or body numbness on the patient's face and ears due to pressure. The nursing staff needs to adjust the head position every 2-3 hours. Multiple adjustments also increase the risks of intubation dislodgment and ectopia. In addition, since the patient is in a tracheal intubation state and has various treatment tubes inserted, any movement has the risk of tube dislodgment; due to individual differences among patients, there are strict requirements for the depth of tracheal intubation. Too deep or too shallow will affect the treatment effect of the patient. Since the tube is inserted into the patient's mouth and nose, the patient will naturally discharge secretions due to physiological reactions. The secretions will make the tube slippery and the fixing adhesive tape loose, resulting in tube dislodgment or ectopia. Based on this, the prone position support device of some embodiments of the present disclosure includes: One end of the top surface of the above-mentioned bed body structure is provided with a hollowed-out groove. Among them, the other end of the top surface of the above-mentioned bed body structure is inclined towards the end where the hollowed-out groove is located, and the top surface of the above-mentioned bed body structure serves as the bed body for supporting the user's body. Here, through the inclined setting, it can be used to avoid the situation of gastric juice reflux in the patient and the secretion flowing out from the mouth and nose. Then, the above-mentioned head support bin is horizontally arranged at the hollowed-out groove of the above-mentioned bed body structure. Among them, the above-mentioned head support bin is divided into upper and lower two bin bodies. The lower bin body of the above-mentioned head support bin is fixed on the above-mentioned support bin transmission device, which is used to provide head support for the user on the bed body. One end of the upper bin body of the above-mentioned head support bin is rotationally connected to the lower bin body by a shaft, and the other end is provided with a buckle, which is used to fit the upper and lower two bin bodies in the working state. Multiple groups of grooves are also provided on both sides of the above-mentioned upper bin body, which are used to embed transmission pipes of different models. Here, by setting the grooves, it can be used to fix the tubes to avoid tube dislodgment or ectopia. Finally, the above-mentioned head support bin is in transmission connection with the above-mentioned support bin transmission device. Among them, the support bin transmission device provides power for the above-mentioned head support bin to rotate left or right in the working state, so as to drive the head of the user on the bed body to rotate. The above-mentioned support bin transmission device is fixedly connected to the back surface of the above-mentioned bed body structure. Thus, the head state of the patient can be adjusted in time, avoiding the risks of pressure sores, numbness, and tube dislodgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In conjunction with the accompanying drawings and with reference to the following specific embodiments, the above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more apparent. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic and that the elements and elements are not necessarily drawn to scale.

[0011] Figure 1 is a schematic axial structure diagram of a bed body according to some embodiments of a prone position support device of the present disclosure; Figure 2 is a schematic top view structure diagram of a prone position support device according to some embodiments of the present disclosure; Figure 3 is a schematic side view structure diagram of a prone position support device according to some embodiments of the present disclosure; Figure 4 is a flowchart of some embodiments of a control method for a prone position support device for assisting in adjusting a patient's head posture according to the present disclosure. Specific Embodiments

[0012] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure.

[0013] In addition, it should be noted that for ease of description, only parts related to the relevant invention are shown in the drawings. Without conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other.

[0014] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules, or units, and are not used to limit the order or interdependence relationship of the functions performed by these devices, modules, or units.

[0015] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more".

[0016] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only for illustrative purposes and are not used to limit the scope of these messages or information. The present disclosure will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0017] First, please refer toFigure 1 , Figure 1 is a schematic diagram of the axial structure of the bed body according to some embodiments of the prone position support device of the present disclosure. As Figure 1 shown, the above-mentioned prone position support device includes: a bed body structure 1, a circular head support bin 2, and a support bin transmission device 3, where: One end of the top surface of the above-mentioned bed body structure 1 is provided with a hollowed-out groove 4. Among them, the other end of the top surface of the above-mentioned bed body structure 1 is inclined towards the end where the hollowed-out groove is located, and the top surface of the above-mentioned bed body structure serves as the bed body for supporting the user's body. Here, the inclined setting means setting the bed body in an inclined state.

[0018] In practice, the bed body structure 1 is only schematic.

[0019] Here, as Figure 1 shown, the bed legs of the bed body structure can also be hydraulic extension structures, and the lifting of the bed body can be controlled by a motor. Thus, the height of one end or the whole of the bed body can be adjusted manually or automatically to achieve the purpose of inclined setting. At the same time, it can also be used to avoid the situation of gastric juice or secretions reflux of patients.

[0020] The above-mentioned head support bin 2 is horizontally arranged at the hollowed-out groove 4 of the above-mentioned bed body structure 1. Among them, the above-mentioned head support bin 2 is divided into upper and lower two bin bodies. The lower bin body 21 of the above-mentioned head support bin is fixed on the above-mentioned support bin transmission device 3 for providing head support for the user on the bed body structure 1. One end of the upper bin body 21 of the above-mentioned head support bin 2 is rotationally connected to the lower bin body 22 by a rotating shaft 221. The other end is provided with a buckle 222 for fitting the upper and lower two bin bodies in the working state. Multiple groups of grooves 211 are also arranged on both sides of the upper bin body 21 for embedding transmission pipes of different models.

[0021] As an example, such as Figure 2 shown in the top view structure diagram. Before the patient lies down, the upper bin body 21 can be opened. After the patient lies down and the auxiliary appliances are assembled, the upper bin body 21 can be covered. Finally, the medical staff can embed the pipeline of the auxiliary appliance into the groove 211.

[0022] In practice, spring clamps can also be arranged in the groove to clamp the embedded transmission pipe. Or, fastening devices can be arranged at the opening of the groove, which is also used to clamp the embedded transmission pipe. No specific limitation is made here.

[0023] The above-mentioned head support bin 2 is in transmission connection with the above-mentioned support bin transmission device 3. Among them, in the working state, the support bin transmission device 3 can provide power for the above-mentioned head support bin 2 to rotate left or right to drive the head of the user on the bed body structure 1 to rotate. Here, the rotation angle of the head support bin 2 can be within sixty degrees.

[0024] The above-mentioned support bin transmission device 3 is fixedly connected to the back of the above-mentioned bed body structure 1.

[0025] Optionally, a network camera 212 is additionally installed at the inner top end of the upper bin body 21 of the above-mentioned head support bin 2, and a breathable memory foam 223 is further arranged at the inner bottom end of the lower bin body 22 of the above-mentioned head support bin 2, where: In the working state, the breathable memory foam 223 is used to support the user's head. Among them, the user's head is equipped with auxiliary appliances, and the pipelines of the auxiliary appliances are inlaid at the groove 211 on the side of the above-mentioned upper bin body 21 for fixing the pipelines.

[0026] Here, as Figure 1 shown, the middle part of the lower bin (including the above-mentioned breathable memory foam 223) is set in a detachable mode. When the user is in the supine position, the middle area can be added to support the head. When the user is in the prone position, the detachable area in the middle can be removed to provide auxiliary appliances for the user while supporting the head.

[0027] As an example, the auxiliary appliances may include but are not limited to at least one of the following: oxygen mask, tracheal intubation, etc.

[0028] In the working state, the above-mentioned network camera 212 takes images of the lower bin body 22 and sends the captured bin body images to the image processing device for storage.

[0029] As an example, as Figure 3 shown, the network camera 212 is arranged at the inner top end of the upper bin body 21. In practice, the network camera can be a wireless camera or a wired camera. The line of the wired camera can be embedded and extend downward on the left side of the head support bin 2 and be powered on simultaneously with the motor 31 of the support bin transmission device 3. Figure 3 A fixed gear device 32 in the same gear track as the motor 31 of the transmission device 3 is also shown to support the above-mentioned head support bin 2. In addition, considering the relatively wide width of the head support bin 2, if the outside is completely set with gears, it will affect medical care operations. If the driven gear is too narrow, it will affect stability. Therefore, a slide rail with the same arc as the driven gear is arranged on the other side of the driven gear on the head support bin 2 to support the head support bin 2.

[0030] The above-mentioned various embodiments of the present disclosure have the following beneficial effects: Through the prone position support device of some embodiments of the present disclosure, the head posture of the patient can be automatically adjusted, avoiding the risks of pressure sores, numbness, and tube detachment. Specifically, the reasons for the risks of pressure sores, numbness, and tube detachment are as follows: In the treatment process of tracheal intubation patients with severe lung diseases, the prone position is often required to improve blood oxygen levels and accelerate physical recovery. In the ward, the patient needs to lie on a common bed body in a prone and side-headed position, usually staying still for about 10 hours. The long-term prone position will cause pressure sores or body numbness on the patient's face and ears due to pressure. The nursing staff needs to adjust the head position every 2-3 hours. Multiple adjustments also increase the risks of tube prolapse and ectopia. In addition, since the patient is in a tracheal intubation state and has various treatment tubes inserted, any movement has the risk of tube prolapse; due to individual differences among patients, there are strict requirements for the depth of tracheal intubation. Too deep or too shallow will affect the treatment effect of the patient. Since the tube is inserted into the patient's mouth and nose, the patient will naturally discharge secretions due to physiological reactions. The secretions will make the tube slippery and the fixing adhesive tape loose, resulting in tube prolapse or ectopia. Based on this, the prone position support device of some embodiments of the present disclosure includes: One end of the top surface of the above-mentioned bed body structure is provided with a hollow groove. Among them, the other end of the top surface of the above-mentioned bed body structure is inclined towards the end where the hollow groove is located. The top surface of the above-mentioned bed body structure serves as the bed body for supporting the user's body. Here, through the inclined setting, it can be used to avoid the situation of gastric juice reflux in the patient and the outflow of secretions from the mouth and nose. Then, the above-mentioned head support bin is horizontally arranged at the hollow groove of the above-mentioned bed body structure. Among them, the above-mentioned head support bin is divided into upper and lower two bins. The lower bin of the above-mentioned head support bin is fixed on the above-mentioned support bin transmission device, used to provide head support for the user on the bed body. One end of the upper bin of the above-mentioned head support bin is rotationally connected to the lower bin, and the other end is provided with a buckle, used to fit the upper and lower two bins in the working state. Multiple groups of grooves are also provided on both sides of the above-mentioned upper bin, used to embed transmission pipes of different models. Here, by setting the grooves, it can be used to fix the tubes to avoid tube prolapse or ectopia. Finally, the above-mentioned head support bin is in transmission connection with the above-mentioned support bin transmission device. Among them, the support bin transmission device provides power for the above-mentioned head support bin to rotate left or right in the working state, so as to drive the head of the user on the bed body to rotate. The above-mentioned support bin transmission device is fixedly connected to the back surface of the above-mentioned bed body structure. Thus, the head state of the patient can be adjusted in time, avoiding the risks of pressure sores, numbness, and tube detachment. Please refer to the following Figure 4 , Figure 4 which shows a flowchart 400 of some embodiments of a control method for a prone position support device for a prone position support device according to the present disclosure. The control method for the prone position support device for the prone position support device, which is also used to assist in adjusting the head posture of the patient, includes the following steps: Step 401, in response to receiving a monitoring start instruction, control the network camera in the prone position support device to take an image of the cabin body to obtain a cabin body image, and control the global camera to take an overall image of the prone position support device to obtain an overall device image.

[0031] In practice, in order to monitor the user's state, a relatively large number of cameras are often set up for monitoring and alarms are issued through anomaly detection. However, it is often difficult to detect more detailed content, such as pipeline changes. At the same time, there is also inaccurate control of the above-mentioned prone position support device, resulting in waste of electricity. Therefore, an automated algorithm is needed for monitoring, early warning and control.

[0032] In some embodiments, the execution subject of the prone position support device control method can, in response to receiving a monitoring start instruction, control the network camera in the above-mentioned prone position support device to take an image of the cabin body to obtain a cabin body image, and control the global camera to take an overall image of the above-mentioned prone position support device to obtain an overall device image. Among them, the global camera can be set on the wall near the above-mentioned prone position support device to take the overall picture on the bed body structure of the above-mentioned prone position support device from an aerial perspective.

[0033] Step 402, generate a human head feature point coordinate group and a device pipeline feature point coordinate group based on the cabin body image.

[0034] In some embodiments, the above-mentioned execution subject can generate a human head feature point coordinate group and a device pipeline feature point coordinate group based on the above-mentioned cabin body image. Among them, device pipeline detection is used to detect the pipelines embedded in the above-mentioned prone position support device.

[0035] In some optional implementation manners of some embodiments, the above-mentioned execution subject generating a human head feature point coordinate group and a device pipeline feature point coordinate group based on the above-mentioned cabin body image may include the following steps: The first step is to extract feature points from the above-mentioned cabin body image to generate a head feature point group and a device pipeline feature point group. Among them, the above-mentioned cabin body image can be subjected to feature point extraction through a preset feature point extraction algorithm to generate a head feature point group and a device pipeline feature point group.

[0036] As an example, the feature point extraction algorithm includes but is not limited to at least one of the following: SIFT (Scale-invariant Feature Transform) algorithm, Surf (Speeded Up Robust Features) algorithm, FAST corner detection, BRIEF (Binary Robust Independent Elementary Features) and so on.

[0037] In the second step, perform feature point processing on the above-mentioned head feature point group to obtain a human head feature point coordinate group. Among them, the human head feature point coordinates in the above-mentioned human head feature point coordinate group may include but are not limited to at least one of the following categories of human head feature point coordinates: eye category, nose category, mouth category, ear category, and face category. Secondly, the feature point processing may be to remove redundant feature point coordinates through an adaptive filtering algorithm.

[0038] As an example, the human head feature point coordinate group may include human head feature point coordinates corresponding to positions such as eyes, nose, mouth, ears, face, etc.

[0039] In the third step, perform feature point processing on the above-mentioned device pipeline feature point group to obtain a device pipeline feature point group. Among them, the above-mentioned adaptive filtering algorithm may be used to filter the coordinates of the above-mentioned device pipeline feature point group to obtain a device pipeline feature point group.

[0040] Step 403, perform face orientation detection on each human head feature point coordinate in the human head feature point coordinate group to generate a face orientation vector.

[0041] In some embodiments, the above-mentioned execution subject may perform face orientation detection on each human head feature point coordinate in the human head feature point coordinate group to generate a face orientation vector.

[0042] In some optional implementation manners of some embodiments, the above-mentioned execution subject performs face orientation detection on each human head feature point coordinate in the human head feature point coordinate group to generate a face orientation vector, which may include the following steps: In the first step, project each human head feature point in the above-mentioned human head feature point coordinate group into the camera coordinate system of the above-mentioned network camera to obtain a projected head feature point coordinate group. Among them, each human head feature point coordinate may be projected from the image coordinate system into the camera coordinate system of the above-mentioned network camera through a coordinate conversion algorithm and a preset conversion matrix.

[0043] In the second step, determine the vector between two symmetric projected head feature point coordinates in the above-mentioned projected head feature point coordinate group as the head feature vector, and obtain the head feature vector group. Among them, the two symmetric projected head feature point coordinates represent a corresponding relationship on the head. Here, the two symmetric projected head feature point coordinates can be determined by the ordinate of the projected head feature point coordinates.

[0044] In the third step, determine the dot product of two symmetric head feature vectors in the above-mentioned head feature vector group, and the modulus lengths of every two head feature vectors.

[0045] In the fourth step, determine the product of each dot product and the modulus length as the cosine value of the angle, and use the inverse cosine function to generate the angle between feature points.

[0046] In the fifth step, determine the average value of the angles between each feature point as the target angle value, and generate a face orientation vector relative to the horizontal plane in the above-mentioned camera coordinate system according to the above-mentioned target angle value. Among them, the face orientation vector can be a unit vector.

[0047] Thus, the face orientation can be recognized through the face feature point coordinates, which can lay a foundation for subsequent face pose adjustment. Here, considering that when the human body is in the same pose, there are multiple faces that are more numerous and not easy to recognize, so the face orientation recognition and the human body pose are separately recognized to avoid recognition errors and data cross. At the same time, because the face orientation can be accurately located, subsequent head pose adjustment can be carried out on this basis. Thus, it is possible to avoid the pressure sores caused by the head staying in the same pose for a long time.

[0048] Step 404, perform pipeline structure extraction on each device pipeline feature point coordinate in the device pipeline feature point coordinate group to generate a pipeline structure vector diagram.

[0049] In some embodiments, the above-mentioned execution subject can perform pipeline structure extraction on each device pipeline feature point coordinate in the device pipeline feature point coordinate group to generate a pipeline structure vector diagram.

[0050] In some alternative implementation manners of some embodiments, the above-mentioned execution subject performs pipeline structure extraction on each device pipeline feature point coordinate in the device pipeline feature point coordinate group to generate a pipeline structure vector diagram, which may include the following steps: In the first step, project each device pipeline feature point coordinate in the above-mentioned device pipeline feature point coordinate group into the above-mentioned camera coordinate system to obtain a projected pipeline coordinate group.

[0051] Step 2: Group the projected pipeline coordinates in the above-mentioned projected pipeline coordinate group repeatedly to generate a set of grouped coordinate groups of the equipment pipelines. Among them, the diameter parameter of the pipeline can be preset as the grouping basis, and according to the attributes of the feature points (such as position, direction, size, etc.), the projected pipeline coordinates corresponding to each pipeline can be determined as the grouped coordinate groups of the equipment pipelines. Due to the intersection at the end of the pipeline, the coordinates at the end of the pipeline can be divided repeatedly.

[0052] Step 3: Perform coordinate fitting on each grouped coordinate group of the equipment pipelines in the above-mentioned set of grouped coordinate groups of the equipment pipelines to generate pipeline structure curve equations, and obtain a set of pipeline structure curve equations. Among them, each pipeline structure curve equation can represent a pipeline.

[0053] Step 4: Perform structure sampling on each pipeline structure curve equation in the above-mentioned set of pipeline structure curve equations to obtain a set of pipeline structure sampling coordinate sequences. Among them, the structure sampling can be to extract equally spaced coordinates on the curve where the pipeline structure curve equation is located as the pipeline structure sampling coordinate sequence. Here, the range of the sampling coordinates can be the maximum range of the coordinates of each equipment pipeline feature point in the equipment pipeline feature point coordinate group.

[0054] Step 5: Use each pipeline structure sampling coordinate in the above-mentioned set of pipeline structure sampling coordinates to construct a pipeline structure vector diagram in the above-mentioned camera coordinate system. Among them, each pipeline structure sampling coordinate in each pipeline structure sampling coordinate sequence can be plotted in the graphic coordinate system, and then the coordinates are connected in sequence. Finally, the line is smoothed through an interpolation algorithm. Here, the graphic coordinate system can be the camera coordinate system.

[0055] In practice, considering that although the pipeline is fixed, due to gravity, the pipeline will still change when the equipment rotates. Therefore, by generating the pipeline structure vector diagram, it can be used to compare the pipeline change error in real time. Furthermore, the situation of pipeline displacement can be warned in time.

[0056] Step 405: Detect the humidity information of each pipeline through an external pipeline humidity detector to obtain a group of pipeline humidity information, and obtain a group of pipeline liquid flow rate information by acquiring the liquid flow rate information of each pipeline through a liquid flow rate detector of the pipeline.

[0057] In some embodiments, the above-mentioned execution subject can detect the humidity information of each pipeline through an external pipeline humidity detector to obtain a group of pipeline humidity information, and obtain a group of pipeline liquid flow rate information by acquiring the liquid flow rate information of each pipeline through a liquid flow rate detector of the pipeline.

[0058] In practice, by setting a humidity detector outside the pipeline and a liquid flow rate detector inside the pipeline, the humidity outside the pipeline can be accurately monitored. By setting specific flow rate thresholds and liquid outflow time thresholds, once it is detected that the flow rate of the secretion outside the pipeline becomes faster or the outflow time of the liquid exceeds the specified number of minutes, a warning signal will be immediately given to prompt medical staff to check the patient's pipeline situation in a timely manner, so that the medical staff can quickly rush to the patient's bedside for adjustment.

[0059] Step 406, based on the overall device image and the face orientation vector, control the head support bin in the prone position support device to rotate left or right according to a preset human head rotation table to assist in adjusting the patient's head posture.

[0060] In some embodiments, the above-mentioned execution subject can control the head support bin in the prone position support device to rotate left or right according to a preset human head rotation table based on the overall device image and the face orientation vector to assist in adjusting the patient's head posture.

[0061] In some optional implementation manners of some embodiments, the above-mentioned execution subject controls the head support bin in the prone position support device to rotate left or right according to a preset human head rotation table based on the overall device image and the face orientation vector to assist in adjusting the patient's head posture, which may include the following steps: The first step is to perform human detection on the overall device image to generate a human posture identifier. Among them, the human posture identifier represents that the human body is in at least one of the following states: lying on the left side, lying on the right side, and lying flat. Here, a preset human detection algorithm can be used to perform human detection on the overall device image to generate a human posture identifier.

[0062] As an example, the human detection algorithm may include but is not limited to at least one of the following: MoveNet lightweight human pose estimation model, OpenPose real-time multi-person two-dimensional pose estimation model.

[0063] The second step is to select a head rotation angle value that matches the face orientation vector from the human head rotation table according to the human posture identifier. Among them, the head rotation angle value is the next angle to be adjusted corresponding to the face orientation vector. Here, the human head rotation table may include parameters such as preset human posture identifiers and corresponding rotatable angles. Therefore, a matching next head rotation angle value can be selected according to the human posture identifier. For example, if the human posture identifier represents that the human body is in a lying flat state, the rotatable angle can be within a range of fifty degrees on both sides with the center point of the human head as the reference to directly above. In addition, the distance between the angles to be adjusted can be 10 degrees or 20 degrees, etc.

[0064] In the third step, control signals are generated by using the above-mentioned head rotation angle values. Among them, first, the rotation direction identifier corresponding to the head rotation angle value can be determined. For example, a left rotation identifier or a right rotation identifier. Second, control signals are generated based on the rotation direction identifier and the head rotation angle value. Here, the control signals can include the electrode direction and the startup duration of the motor in the support bin drive device. Thus, it can be used to drive the head support bin in the support bin drive device to adjust the angle and direction according to the control signals.

[0065] In the fourth step, the above control signals are sent to the support bin drive device of the prone position support device to control the head support bin to rotate to the above head rotation angle to complete the adjustment of the patient's head posture.

[0066] In practice, considering that the rotation angles and orientation intervals of the head in different postures are also different, a human head rotation table is introduced to provide regular parameters for the control of the prone position support device. Thus, the direction that the patient needs to adjust can be quickly determined for posture adjustment.

[0067] Optionally, before the above execution entity controls the warning device to issue an emergency warning in response to detecting that there is pipeline liquid flow rate information or pipeline humidity information in the above pipeline liquid flow rate information group or the above pipeline humidity information group that meets the preset warning conditions, or the above pipeline structure vector diagram does not meet the preset structure conditions, the following steps can also be included: In the first step, it is determined whether the above pipeline liquid flow rate information is less than a preset flow rate threshold. Among them, in response to exceeding the above flow rate threshold, it is determined that the above pipeline liquid flow rate information meets the above preset warning conditions, and in response to not exceeding the above flow rate threshold, it is determined that the above pipeline liquid flow rate information does not meet the above preset warning conditions.

[0068] In the second step, it is determined whether the above pipeline humidity information exceeds a preset humidity threshold. Among them, if it exceeds the above humidity threshold, it is determined that the above pipeline humidity information meets the above preset warning conditions, and if it does not exceed the above humidity threshold, it is determined that the above pipeline humidity information does not meet the above preset warning conditions.

[0069] In the third step, after receiving the above monitoring start instruction, the pipeline structure vector diagram of the first stable frame is determined as the structure reference vector diagram. The construction method of the structure reference vector diagram can refer to the above step 404 and will not be elaborated here.

[0070] In the fourth step, in response to determining that the above pipeline structure vector diagram does not correspond to the first stable frame, the structure error value between the above pipeline structure vector diagram and the above structure reference vector diagram is determined. Among them, the structure error value between the above pipeline structure vector diagram and the above structure reference vector diagram can be determined by the least squares algorithm or the distance algorithm.

[0071] In the fifth step, in response to determining that the above structural error value is greater than a preset error threshold, it is determined that the above pipeline structure vector diagram does not meet the preset structural conditions.

[0072] Step 407, in response to detecting that there is pipeline liquid flow rate information or pipeline humidity information in the pipeline liquid flow rate information group or the pipeline humidity information group that meets the preset warning conditions, or the pipeline structure vector diagram does not meet the preset structural conditions, control the warning device to issue an emergency warning.

[0073] In some embodiments, the above execution subject can control the warning device to issue an emergency warning in response to detecting that there is pipeline liquid flow rate information or pipeline humidity information in the pipeline liquid flow rate information group or the pipeline humidity information group that meets the preset warning conditions, or the pipeline structure vector diagram does not meet the preset structural conditions.

[0074] The above various embodiments of the present disclosure have the following beneficial effects: Through the prone position support device control method of some embodiments of the present disclosure, the above technical problems can be further solved, accurate posture adjustment can be provided for patients, and at the same time, the power consumption of the prone position support device can be reduced. Specifically: First, by introducing a network camera and a global camera to capture the patient's head image and the overall image of the device, they can be used to monitor the patient's head orientation and the patient's body orientation respectively. Avoid recognition errors caused by simultaneous recognition. Second, by detecting the humidity and flow rate of the pipeline, it can be used to give early warnings in time to avoid accidents. For example, avoid situations such as pipeline blockage. Then, since the generation of the face orientation vector has been carried out, combined with the need to change the patient's head posture, a human head rotation table has been preset. Thus, regular parameters can be provided for the control of the prone position support device. Here, the user's overall body orientation can also be combined to judge the interval in which the user can turn their head, so as to perform accurate and comfortable posture adjustment. At the same time, in order to further monitor the change state of the pipeline and avoid pipeline abnormalities caused by the rotation of the prone position support device, a pipeline structure vector diagram is constructed to compare the front and back frames. Determine whether there are subtle changes in the pipeline changes. Thus, more accurate pipeline monitoring can be achieved. In addition, because the pipeline is inlaid and fixed by the prone position support device, it can be ensured that the relative state between the rotation of the user's head and the pipeline is relatively static, further avoiding pipeline movement. Furthermore, avoid the situation where the device needs to be adjusted manually repeatedly due to pipeline abnormalities. Thus, the power consumption can be reduced to a certain extent. The above description is only some preferred embodiments of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) disclosed in the embodiments of the present disclosure that have similar functions.

Claims

1. A prone position support device, characterized in that: The prone position support device comprises: a bed structure, a circular head support bin and a support bin transmission device, wherein: A hollow groove is arranged at one end of the top surface of the bed structure, wherein the other end of the top surface of the bed structure is inclined toward the end where the hollow groove is located, and the top surface of the bed structure is used as a bed body to support the user's body; The head support bin is transversely arranged at the hollow groove of the bed structure, wherein the head support bin is divided into two upper and lower bin bodies, the lower bin body of the head support bin is fixed to the support bin transmission device, and is used to provide head support for the user on the bed structure, one end of the upper bin body of the head support bin is connected to the lower bin body rotating shaft, and the other end is provided with a buckle, which is used to engage the upper and lower bin bodies in the working state, and multiple groups of grooves are also provided on both sides of the upper bin body, which are used to embed transmission pipes of different models; The head support bin is in transmission connection with the support bin transmission device, wherein the support bin transmission device provides power to the head support bin in a working state so as to rotate leftward or rightward, thereby driving the head of the user on the bed structure to rotate; The supporting bin transmission device is fixedly connected to the back side of the bed structure.

2. The prone position support device according to claim 1, characterized in that: A network camera is also installed at the top of the inner side of the upper warehouse body of the head support warehouse, and a breathable memory foam is also provided at the bottom of the lower warehouse body of the head support warehouse, wherein: In the working state, the breathable memory foam is used to receive the user's head, wherein the user's head is equipped with an auxiliary device, and the pipeline of the auxiliary device is embedded in the groove on the side of the upper warehouse body to fix the pipeline; In the working state, the network camera captures the image of the lower warehouse body and sends the captured warehouse body image to the image processing device for storage.

3. A method for controlling a prone position support device according to any one of claims 1 or 2, for assisting a patient in adjusting his / her head posture, comprising: In response to receiving the monitoring start instruction, controlling the network camera in the prone position support device to capture an image to obtain a warehouse body image, and controlling the global camera to capture an entire image of the prone position support device to obtain an entire image of the device; Based on the warehouse image, a human head feature point coordinate group and an equipment pipeline feature point coordinate group are generated, wherein the equipment pipeline detection is used to detect the pipelines embedded in the prone position support device; Performing face orientation detection on each human head feature point coordinate in the human head feature point coordinate group to generate a face orientation vector; Extracting the pipeline structure of each device pipeline feature point coordinate in the device pipeline feature point coordinate group to generate a pipeline structure vector diagram; Detecting humidity information of each pipeline through a pipeline external humidity detector to obtain a pipeline humidity information group, and obtaining liquid flow rate information of each pipeline through a pipeline liquid flow rate detector to obtain a pipeline liquid flow rate information group; Based on the overall image of the device and the face orientation vector, the head support compartment in the prone position support device is controlled to rotate left or right according to a preset human head rotation table to assist the patient in adjusting the head posture; In response to detecting that the pipeline liquid flow rate information group or the pipeline humidity information group contains pipeline liquid flow rate information or pipeline humidity information that meets the preset warning conditions, or the pipeline structure vector diagram does not meet the preset structure conditions, the warning device is controlled to issue an emergency warning.

4. The method according to claim 3, characterized in that The step of generating a human head feature point coordinate group and an equipment pipeline feature point coordinate group based on the warehouse image includes: Extracting feature points from the warehouse image to generate a head feature point group and an equipment pipeline feature point group; Performing feature point processing on the head feature point group to obtain a human head feature point coordinate group, wherein the human head feature point coordinate group includes human head feature point coordinates of at least one of the following categories: eye category, nose category, mouth category, ear category and face category; Feature point processing is performed on the equipment pipeline feature point group to obtain an equipment pipeline feature point group.

5. The method according to claim 4, characterized in that The performing face orientation detection on each human head feature point coordinate in the human head feature point coordinate group to generate a face orientation vector includes: Projecting the coordinates of each human head feature point in the human head feature point coordinate group into the camera coordinate system of the network camera to obtain a projected head feature point coordinate group; Determine a vector between two symmetrical post-projection head feature point coordinates in the post-projection head feature point coordinate group as a head feature vector to obtain a head feature vector group, wherein the two symmetrical post-projection head feature point coordinates represent a corresponding relationship on the head; Determine the dot product of two symmetrical head feature vectors in the head feature vector group, and the modulus length of every two head feature vectors; Determine the product of each dot product and the modulus length as the cosine value of the angle, and use the arc cosine function to generate the feature point angle; An average value of the angles of the feature points is determined as a target angle value, and a face orientation vector relative to a horizontal plane is generated in the camera coordinate system according to the target angle value.

6. The method according to claim 5, characterized in that The extracting the pipeline structure of each device pipeline feature point coordinate in the device pipeline feature point coordinate group to generate a pipeline structure vector diagram includes: Projecting the coordinates of each equipment pipeline feature point in the equipment pipeline feature point coordinate group into the camera coordinate system to obtain a projected pipeline coordinate group; Repeatably grouping the projected pipeline coordinates in the projected pipeline coordinate group to generate a set of equipment pipeline group coordinate groups; Performing coordinate fitting on each equipment pipeline grouping coordinate group in the equipment pipeline grouping coordinate group set to generate a pipeline structure curve equation, thereby obtaining a pipeline structure curve equation group; Performing structural sampling on each pipeline structure curve equation in the pipeline structure curve equation group to obtain a pipeline structure sampling coordinate sequence set; A pipeline structure vector diagram is constructed in the camera coordinate system using each pipeline structure sampling coordinate in the pipeline structure sampling coordinate sequence set.

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