Displacement transshipment control method and device for multifunctional displacement chair bed

Abstract

The invention relates to a displacement transfer control method and device for a multifunctional displacement chair bed, and the method comprises the steps: obtaining a current posture and a gravity center position of a transfer flat plate; physiological parameter information of the patient is obtained, and the gravity center position of the transfer flat plate at the next moment is determined in combination with the current body position of the patient and the positions and speeds of the trunk area, the hip area and the leg area at the current moment; adopting an S-shaped acceleration curve mode to obtain the output of the driving motor in the hip area; the output of a driving motor in the trunk area is obtained in a mode of matching the gravity center moving speed; the output of the driving motor in the leg area is obtained in a feed-forward compensation mode; based on the output of the drive motor in the hip area, the output of the drive motor in the trunk area and the output of the drive motor in the leg area are controlled in a coordinated mode, and it is ensured that the transfer flat plate is kept in a stable state. According to the invention, inclination-free translation based on differential transmission speed and weight matching of the trunk, the buttocks and the legs can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a shifting and transferring control method and device for a multi-functional shifting chair-bed. Background Art

[0002] When treating patients in a hospital, it is usually necessary to transfer the patient's position to cooperate with the use of medical instruments. Especially after surgery, it is usually necessary to transfer the patient from a nursing hospital bed to a multi-functional shifting chair-bed. However, since the patient's physical functions are greatly affected after surgery and the mobility is limited, the transfer process usually relies on the assistance of multiple people to complete.

[0003] The existing publicly disclosed patent document CN116549225A discloses a surgical patient transfer device and method for clinical use, which discloses that when loading a patient: fix this device to the side of the operating bed, align it along the long side, and make the upper surface of the translation plate slightly higher than the upper surface of the operating bed; then through jog control, insert the translation plate under the patient, lift the patient, and then fix the patient with straps at different positions according to the specific situation, and then the translation plate moves back to the starting position. When unloading the patient: fix this device to the side of the hospital bed, align it along the long side, and make the upper surface of the translation plate slightly higher than the upper surface of the hospital bed; then extend the translation plate to gently place the patient on the hospital bed, and after releasing the straps, the translation plate retracts. Although this method can reduce the labor input, it cannot achieve independent control of the trunk, buttocks, and legs in segments, and the patient is prone to tilt during translation. At the same time, this method does not consider the dynamic balance during translation, so there are certain safety problems. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a shifting and transferring control method and device for a multi-functional shifting chair-bed, which can achieve non-tilting translation with different transmission speeds and weight matching based on the trunk, buttocks, and legs.

[0005] The technical solution adopted by the present invention to solve its technical problems is: to provide a shifting and transferring control method for a multi-functional shifting chair-bed, the transfer plate on the multi-functional shifting chair-bed is divided into a trunk area, a buttocks area, and a leg area, including the following steps:

[0006] Obtain the current attitude and center of gravity position of the transfer plate;

[0007] Obtain the physiological parameter information of the patient, and input the physiological parameter information, the current body position of the patient, and the positions and velocities of the trunk region, hip region, and leg region at the current moment into the centroid prediction model to obtain the centroids of the trunk region, hip region, and leg region at the next moment, and determine the center of gravity position of the transfer flat at the next moment according to the centroids of the trunk region, hip region, and leg region at the next moment;

[0008] According to the center of gravity position of the transfer flat at the current moment, obtain the output of the drive motor of the hip region in the manner of an S-shaped acceleration curve;

[0009] According to the center of gravity position of the transfer flat at the current moment and the center of gravity position of the transfer flat at the next moment, obtain the output of the drive motor of the trunk region in the manner of matching the center of gravity movement rate;

[0010] According to the centroid of the leg region at the next moment, obtain the output of the drive motor of the leg region in the manner of feedforward compensation;

[0011] Based on the output of the drive motor of the hip region, coordinate and control the output of the drive motor of the trunk region and the output of the drive motor of the leg region to ensure that the transfer flat remains in a stable state.

[0012] The obtaining of the current attitude and center of gravity position of the transfer flat specifically is:

[0013] Use an inertial measurement unit to obtain the current attitude of the transfer flat, and use the pressure sensor array on the transfer flat to determine the center of gravity position of the transfer flat at the current moment.

[0014] The physiological parameter information of the patient includes the patient's height, weight, gender, and body mass index.

[0015] The determining of the center of gravity position of the transfer flat at the next moment according to the centroids of the trunk region, hip region, and leg region at the next moment specifically includes:

[0016] Use the pressure sensor array on the transfer flat to respectively determine the pressures received by the trunk region, hip region, and leg region;

[0017] According to the coordinates of the centroids of the trunk region, hip region, and leg region at the next moment and the pressures received by the trunk region, hip region, and leg region, calculate the center of gravity position of the transfer flat at the next moment, and the calculation method is: where X, Y, Z are the center of gravity positions of the transfer flat at the next moment, m 1 ,m 2 ,m3 The pressures on the torso region, hip region, and leg region respectively, x 1 , y 1 , z 1 are the coordinates of the centroid of the torso region at the next moment, x 2 , y 2 , z 2 are the coordinates of the centroid of the hip region at the next moment, x 3 , y 3 , z 3 are the coordinates of the centroid of the leg region at the next moment.

[0018] The output of the drive motor for the hip region is obtained by using an S-shaped acceleration curve based on the position of the center of gravity of the transfer plate at the current moment, specifically including:

[0019] Calculate the distance between the position of the center of gravity of the transfer plate at the current moment and the target position, and determine whether the distance is within half of the distance between the initial position and the target position;

[0020] If the distance is greater than half of the distance between the initial position and the target position, the drive motor for the hip region is accelerated, and the speed is the fastest when the position of the center of gravity of the transfer plate is in the middle between the initial position and the target position;

[0021] If the distance is not greater than half of the distance between the initial position and the target position, the drive motor for the hip region is decelerated, and the speed is zero when the position of the center of gravity of the transfer plate coincides with the target position.

[0022] The output of the drive motor for the torso region is obtained by matching the center of gravity movement rate based on the position of the center of gravity of the transfer plate at the current moment and the position of the center of gravity of the transfer plate at the next moment, specifically including:

[0023] Calculate the target speed of the transfer plate based on the position of the center of gravity of the transfer plate at the current moment and the position of the center of gravity of the transfer plate at the next moment;

[0024] Use the difference between the target speed of the transfer plate and the current speed of the transfer plate as the input of the controller, and adjust the output of the drive motor for the torso region according to the speed feedback loop.

[0025] The output of the drive motor for the leg region is obtained by using feedforward compensation based on the centroid of the leg region at the next moment, specifically including:

[0026] Generate a feedforward compensation signal based on the centroid of the leg region at the next moment;

[0027] Combine the feedforward compensation signal with closed-loop feedback control, monitor the actual motion state of the leg in real time through feedback control, correct the feedforward compensation signal, and obtain the output of the drive motor in the leg area based on the corrected feedforward compensation signal.

[0028] The technical solution adopted by the present invention to solve its technical problems is to provide a transfer and loading control device for a multifunctional transfer chair bed, including:

[0029] An acquisition module for acquiring the current attitude and center-of-gravity position of the transfer flatbed;

[0030] A prediction module for acquiring physiological parameter information of the patient, inputting the physiological parameter information, the current body position of the patient, and the positions and speeds of the torso area, hip area, and leg area at the current moment into the center-of-gravity prediction model to obtain the centers of gravity of the torso area, hip area, and leg area at the next moment, and determining the center-of-gravity position of the transfer flatbed at the next moment according to the centers of gravity of the torso area, hip area, and leg area at the next moment;

[0031] A first drive determination module for obtaining the output of the drive motor in the hip area in the manner of an S-shaped acceleration curve according to the center-of-gravity position of the transfer flatbed at the current moment;

[0032] A second drive determination module for obtaining the output of the drive motor in the torso area in the manner of matching the center-of-gravity movement rate according to the center-of-gravity position of the transfer flatbed at the current moment and the center-of-gravity position of the transfer flatbed at the next moment;

[0033] A third drive determination module for obtaining the output of the drive motor in the leg area in the manner of feedforward compensation according to the center of gravity of the leg area at the next moment;

[0034] A control module for coordinately controlling the output of the drive motor in the torso area and the output of the drive motor in the leg area based on the output of the drive motor in the hip area to ensure that the transfer flatbed remains in a stable state.

[0035] The technical solution adopted by the present invention to solve its technical problems is to provide an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned transfer and loading control method for a multifunctional transfer chair bed are implemented.

[0036] The technical solution adopted by the present invention to solve its technical problems is to provide a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned shifting and transferring control method of the multifunctional shifting chair-bed are realized.

[0037] Beneficial effects

[0038] Due to the adoption of the above technical solution, compared with the prior art, the present invention has the following advantages and positive effects: The present invention obtains a plurality of data of the transfer flat through sensors, and combines the physiological parameter information of the patient to predict the center of gravity position of the transfer flat at the next moment. Then, an S-shaped acceleration curve is adopted for speed planning of the drive motor in the leg area to avoid impact during startup and stop, ensuring the smooth movement of the patient. The speed of the drive motor in the torso area is dynamically adjusted in a manner that matches the center of gravity movement rate, so that the torso can move smoothly following the center of gravity. And a control strategy with feed-forward compensation is adopted to prevent the legs from lagging during the movement, ensuring that the legs can follow the overall movement in a timely manner. Thus, during the patient transfer process, tilt-free translation with differential transmission speeds and weight matching based on the torso, buttocks, and legs can be achieved, ensuring the safety of the patient. Description of the drawings

[0039] Figure 1 It is a flowchart of the shifting and transferring control method of the multifunctional shifting chair-bed according to the first embodiment of the present invention. Specific embodiments

[0040] The following will further elaborate on the present invention in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of this application.

[0041] The first embodiment of the present invention relates to a shifting and transferring control method of a multifunctional shifting chair-bed. In this embodiment, the transfer flat on the multifunctional shifting chair-bed is divided into a torso area, a buttocks area, and a leg area. As Figure 1 shown, it includes the following steps:

[0042] Step 1, obtain the current posture and center of gravity position of the transfer flat.

[0043] In this step, an inertial measurement unit is used to obtain the current posture of the transfer flat plate, and a pressure sensor array on the transfer flat plate is used to determine the center of gravity position of the transfer flat plate at the current moment. Among them, the inertial measurement unit can be set at key parts of the multifunctional transfer chair bed to obtain triaxial acceleration and angular velocity data in real time, so as to obtain the posture change of the transfer flat plate during the movement process; the pressure sensor array can select high-precision pressure sensors with a resolution ≤ 1 kg / m 2 , which are evenly laid on the transfer flat plate to form a matrix layout, so as to comprehensively capture the real-time pressure distribution of each part of the patient's body to obtain the center of gravity position of the transfer flat plate.

[0044] Step 2: Obtain the physiological parameter information of the patient, input the physiological parameter information, the current body position of the patient, and the positions and velocities of the torso area, hip area, and leg area at the current moment into the center of mass prediction model to obtain the centers of mass of the torso area, hip area, and leg area at the next moment, and determine the center of gravity position of the transfer flat plate at the next moment according to the centers of mass of the torso area, hip area, and leg area at the next moment.

[0045] In this step, the physiological parameter information of the patient includes the patient's height, weight, gender, and body mass index. The center of mass prediction model in this embodiment is obtained based on the multiple linear regression method: First, take the center of mass position as the dependent variable, and take the patient's height, weight, gender, body mass index, and the positions and velocities of the torso area, hip area, and leg area at the current moment as independent variables, and establish a functional relationship between the execution position and the above parameters through regression analysis; Then, collect a large amount of actual center of mass position data of different patients during the transfer process, and use these data to train and optimize the multiple linear functional relationship to improve the prediction accuracy; Finally, take the final multiple linear functional relationship obtained after training as the center of mass prediction model.

[0046] In this step, determining the center of gravity position of the transfer flat plate at the next moment according to the centers of mass of the torso area, hip area, and leg area at the next moment specifically includes:

[0047] Use the pressure sensor array on the transfer flat plate to respectively determine the pressure m 1 received by the torso area, the pressure m 2 received by the hip area, and the pressure m 3 received by the leg area;

[0048] According to the coordinates x 1 , y 1 , z 1 of the center of mass of the torso area at the next moment, the coordinates x 2 , y2 , z 2 and the coordinates x of the centroid of the leg region 3 , y 3 , z 3 , and the pressure m on the torso region 1 , the pressure m on the hip region 2 and the pressure m on the leg region 3 Calculate the centroid position of the transfer flat plate at the next moment. The specific calculation method is as follows: where X, Y, and Z are the centroid positions of the transfer flat plate at the next moment.

[0049] Step 3, according to the centroid position of the transfer flat plate at the current moment, obtain the output of the drive motor of the hip region by using the S-shaped acceleration curve. This step specifically includes:

[0050] Calculate the distance between the centroid position of the transfer flat plate at the current moment and the target position, and determine whether the distance is within half of the distance between the initial position and the target position;

[0051] If the distance is greater than half of the distance between the initial position and the target position, then make the drive motor of the hip region output with acceleration, and make the centroid position of the transfer flat plate reach the fastest speed when it is in the middle between the initial position and the target position;

[0052] If the distance is not greater than half of the distance between the initial position and the target position, then make the drive motor of the hip region output with deceleration, and make the speed zero when the centroid position of the transfer flat plate coincides with the target position.

[0053] Through this control method, at the initial stage of the transfer, the drive motor of the hip region can start with a lower acceleration, enabling the patient's body to gradually adapt to the movement and avoiding sudden impacts. As the movement progresses, the acceleration gradually increases to the preset maximum value, so that the hip region can move at a faster speed, improving the transfer efficiency. When approaching the target position, the acceleration of the drive motor of the hip region gradually decreases to zero, enabling the hip region to stop smoothly when reaching the target position and avoiding impacts caused by too high a speed.

[0054] Step 4, according to the centroid position of the transfer flat plate at the current moment and the centroid position of the transfer flat plate at the next moment, obtain the output of the drive motor of the torso region by using the method of matching the centroid movement rate. This step specifically includes:

[0055] Calculate the target speed of the transfer flat plate according to the centroid position of the transfer flat plate at the current moment and the centroid position of the transfer flat plate at the next moment;

[0056] Use the difference between the target speed and the current speed of the transfer flat plate as the input of the controller, and adjust the output of the drive motor in the torso area according to the speed feedback loop.

[0057] This method compares the target speed and the current speed of the transfer flat plate, and adjusts the output of the drive motor in the torso area according to the error signal between the two, ensuring that the moving speed can match the change of the center of gravity, so as to ensure the stability of the patient on the transfer flat plate.

[0058] Step 5, obtain the output of the drive motor in the leg area by means of feedforward compensation according to the centroid of the leg area at the next moment. This step specifically includes:

[0059] Generate a feedforward compensation signal according to the centroid of the leg area at the next moment;

[0060] Combine the feedforward compensation signal with closed-loop feedback control, monitor the actual motion state of the leg in real time through feedback control, correct the feedforward compensation signal, and obtain the output of the drive motor in the leg area based on the corrected feedforward compensation signal.

[0061] This method can continuously optimize the parameters of feedforward compensation control (such as compensation coefficient, time delay, etc.) according to the actual transfer situation and the reaction of the patient's legs to improve the control effect, so that the legs can better coordinate with the overall transfer process.

[0062] Step 6, based on the output of the drive motor in the hip area, coordinate the output of the drive motor in the torso area and the output of the drive motor in the leg area to ensure that the transfer flat plate remains in a stable state. In this step, the drive motor in the hip area is used as the main driving part, and 40%-50% of the driving force is allocated. The torso area is used as the secondary priority driving part, and 30%-40% of the driving force is allocated. The drive motor in the leg area is used as the peripheral coordination part, and 20%-30% of the driving force is allocated. When performing coordinated control, the transmission ratio is dynamically adjusted (for example, a reduction ratio of 1:10 is used in the hip and a reduction ratio of 1:20 is used in the leg) to meet the motion requirements of different parts, so as to achieve a more natural and comfortable transfer effect.

[0063] It is not difficult to find that in this embodiment, multiple data of the transfer flat are obtained through sensors, and the center-of-gravity position of the transfer flat at the next moment is predicted by combining the physiological parameter information of the patient. Then, an S-shaped acceleration curve is used for speed planning of the driving motor in the leg area to avoid impact during startup and stop, ensuring the smoothness of the patient's movement. The speed of the driving motor in the torso area is dynamically adjusted in a way that matches the center-of-gravity movement rate, enabling the torso to move smoothly following the center of gravity. Additionally, a control strategy with feedforward compensation is adopted to prevent lag in the legs during movement, ensuring that the legs can follow the overall movement in a timely manner. Thus, during the patient transfer process, tilt-free translation with differential transmission speeds and weight matching based on the torso, buttocks, and legs can be achieved, ensuring the safety of the patient.

[0064] The second embodiment of the present invention relates to a transfer and loading control device for a multifunctional transfer chair-bed, including:

[0065] An acquisition module, configured to acquire the current posture and center-of-gravity position of the transfer flat;

[0066] A prediction module, configured to acquire the physiological parameter information of the patient, input the physiological parameter information, the current body position of the patient, and the positions and speeds of the torso area, hip area, and leg area at the current moment into the centroid prediction model to obtain the centroids of the torso area, hip area, and leg area at the next moment, and determine the center-of-gravity position of the transfer flat at the next moment based on the centroids of the torso area, hip area, and leg area at the next moment;

[0067] A first driving determination module, configured to obtain the output of the driving motor in the hip area in the manner of an S-shaped acceleration curve according to the center-of-gravity position of the transfer flat at the current moment;

[0068] A second driving determination module, configured to obtain the output of the driving motor in the torso area in a manner that matches the center-of-gravity movement rate according to the center-of-gravity position of the transfer flat at the current moment and the center-of-gravity position of the transfer flat at the next moment;

[0069] A third driving determination module, configured to obtain the output of the driving motor in the leg area in the manner of feedforward compensation according to the centroid of the leg area at the next moment;

[0070] A control module, configured to perform coordinated control on the output of the driving motor in the torso area and the output of the driving motor in the leg area based on the output of the driving motor in the hip area to ensure that the transfer flat maintains a stable state.

[0071] The acquisition module uses an inertial measurement unit to obtain the current attitude of the transfer plate, and uses the pressure sensor array on the transfer plate to determine the center of gravity position of the transfer plate at the current moment.

[0072] The physiological parameter information of the patient includes the patient's height, weight, gender, and body mass index.

[0073] The prediction module includes:

[0074] A pressure acquisition unit for using the pressure sensor array on the transfer plate to respectively determine the pressures received by the torso area, the hip area, and the leg area;

[0075] A center of gravity calculation unit for calculating the center of gravity position of the transfer plate at the next moment according to the coordinates of the centers of mass of the torso area, the hip area, and the leg area at the next moment and the pressures received by the torso area, the hip area, and the leg area. The calculation method is: Where X, Y, Z are the center of gravity positions of the transfer plate at the next moment, m 1 , m 2 , m 3 are the pressures received by the torso area, the hip area, and the leg area respectively, x 1 , y 1 , z 1 are the coordinates of the center of mass of the torso area at the next moment, x 2 , y 2 , z 2 are the coordinates of the center of mass of the hip area at the next moment, x 3 , y 3 , z 3 are the coordinates of the center of mass of the leg area at the next moment.

[0076] The first drive determination module includes:

[0077] A distance judgment unit for calculating the distance between the center of gravity position of the transfer plate at the current moment and the target position, and judging whether the distance is within half of the distance between the initial position and the target position;

[0078] A first determination unit for, when the distance is greater than half of the distance between the initial position and the target position, causing the drive motor of the hip area to output at an accelerated speed, and making the speed the fastest when the center of gravity position of the transfer plate is in the middle between the initial position and the target position;

[0079] A second determination unit for, when the distance is not greater than half of the distance between the initial position and the target position, causing the drive motor of the hip area to output at a decelerated speed, and making the speed zero when the center of gravity position of the transfer plate coincides with the target position.

[0080] The second driving determination module includes:

[0081] A target speed calculation unit, configured to calculate a target speed of the transfer flat plate according to the centroid position of the transfer flat plate at the current moment and the centroid position of the transfer flat plate at the next moment;

[0082] An adjustment unit, configured to use the difference between the target speed of the transfer flat plate and the current speed of the transfer flat plate as an input to the controller, and adjust the output of the drive motor in the torso area according to the speed feedback loop.

[0083] The third driving determination module includes:

[0084] A generation unit, configured to generate a feedforward compensation signal according to the centroid of the leg area at the next moment;

[0085] A correction unit, configured to combine the feedforward compensation signal with closed-loop feedback control, monitor the actual motion state of the leg in real time through feedback control, correct the feedforward compensation signal, and obtain the output of the drive motor in the leg area based on the corrected feedforward compensation signal.

[0086] The third embodiment of the present invention relates to an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned shifting and transferring control method of the multifunctional shifting chair bed are implemented.

[0087] The fourth embodiment of the present invention relates to a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned shifting and transferring control method of the multifunctional shifting chair bed are implemented.

[0088] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories and optical memories, etc.) containing computer-usable program codes.

[0089] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a means for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0090] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including the instruction method, and the instruction method implements the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0091] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0092] As described above, the above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claimed rights.

Claims

1. A method for controlling the displacement and transfer of a multifunctional shifting chair bed, characterized in that: The transfer platform on the multifunctional transfer chair bed is divided into the trunk area, hip area and leg area, including the following steps: Obtaining the current posture and center of gravity position of the transfer plate; Acquire the patient's physiological parameter information, input the physiological parameter information, the patient's current body position, and the positions and speeds of the trunk area, hip area, and leg area at the current moment into a center of mass prediction model, obtain the center of mass of the trunk area, hip area, and leg area at the next moment, and determine the center of gravity position of the transfer plate at the next moment according to the center of mass of the trunk area, hip area, and leg area at the next moment; according to the center of gravity position of the transfer plate at the current moment, use an S-shaped acceleration curve to obtain the output of the drive motor of the hip area; According to the center of gravity position of the transfer plate at the current moment and the center of gravity position of the transfer plate at the next moment, the output of the drive motor of the torso region is obtained by matching the center of gravity moving rate; According to the centroid of the leg area at the next moment, the output of the driving motor of the leg area is obtained by feedforward compensation; Based on the output of the driving motor in the hip area, the output of the driving motor in the trunk area and the output of the driving motor in the leg area are coordinated and controlled to ensure that the transfer plate remains in a stable state.

2. The method for controlling the displacement of a multifunctional shifting chair bed according to claim 1, characterized in that: The obtaining of the current posture and center of gravity position of the transfer plate is specifically as follows: An inertial measurement unit is used to obtain the current posture of the transfer plate, and a pressure sensor array on the transfer plate is used to determine the center of gravity position of the transfer plate at the current moment.

3. The method for controlling the displacement and transfer of a multifunctional shifting chair bed according to claim 1, characterized in that: The patient's physiological parameter information includes the patient's height, weight, gender and body mass index.

4. The method for controlling the displacement and transfer of a multifunctional shifting chair bed according to claim 1, characterized in that: Determining the center of gravity position of the transfer plate at the next moment according to the center of mass of the trunk area, the hip area, and the leg area at the next moment specifically includes: Using the pressure sensor array on the transfer plate to respectively determine the pressures on the trunk area, the hip area and the leg area; The center of gravity position of the transfer plate at the next moment is calculated according to the coordinates of the center of mass of the trunk area, the hip area and the leg area and the pressure on the trunk area, the hip area and the leg area at the next moment, and the calculation method is: Among them, X, Y, Z are the center of gravity position of the transfer plate at the next moment, m1, m2, m3 are the pressures on the trunk area, hip area and leg area respectively, x1, y1, z1 are the coordinates of the center of mass of the trunk area at the next moment, x2, y2, z2 are the coordinates of the center of mass of the hip area at the next moment, and x3, y3, z3 are the coordinates of the center of mass of the leg area at the next moment.

5. The method for controlling the displacement and transfer of a multifunctional shifting chair bed according to claim 1, characterized in that: The step of obtaining the output of the driving motor of the hip region by adopting an S-shaped acceleration curve according to the center of gravity position of the transfer plate at the current moment specifically includes: Calculating the distance between the center of gravity position of the transfer plate and the target position at the current moment, and determining whether the distance is greater than half of the distance between the initial position and the target position; If the distance is greater than half of the distance between the initial position and the target position, the driving motor in the hip area is accelerated, and the speed is fastest when the center of gravity of the transfer plate is located in the middle between the initial position and the target position; If the distance is not greater than half of the distance between the initial position and the target position, the driving motor in the hip area is decelerated and the speed is zero when the center of gravity position of the transfer plate coincides with the target position.

6. The method for controlling the displacement and transfer of a multifunctional shifting chair bed according to claim 1, characterized in that: The method of obtaining the output of the driving motor of the trunk region by matching the center of gravity moving rate according to the center of gravity position of the transfer plate at the current moment and the center of gravity position of the transfer plate at the next moment specifically includes: Calculating a target speed of the transfer plate according to the center of gravity position of the transfer plate at a current moment and the center of gravity position of the transfer plate at a next moment; The difference between the target speed of the transfer plate and the current speed of the transfer plate is used as an input to the controller, and the output of the drive motor of the torso region is adjusted according to a speed feedback loop.

7. The method for controlling the displacement and transfer of a multifunctional shifting chair bed according to claim 1, characterized in that: The method of obtaining the output of the driving motor of the leg area by feedforward compensation according to the centroid of the leg area at the next moment specifically includes: generating a feedforward compensation signal according to the centroid of the leg region at a next moment; The feedforward compensation signal is combined with closed-loop feedback control, the actual movement state of the leg is monitored in real time through feedback control, the feedforward compensation signal is corrected, and the output of the drive motor in the leg area is obtained based on the corrected feedforward compensation signal.

8. A multifunctional shifting chair bed shifting control device, characterized in that: include: An acquisition module, used for acquiring the current posture and center of gravity position of the transfer plate; A prediction module, used to obtain physiological parameter information of the patient, input the physiological parameter information, the current body position of the patient, and the position and speed of the trunk area, hip area and leg area at the current moment into a center of mass prediction model, obtain the center of mass of the trunk area, hip area and leg area at the next moment, and determine the center of gravity position of the transfer plate at the next moment according to the center of mass of the trunk area, hip area and leg area at the next moment; A first drive determination module, configured to obtain the output of the drive motor of the hip region by adopting an S-shaped acceleration curve according to the center of gravity position of the transfer plate at a current moment; A second driving determination module is used to obtain the output of the driving motor of the torso region by matching the center of gravity moving rate according to the center of gravity position of the transfer plate at a current moment and the center of gravity position of the transfer plate at a next moment; A third driving determination module, configured to obtain the output of the driving motor of the leg area by using a feedforward compensation method according to the center of mass of the leg area at the next moment; The control module is used to coordinate and control the output of the drive motor in the torso area and the output of the drive motor in the leg area based on the output of the drive motor in the hip area, so as to ensure that the transfer plate remains in a stable state.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the processor implements the steps of the shifting and transferring control method of the multifunctional shifting chair bed as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the steps of the shifting and transferring control method of the multifunctional shifting chair bed as described in any one of claims 1-7 are implemented.

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