Wheelchair adaptation and use state evaluation and detection method, device and system

Abstract

The embodiment of the invention provides a wheelchair adaptation and use state evaluation and detection method, device and system, and relates to the technical field of wheelchair detection, and the method comprises the steps: obtaining various sensing data; wherein the sensing data comprises pressure sensing data, humidity sensing data and temperature sensing data; acquiring detection angle data of the gyroscope; performing timestamp alignment and standardization processing on the sensing data; based on a set detection rule, an analysis result is obtained according to the sensing data and the detection angle data, whether an abnormal condition exists or not is judged, and a prompt is sent out; by detecting various sensing data and analyzing whether abnormal use conditions exist or not according to the data, comprehensive user state information can be provided, and the comfort and safety of wheelchair users are remarkably improved.

Description

Technical Field

[0001] This application relates to the technical field of wheelchair detection. Specifically, it relates to a method, device, and system for wheelchair adaptation and usage status evaluation and detection. Background Art

[0002] Traditional wheelchair monitoring devices are usually limited to the monitoring of a single parameter, such as pressure or temperature, and cannot provide comprehensive user status information. This limitation may cause users to face risks such as skin damage and improper postures during long-term use of the wheelchair. In the prior art, although there are some devices that can monitor pressure, they lack the monitoring of temperature, humidity (such as urine wetness), and spinal angle, and it is difficult to complete continuous monitoring for a long time. These parameters are crucial for evaluating the comfort and safety of users. For example, temperature monitoring can detect the increase in skin temperature and discover the risk of pressure sores; humidity monitoring can help detect urine wetness in a timely manner and prevent skin infections; tilt monitoring helps to monitor the spinal angle in real time, correct sitting postures, and reduce the risk of falls. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide a method, device, and system for wheelchair adaptation and usage status evaluation and detection to solve the problem that the existing wheelchair detection parameters are single, which affects the comfort and safety of users.

[0004] In a first aspect, the embodiments of this application provide a method for wheelchair adaptation and usage status evaluation and detection, which is applied to a wheelchair control system. The wheelchair control system includes a gyroscope and a sensor group arranged on the seat cushion. The method includes: Obtain various sensing data; wherein, the sensing data includes pressure sensing data, humidity sensing data, and temperature sensing data; Obtain the detection angle data of the gyroscope; Perform timestamp alignment and normalization processing on the sensing data; Based on the set detection rules, obtain an analysis result according to the sensing data and the detection angle data, determine whether there is an abnormal situation, and issue a reminder.

[0005] In the above implementation process, obtain various sensing data; wherein, the sensing data includes pressure sensing data, humidity sensing data, and temperature sensing data; obtain the detection angle data of the gyroscope; perform timestamp alignment and normalization processing on the sensing data; based on the set detection rules, obtain an analysis result according to the sensing data and the detection angle data, determine whether there is an abnormal situation, and issue a reminder; by detecting a variety of sensing data and analyzing whether there is an abnormal usage situation according to the data, comprehensive user status information can be provided, significantly improving the comfort and safety of wheelchair users.

[0006] Further, based on the set detection rules, analyze the sensor data and detection angle data to obtain an analysis result, determine whether there is an abnormal situation, and issue a reminder, including: Calculate the centroid coordinates and the position of the maximum pressure based on the pressure matrix, generate an evaluation index in combination with the gyroscope data, and trigger an abnormal state alarm according to the evaluation index; Transmit the processed data to an external device.

[0007] In the above implementation process, it is possible to accurately monitor the pressure distribution of the user's buttocks in real time, help prevent the occurrence of pressure sores, and achieve the health monitoring and nursing management of the user.

[0008] Further, the calculation of the centroid coordinates and the position of the maximum pressure based on the pressure matrix, and the generation of an evaluation index in combination with the gyroscope data, include: Read the pressure data of the sensor matrix; Calculate the total pressure: ; Wherein, is the pressure data, representing the pressure value at the i-th row and j-th column, 1 ≤ i ≤ n, 1 ≤ j ≤ m; n represents the number of rows of the sensor matrix, and m represents the number of columns of the sensor matrix; Calculate the centroid coordinates: ; ; Wherein, represents the abscissa of each pressure sensor in the seat cushion plane coordinate system; represents the ordinate of each pressure sensor in the seat cushion plane coordinate system; Obtain the maximum value based on the pressure data of all sensor matrices: ; Locate the position of the maximum pressure: ; Calculate the evaluation index: ; Wherein, and are weight coefficients; represents the relative ratio of the centroid offset; is the forward tilt angle of the user detected by the gyroscope.

[0009] In the above implementation process, comprehensively detect the status data of wheelchair users, facilitate real-time monitoring of the user's status, and take intervention measures when necessary.

[0010] Further, the triggering of an abnormal state alarm according to the evaluation index includes: If the distance between the maximum pressure position and any edge of the seat cushion is less than the set distance threshold, it is judged as an abnormal state and an alarm is triggered; If the evaluation index exceeds the set evaluation threshold, it is judged as an abnormal state and an alarm is triggered.

[0011] In the above implementation process, it is judged whether there is an abnormal risk according to various data, so as to enhance the safety of users and avoid the occurrence of risks.

[0012] Further, the acquisition of various sensing data includes: Obtaining temperature sensing data through a thermistor, obtaining humidity sensing data through a humidity sensor, and obtaining pressure sensing data through a pressure sensor.

[0013] In the above implementation process, various data are comprehensively detected to realize the health monitoring and nursing management of users.

[0014] Further, it also includes: Generating an evaluation index based on the change amount of the pressure center-of-gravity coordinate and the change amount of the total pressure value, combined with the change amount of the gyroscope angle, and triggering an abnormal state alarm according to the evaluation index; The generating an evaluation index based on the change amount of the pressure center-of-gravity coordinate and the change amount of the total pressure value, combined with the change amount of the gyroscope angle, and triggering an abnormal state alarm according to the evaluation index includes: Set a sliding time window of T seconds, the data update frequency is Δt seconds, and the window contains N groups of data; Perform time series analysis on the following parameters: The change amount of the pressure center-of-gravity coordinate is: ΔY_c(t) = Y_c(t) - Y_0; Wherein, Y_0 is the reference position of the seat cushion center; The change amount of the gyroscope angle is: Δθ(t) =θ(t) - ; Wherein, is the initial sitting posture angle; The proportion of the pressed area of the rear half of the seat cushion is: A(t) = the number of sensors with pressure greater than the set pressure in the rear half area / the total number of sensors; Wherein, the number of sensors with pressure greater than the set pressure in the rear half area is the number of sensors with pressure greater than the set pressure in the rear half area; For the risk of body slipping, combined with the change trend within the time window of the following parameters: ΔY_c(t) represents the change amount of the pressure center-of-gravity coordinate. If ΔY_c < 0, the risk of slipping increases; Δθ(t) represents the change in gyroscope angle. If Δθ < 0, the risk of slipping increases; A(t) represents the proportion of the area of the rear half of the seat cushion being pressed. If the decreasing speed of A(t) is greater than the set decreasing threshold, it indicates that the body moves forward and slides down, and the risk increases; The formula for evaluating the slipping risk is: ; Among them, , , are coefficients, reflecting the influence degree of each parameter on the slipping risk. ΔY_c(t) is a parameter in the range of 0 - 100, Δθ(t) is a parameter in the range of 0 - 180, and A(t) is a parameter in the range of 0 - 100; Through real - time monitoring of value, early warning is carried out; When , the slipping alarm is triggered; Among them, is the set threshold; Regarding the risk of falling caused by getting up, the parameter trends are opposite: ΔY_c(t) represents the change in the pressure center - of - gravity coordinate. If ΔY_c > 0, the risk of getting up increases; Δθ(t) represents the change in gyroscope angle. If Δθ > 0, the risk increases; A(t) represents the proportion of the area of the rear half of the seat cushion being pressed. If the decreasing speed of A(t) is greater than the set decreasing threshold, it indicates that the buttocks leave the seat cushion; The formula for evaluating the getting - up risk is: ; Among them, , , are coefficients, reflecting the influence degree of each parameter on the slipping risk. ΔY_c(t) is a parameter in the range of 0 - 100, Δθ(t) is a parameter in the range of 0 - 180, and A(t) is a parameter in the range of 0 - 100; When , the getting - up alarm is triggered; Among them, is the set threshold.

[0015] In the second aspect, the embodiments of the present application provide a wheelchair adaptation and use - state evaluation and detection device, which is applied to a wheelchair control system. The wheelchair control system includes a gyroscope and a sensor group arranged on the seat cushion, and includes: A data acquisition module, configured to acquire various sensing data; among them, the sensing data includes pressure sensing data, humidity sensing data, and temperature sensing data; An angle acquisition module for acquiring the detected angle data of the gyroscope; A data processing module for performing timestamp alignment and normalization processing on the sensing data; An anomaly judgment module for obtaining an analysis result based on the set detection rules, judging whether there is an abnormal situation according to the sensing data and the detected angle data, and issuing a reminder.

[0016] In a third aspect, an embodiment of the present application provides a wheelchair adaptation and usage status evaluation and detection system, including: a wheelchair control system, a wheelchair, a seat cushion provided on the wheelchair, and the wheelchair adaptation and usage status evaluation and detection device as described above; the wheelchair control system includes a central processing unit, a Bluetooth transmission module, a power management unit, a gyroscope, and a sensor group provided on the seat cushion, and the central processing unit is connected to the Bluetooth transmission module, the gyroscope, and the sensor group.

[0017] Furthermore, it further includes a pressure sensing pad and a humidity sensing pad. The sensor group includes a pressure sensor, a humidity sensor, and a thermistor. The pressure sensing pad is provided on the seat cushion, the humidity sensing pad is provided on the pressure sensing pad, the pressure sensor is provided on the pressure sensing pad, the humidity sensor is provided on the humidity sensing pad, and the thermistor is provided on the humidity sensing pad.

[0018] In a fourth aspect, an embodiment of the present application provides an electronic device, including: A processor, a memory, and a bus. The processor is connected to the memory through the bus. The memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, they are used to implement the wheelchair adaptation and usage status evaluation and detection method as described above.

[0019] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a server, it implements the wheelchair adaptation and usage status evaluation and detection method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0021] Figure 1 It is a schematic flowchart of a wheelchair adaptation and usage status evaluation and detection method provided by an embodiment of the present application; Figure 2 It is a schematic structural diagram of a wheelchair adaptation and usage status evaluation and detection device provided by an embodiment of the present application; Figure 3 It is a front view structural diagram of a wheelchair of a wheelchair adaptation and usage status evaluation and detection system provided by an embodiment of the present application; Figure 4 It is a rear view structural diagram of a wheelchair of a wheelchair adaptation and usage status evaluation and detection system provided by an embodiment of the present application; Figure 5 It is a schematic structural diagram of the installation combination of the sensor part of a wheelchair adaptation and usage status evaluation and detection system provided by an embodiment of the present application; Figure 6 It is a schematic structural diagram of a humidity sensing pad of a wheelchair adaptation and usage status evaluation and detection system provided by an embodiment of the present application; Figure 7 It is a schematic structural diagram of a pressure sensing pad of a wheelchair adaptation and usage status evaluation and detection system provided by an embodiment of the present application; Figure 8 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0022] Next, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings in the embodiments of the present application.

[0023] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, the terms "first", "second", etc. are only used for differential description and cannot be construed as indicating or implying relative importance.

[0024] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of a wheelchair adaptation and usage status evaluation and detection method provided by an embodiment of the present application. This wheelchair adaptation and usage status evaluation and detection method is applied to a wheelchair control system. The wheelchair control system includes a central processing unit, a Bluetooth transmission module, a power management unit, a gyroscope, and a sensor group provided on the seat cushion. The method includes: 100. Obtain various sensing data; wherein, the sensing data includes pressure sensing data, humidity sensing data, and temperature sensing data.

[0025] Specifically, temperature sensing data is obtained through a thermistor, humidity sensing data is obtained through a humidity sensor, pressure sensing data is obtained through a pressure sensor, and the obtained various sensing data is sent to a central processing unit for processing. The processed data is wirelessly transmitted to an external device, such as a smartphone, a tablet computer, or a monitoring system in a care center, via a Bluetooth transmission module. Thus, various data is comprehensively detected to achieve the health monitoring and care management of the user.

[0026] Optionally, preprocess the collected sensing data. Exemplarily, for a temperature sensor, non-linear correction may be required to reflect the real temperature.

[0027] Optionally, monitor the working state of the wheelchair by combining pressure and temperature data.

[0028] 200. Obtain the detected angle data of the gyroscope.

[0029] Optionally, the gyroscope is installed on a strap and fixed at the chest position of the wheelchair user for monitoring the front-back and left-right angles of the user's spine. The forward tilt angle θ (in degrees) of the spine is monitored in real time. If the forward tilt angle θ is positive, it means the body is tilted forward, and if the backward tilt angle θ is negative, it means the body is tilted backward.

[0030] Specifically, the central processing unit collects and processes the data from the pressure sensor, humidity sensor, thermistor, and gyroscope, and analyzes the data through a built-in algorithm to identify abnormal situations.

[0031] 300. Align the timestamps and standardize the sensing data.

[0032] It can be understood that timestamp alignment refers to arranging the data from different sensors or different time points according to a unified time reference to ensure the consistency of the data in time. In a multi-sensor system, due to factors such as the sensor sampling frequency and data transmission delay, the timestamps of the data may be inconsistent. Timestamp alignment is a prerequisite for data fusion and analysis.

[0033] Exemplarily, there are various alignment methods. Interpolation method: For missing time points, the corresponding data values can be estimated through an interpolation algorithm (such as linear interpolation, polynomial interpolation, etc.). Exemplarily, the nearest neighbor method: Select the existing data closest to the missing time point as a substitute. Exemplarily, the time window method: Set a time window and regard the data of all sensors within the window as the data at the same time point.

[0034] It can be understood that standardization processing refers to converting the sensing data into a unified dimension and range for subsequent data analysis and comparison. Standardization helps to eliminate the dimension differences between different sensors and improve the comparability and interpretability of the data.

[0035] Exemplarily, there are multiple standardization methods. Z-score standardization: converts the data into a standard normal distribution with a mean of 0 and a standard deviation of 1, and is applicable to the case where the data distribution is relatively uniform. Min-Max standardization: linearly transforms the data into the range of [0, 1] or [-1, 1], and is applicable to the case where the data range is known and relatively stable. Decimal scaling standardization: converts the data into a value between [-1, 1] by moving the decimal point position of the data, and is applicable to the case where the data distribution is relatively concentrated.

[0036] It should be noted that timestamp alignment and standardization processing are usually carried out simultaneously. First, ensure the temporal consistency of the data through timestamp alignment; then, eliminate the dimensional differences of the data through standardization processing.

[0037] 400. Based on the set detection rules, obtain the analysis result according to the sensing data and the detection angle data, determine whether there is an abnormal situation, and issue a reminder.

[0038] 410. Calculate the centroid coordinates and the maximum pressure position based on the pressure matrix, generate an evaluation index in combination with the gyroscope data, and trigger an abnormal state alarm according to the evaluation index.

[0039] Optionally, the calculating the centroid coordinates and the maximum pressure position based on the pressure matrix, and generating an evaluation index in combination with the gyroscope data includes: Read the pressure data of the sensor matrix; Calculate the total pressure: ; where is the pressure data, representing the pressure value at the i-th row and j-th column, 1 ≤ i ≤ n, 1 ≤ j ≤ m; n represents the number of rows of the sensor matrix, and m represents the number of columns of the sensor matrix; Calculate the centroid coordinates: ; ; where represents the abscissa of each pressure sensor in the seat cushion plane coordinate system; represents the ordinate of each pressure sensor in the seat cushion plane coordinate system; Obtain the maximum value based on the pressure data of all sensor matrices: ; Locate the maximum pressure position: ; Calculate the evaluation index: ; where and is the weight coefficient; represents the relative proportion of the center of gravity shift; is the forward tilt angle of the user detected by the gyroscope.

[0040] Thus, the status data of the wheelchair user can be comprehensively detected, facilitating real-time monitoring of the user's status and taking intervention measures when necessary.

[0041] Exemplarily, the pressure sensor uses 32x32 matrix pressure data to calculate the center of gravity coordinates ( , ) and the maximum pressure position .

[0042] Determine the maximum pressure: find the maximum value among all 32x32 matrix pressure data .

[0043] Locate the maximum pressure position: ; Among them, for the slip risk assessment, if the maximum pressure position is close to the front edge or side edge of the seat cushion, such as the distance from any edge of the seat cushion is less than the set distance threshold, it means that the user's body has leaned towards the edge of the seat cushion, presenting a slip hazard. It can be understood that the specific value of the set distance threshold can be set according to requirements.

[0044] Calculation method of the center point coordinates of the center of gravity: Read the seat cushion pressure data of the 32x32 sensor matrix , where 1 ≤ i ≤ 32, 1 ≤ j ≤ 32, representing the pressure value of the i-th row and the j-th column.

[0045] Calculate the total pressure: ; Calculate the center of gravity coordinates ( , ): Let and represent the horizontal and vertical coordinates of each pressure sensor in the seat cushion plane coordinate system.

[0046] Use the following formula to calculate the center of gravity coordinates: ; .

[0047] Thus, the center point coordinates of the pressure distribution on the seat cushion can be accurately calculated, providing a scientific basis for seat cushion design and user comfort.

[0048] ​Optionally, triggering an abnormal status alarm according to the evaluation index includes: If the distance between the maximum pressure position and any edge of the seat cushion is less than the set distance threshold, it is determined as an abnormal status and an alarm is triggered; if the evaluation index exceeds the set evaluation threshold, it is determined as an abnormal status and an alarm is triggered.

[0049] Thus, it is judged whether there is an abnormal risk according to various data, thereby enhancing the use safety of the user and avoiding the occurrence of risks.

[0050] Exemplarily, if the maximum pressure position is close to the front edge or side edge of the seat cushion, such as the distance from any edge of the seat cushion is less than the set distance threshold, it means that the user's body has deviated towards the edge of the seat cushion and there is a risk of slipping. It can be understood that the specific value of the set distance threshold can be set according to requirements.

[0051] Exemplarily, when the evaluation index exceeds the set evaluation threshold, the system determines it as an abnormal status and triggers an alarm. For example, when > 1.5, it means that the user may be in a risk state of falling forward; when < -1.0, it means that the user may be in a risk state of slipping.

[0052] 420. Transmit the processed data to an external device.

[0053] Specifically, the processed data is wirelessly transmitted to an external device through a Bluetooth transmission module, such as a smart phone, a tablet computer or a monitoring system of a nursing center.

[0054] The embodiments of the present application can be used in the clinical services of wheelchairs and pressure ulcer prevention seat cushions. When a person with a disability selects a wheelchair and a pressure ulcer prevention seat cushion, this system is placed above the wheelchair seat cushion. By observing the pressure value of the pressure sensor, the pressure center of gravity coordinates, the temperature and the gyroscope angle, it assists in the clinical services of wheelchairs and pressure ulcer prevention seat cushions. The pressure magnitude and temperature help to judge the risk of pressure ulcer occurrence in a person with a disability; the pressure value magnitude and the pressure center of gravity coordinates help to judge whether the wheelchair sitting posture of the user is correct. For example, if the pressure value is too large and the pressure center is offset, it means that the wheelchair and the seat cushion are not selected or used correctly; within a unit time, the pressure center offset amount and the envelope area reflect the static stability of the user on the wheelchair and the seat cushion; the trunk change angle displayed by the gyroscope reflects the dynamic stability of the user on the wheelchair and the seat cushion. Through this system, it assists in the selection and matching of wheelchairs and pressure ulcer prevention seat cushions, and assists in adjusting the wheelchair (seat width, seat depth, footrest height, armrest height, side support height and seat surface tilt angle, etc.) and the pressure ulcer prevention seat cushion (inflation volume, thickness, positioning module, etc.), and guides the clinical effect evaluation of wheelchairs and pressure ulcer prevention seat cushions.

[0055] The embodiments of the present application can be used for the daily use monitoring of a pressure ulcer prevention cushion for wheelchair users. It adopts 24-hour Bluetooth transmission for the daily monitoring of the pressure ulcer prevention cushion for wheelchair users. Whether urinary incontinence occurs is monitored through a humidity sensor (when the humidity sensing value exceeds the critical value), whether there is air leakage in the airbag of the pressure ulcer prevention cushion is monitored through a pressure sensor (when the local pressure exceeds the critical value or changes greatly in a short period), and the user is reminded to perform a sitting position decompression operation through pressure sensing (when the maximum pressure area exceeds the critical value and the duration of the maximum pressure area exceeds the critical value for reminder).

[0056] The embodiments of the present application can be used for the daily sitting posture monitoring and alarm of wheelchair users. Getting-up alarm: For disabled elderly people, especially those with dementia, there are risks when getting up by themselves on a wheelchair. When there is a tendency to get up by themselves, an alarm is triggered. (The pressure center of gravity coordinate moves forward + the gyroscope angle tilts forward + the total pressure value increases). Sitting posture forward-sliding alarm: For various wheelchair users, especially the elderly, there is a risk of falling when sliding forward after sitting on the wheelchair for a long time. When there is a tendency of forward sliding, an alarm is triggered. (The pressure center of gravity coordinate moves + the gyroscope angle tilts backward + the total pressure value changes).

[0057] Among them, a sliding time window T = 3 seconds is set, the data update frequency is Δt = 0.5 seconds, and the window contains N = 6 groups of data. It can be understood that setting the time window mechanism ensures data continuity and reduces false alarms.

[0058] Perform time series analysis on the following parameters: The change amount of the pressure center of gravity coordinate ΔY_c(t) = Y_c(t) - Y_0; where Y_0 is the reference position of the cushion center. The change amount of the gyroscope angle Δθ(t) = θ(t) - ; where is the initial sitting posture angle. The proportion of the area pressed by the rear half of the cushion A(t) = the number of sensors pressed in the rear half area / the total number of sensors; where the number of sensors pressed in the rear half area is the number of sensors with a pressure greater than the set pressure in the rear half area; specifically, the rear half area can divide the area of the cushion into two areas, the rear half area is the area close to the backrest, obtain the pressure of all sensors in the rear half area, and screen out the number of sensors with a pressure greater than the set pressure to get the number of sensors pressed in the rear half area. The set pressure can be set according to specific requirements, and the embodiments of the present application do not limit this.

[0059] For the risk of body sliding down, combine the change trends within the time window of the following parameters: ΔY_c(t) represents the change amount of the pressure center of gravity coordinate. If ΔY_c < 0, the risk of slipping increases.

[0060] Δθ(t) represents the change in the gyroscope angle. If Δθ < 0, the risk of slipping increases.

[0061] A(t) represents the proportion of the area of the rear half of the seat cushion being pressed. If the descent speed of A(t) is greater than the set descent threshold, it indicates that the body moves forward and slides down, increasing the risk.

[0062] The formula for evaluating the slipping risk is: ; Among them, , , are coefficients, reflecting the influence degree of each parameter on the slipping risk; ΔY_c(t) is a parameter in the range of 0 - 100, Δθ(t) is a parameter in the range of 0 - 180, and A(t) is a parameter in the range of 0 - 100; by real-time monitoring value, the system can give an early warning in time to ensure the safety of patients.

[0063] When (such as -1.2), the slipping alarm is triggered; is the set threshold.

[0064] Regarding the fall risk caused by getting up, the parameter trend is opposite: ΔY_c(t) is the change in the pressure center of gravity coordinate. If ΔY_c > 0, the risk of getting up increases.

[0065] Δθ(t) represents the change in the gyroscope angle. If Δθ > 0, the risk increases.

[0066] A(t) represents the proportion of the area of the rear half of the seat cushion being pressed. If the descent speed of A(t) is greater than the set descent threshold, it indicates that the buttocks leave the seat cushion.

[0067] The formula for evaluating the getting-up risk is: ; Among them, , , are coefficients, reflecting the influence degree of each parameter on the slipping risk. ΔY_c(t) is a parameter in the range of 0 - 100, Δθ(t) is a parameter in the range of 0 - 180, and A(t) is a parameter in the range of 0 - 100.

[0068] When (such as 1.5), the getting-up alarm is triggered; is the set threshold.

[0069] Optionally, ΔY_c(t) is a parameter in the range of 0 - 100, with the unit of mm; Δθ(t) is a parameter in the range of 0 - 180, with the unit of degree; A(t) is a parameter in the range of 0 - 100, with the unit of %.

[0070] In the above, the embodiments of the present application acquire various sensing data; wherein, the sensing data includes pressure sensing data, humidity sensing data, and temperature sensing data; acquire the detection angle data of the gyroscope; perform timestamp alignment and normalization processing on the sensing data; based on the set detection rules, obtain an analysis result according to the sensing data and the detection angle data, determine whether there is an abnormal situation, and issue a reminder; by detecting various sensing data and analyzing whether there is an abnormal usage situation according to the data, it can provide comprehensive user status information, significantly improving the comfort and safety of wheelchair users.

[0071] The above steps are not strictly executed in the order described by the numbers, and should be understood as an overall solution.

[0072] In a second aspect, on the basis of the above embodiments, Figure 2 This is a schematic structural diagram of a wheelchair adaptation and usage status evaluation and detection device provided by the embodiments of the present application. Refer to Figure 2 , the wheelchair adaptation and usage status evaluation and detection device provided in this embodiment is applied to a wheelchair control system, and the wheelchair control system includes a gyroscope and a sensor group arranged on the seat cushion, specifically including: a data acquisition module 201, an angle acquisition module 202, a data processing module 203, and an abnormality judgment module 204.

[0073] Among them, the data acquisition module 201 is used to acquire various sensing data; wherein, the sensing data includes pressure sensing data, humidity sensing data, and temperature sensing data; the angle acquisition module 202 is used to acquire the detection angle data of the gyroscope; the data processing module 203 is used to perform timestamp alignment and normalization processing on the sensing data; the abnormality judgment module 204 is used to obtain an analysis result based on the set detection rules, determine whether there is an abnormal situation according to the sensing data and the detection angle data, and issue a reminder.

[0074] In the above, the embodiments of the present application acquire various sensing data; wherein, the sensing data includes pressure sensing data, humidity sensing data, and temperature sensing data; acquire the detection angle data of the gyroscope; perform timestamp alignment and normalization processing on the sensing data; based on the set detection rules, obtain an analysis result according to the sensing data and the detection angle data, determine whether there is an abnormal situation, and issue a reminder; by detecting various sensing data and analyzing whether there is an abnormal usage situation according to the data, it can provide comprehensive user status information, significantly improving the comfort and safety of wheelchair users.

[0075] The wheelchair adaptation and usage status evaluation and detection device provided by the embodiments of the present application can be used to execute the wheelchair adaptation and usage status evaluation and detection method provided by the above embodiments, and has the corresponding functions and beneficial effects.

[0076] In a third aspect, based on the above embodiments, with reference to Figures 3 - 7 , a wheelchair adaptation and usage status evaluation and detection system provided in this embodiment includes: a wheelchair control system, a wheelchair 30, a seat cushion 31 provided on the wheelchair, and the wheelchair adaptation and usage status evaluation and detection device as described above; the wheelchair control system includes a central processing unit 32, a Bluetooth transmission module, a power management unit, a gyroscope 33, and a sensor group provided on the seat cushion, and the central processing unit is connected to the Bluetooth transmission module, the gyroscope, and the sensor group.

[0077] Among them, the power management unit provides power supply for the entire system, supports long-term stable operation, and includes a rechargeable battery and a power management circuit to ensure the portability and reliability of the device.

[0078] It can be understood that this wheelchair adaptation and usage status evaluation and detection system realizes comprehensive monitoring of the user's status through the integration of multiple sensors; the caregiver can view the user's health data in real time through a mobile device and take intervention measures when necessary, thereby improving the user's comfort and safety.

[0079] In some embodiments, it further includes a pressure sensing pad 34 and a humidity sensing pad 35. The sensor group includes a pressure sensor 36, a humidity sensor 37, and a thermistor 38. The pressure sensing pad is provided on the seat cushion, the humidity sensing pad is provided on the pressure sensing pad, the pressure sensor is provided on the pressure sensing pad, the humidity sensor is provided on the humidity sensing pad, and the thermistor is provided on the humidity sensing pad.

[0080] Among them, the hip pressure sensing pad is made of flexible fiber material, with an outer dimension of 550mm x 530mm, a sensing area of 400mm x 400mm, and contains 1024 sensing points, which are evenly distributed inside the pad. A pressure data acquisition module is fixed on one edge of the hip pressure sensing pad to collect the pressure data of the user's hip in real time for analyzing the pressure distribution and monitoring pressure sores.

[0081] Among them, please refer to the figure. The humidity sensing pad is placed on the upper layer of the pressure sensing pad and is tightly stitched and fixed. The outer dimension is approximately 490mm x 440mm, and the sensing area is 340mm x 370mm. It can detect urine wetness and monitor humidity changes in real time.

[0082] Among them, 4 thermistors are fixed inside the humidity sensing pad and are distributed at the four corner positions within the sensing area for comprehensively monitoring the temperature changes of the hip.

[0083] Among them, the gyroscope is installed on the strap 39 and fixed at the position of the person's chest for monitoring the front-back and left-right angles of the user's spine.

[0084] In a fourth aspect, an embodiment of the present application further provides an electronic device, which may integrate the wheelchair adaptation and usage status evaluation and detection device provided in the embodiment of the present application. Figure 8 It is a schematic structural diagram of an electronic device provided in an embodiment of the present application. Refer to Figure 8 , the electronic device includes: an input device 83, an output device 84, a memory 82, and one or more processors 81; the memory 82 is used to store one or more programs; when the one or more programs are executed by the one or more processors 81, the one or more processors 81 implement the wheelchair adaptation and usage status evaluation and detection method provided in the above embodiment. Among them, the input device 83, the output device 84, the memory 82, and the processor 81 may be connected through a bus or other means, Figure 8 Taking the connection through the bus as an example.

[0085] The processor 81 executes various functional applications and data processing of the device by running software programs, instructions, and modules stored in the memory 82, that is, implements the above-mentioned wheelchair adaptation and usage status evaluation and detection method.

[0086] The above-provided electronic device can be used to execute the wheelchair adaptation and usage status evaluation and detection method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0087] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, which includes a stored computer program; wherein, when the computer program runs, it controls the device where the computer-readable storage medium is located to execute the wheelchair adaptation and usage status evaluation and detection method as described above, and can achieve the same beneficial effects.

[0088] Of course, the computer-executable instructions of the storage medium including computer-executable instructions provided in the embodiment of the present application are not limited to the wheelchair adaptation and usage status evaluation and detection method as described above, and can also execute related operations in the wheelchair adaptation and usage status evaluation and detection method provided in any embodiment of the present application.

[0089] Sixth aspect, embodiments of the present application further provide a computer program product. The methods described in various embodiments of the present application can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in various embodiments of the present application are executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, a core network device, an OAM (Open Application Model), or other programmable devices.

[0090] The computer program or instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired or wireless manner. The computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it can also be an optical medium, such as a digital video disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium can be a volatile or non-volatile storage medium, or can include both volatile and non-volatile types of storage media.

[0091] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks can occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0092] In addition, each functional module in various embodiments of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

[0093] If the above-mentioned function is implemented in the form of a software functional module and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing an electronic device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0094] The above are only the embodiments of the present application and are not used to limit the protection scope of the present application. For those skilled in the art, the present application may have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0095] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application and should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0096] It should be noted that, in the embodiments of the present application, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

Claims

1. A method for evaluating and detecting the adaptation and usage status of a wheelchair, characterized in that, Applied to a wheelchair control system, the wheelchair control system includes a gyroscope and a sensor group disposed on the seat cushion, and the method includes: Obtain various sensing data; wherein, the sensing data includes pressure sensing data, humidity sensing data, and temperature sensing data; Obtain the detection angle data of the gyroscope; Perform timestamp alignment and normalization processing on the sensing data; Based on the set detection rules, obtain an analysis result according to the sensing data and the detection angle data, determine whether there is an abnormal situation, and issue a reminder.

2. The wheelchair adaptation and usage status evaluation and detection method according to claim 1, characterized in that, The obtaining an analysis result according to the sensing data and the detection angle data based on the set detection rules, determining whether there is an abnormal situation, and issuing a reminder includes: Calculate the center of gravity coordinates and the maximum pressure position based on the pressure matrix, generate an evaluation index in combination with the gyroscope data, and trigger an abnormal state alarm according to the evaluation index; Transmit the processed data to an external device.

3. The wheelchair adaptation and usage status evaluation and detection method according to claim 2, characterized in that, The calculating the center of gravity coordinates and the maximum pressure position based on the pressure matrix and generating an evaluation index in combination with the gyroscope data includes: Read the pressure data of the sensor matrix; Calculate the total pressure: ； Among them, is the pressure data, representing the pressure value at the i-th row and j-th column, where 1 ≤ i ≤ n and 1 ≤ j ≤ m; n represents the number of rows of the sensor matrix, and m represents the number of columns of the sensor matrix; Calculate the center of gravity coordinates: ； ； Among them, represents the abscissa of each pressure sensor in the coordinate system of the seat cushion plane; represents the ordinate of each pressure sensor in the coordinate system of the seat cushion plane; Obtain the maximum value based on the pressure data of all sensor matrices: ； Locate the maximum pressure position: ； Calculate the evaluation index: ； Among them, and are weight coefficients; represents the relative proportion of the center of gravity offset; is the forward tilt angle of the user detected by the gyroscope.

4. The wheelchair adaptation and usage status evaluation and detection method according to claim 3, characterized in that, The triggering an abnormal state alarm according to the evaluation index includes: If the distance between the maximum pressure position and any edge of the seat cushion is less than the set distance threshold, it is judged as an abnormal state and an alarm is triggered; If the evaluation index exceeds the set evaluation threshold, it is judged as an abnormal state and an alarm is triggered.

5. The wheelchair adaptation and usage status evaluation and detection method according to claim 1, characterized in that The obtaining various sensing data includes: Obtain temperature sensing data through a thermistor, obtain humidity sensing data through a humidity sensor, and obtain pressure sensing data through a pressure sensor.

6. The wheelchair adaptation and usage status evaluation and detection method according to claim 1, characterized in that, It further includes: Generate an evaluation index based on the change amount of the pressure center of gravity coordinates and the change amount of the total pressure value, in combination with the change amount of the gyroscope angle, and trigger an abnormal state alarm according to the evaluation index; The generating an evaluation index based on the change amount of the pressure center of gravity coordinates and the change amount of the total pressure value, in combination with the change amount of the gyroscope angle, and triggering an abnormal state alarm according to the evaluation index includes: Set a sliding time window of T seconds, the data update frequency is Δt seconds, and the window contains N groups of data; Perform time series analysis on the following parameters: The change amount of the pressure center of gravity coordinates is: ΔY_c(t) = Y_c(t) - Y_0; Wherein, Y_0 is the reference position of the center of the seat cushion; The change amount of the gyroscope angle is: Δθ(t) = θ(t) - ; Among them, is the initial sitting posture angle; The proportion of the pressed area of the rear half of the seat cushion is: A(t) = the number of sensors with pressure greater than the set pressure in the rear half area / the total number of sensors; Wherein, the number of sensors with pressure greater than the set pressure in the rear half area is the number of sensors with pressure greater than the set pressure in the rear half area; For the risk of body slipping, in combination with the change trend within the time window of the following parameters: ΔY_c(t) represents the change amount of the pressure center of gravity coordinates. If ΔY_c < 0, the risk of slipping increases; Δθ(t) represents the change amount of the gyroscope angle. If Δθ < 0, the risk of slipping increases; A(t) represents the proportion of the pressed area of the rear half of the seat cushion. If the decreasing speed of A(t) is greater than the set decreasing threshold, it means that the body moves forward and slips, and the risk increases; The slipping risk assessment formula is: ； Among them, , , are coefficients that reflect the influence degree of each parameter on the slipping risk. ΔY_c(t) is a parameter in the range of 0 - 100, Δθ(t) is a parameter in the range of 0 - 180, and A(t) is a parameter in the range of 0 - 100; Through real-time monitoring value, a warning is issued; When , a slipping alarm is triggered; wherein, is a set threshold value; For the risk of falling caused by getting up, the parameter trend is opposite: ΔY_c(t) represents the change in the pressure center-of-gravity coordinate. If ΔY_c > 0, the risk of getting up increases; Δθ(t) represents the change in the gyroscope angle. If Δθ > 0, the risk increases; A(t) represents the proportion of the area of the rear half of the seat cushion being pressed. If the descent speed of A(t) is greater than the set descent threshold, it means that the buttocks leave the seat cushion; The formula for evaluating the risk of getting up is: ； Among them, , , are coefficients, reflecting the influence degrees of various parameters on the slipping risk. ΔY_c(t) is a parameter in the range of 0 - 100, Δθ(t) is a parameter in the range of 0 - 180, and A(t) is a parameter in the range of 0 - 100; When , the getting-up alarm is triggered; wherein, is a set threshold value.

7. A wheelchair adaptation and usage status evaluation and detection device, characterized in that, Applied to a wheelchair control system, the wheelchair control system includes a gyroscope and a sensor group disposed on the seat cushion, including: A data acquisition module for acquiring various sensing data; wherein, the sensing data includes pressure sensing data, humidity sensing data, and temperature sensing data; An angle acquisition module for acquiring the detected angle data of the gyroscope; A data processing module for performing timestamp alignment and normalization processing on the sensing data; An anomaly judgment module for obtaining an analysis result based on a set detection rule, judging whether there is an abnormal situation according to the sensing data and the detected angle data, and issuing a reminder.

8. A wheelchair adaptation and usage status evaluation and detection system, characterized in that, Including: A wheelchair control system, a wheelchair, a seat cushion disposed on the wheelchair, and a wheelchair adaptation and usage status evaluation and detection device as described in claim 7; the wheelchair control system includes a central processing unit, a Bluetooth transmission module, a power management unit, a gyroscope, and a sensor group disposed on the seat cushion, and the central processing unit is connected to the Bluetooth transmission module, the gyroscope, and the sensor group.

9. The wheelchair adaptation and usage status evaluation and detection system according to claim 8, characterized in that, It further includes a pressure sensing pad and a humidity sensing pad. The sensor group includes a pressure sensor, a humidity sensor, and a thermistor. The pressure sensing pad is disposed on the seat cushion, the humidity sensing pad is disposed on the pressure sensing pad, the pressure sensor is disposed on the pressure sensing pad, the humidity sensor is disposed on the humidity sensing pad, and the thermistor is disposed on the humidity sensing pad.

10. An electronic device, characterized in that, Including: A processor, a memory, and a bus. The processor is connected to the memory through the bus. The memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, they are used to implement the wheelchair adaptation and usage status evaluation and detection method as described in any one of claims 1-6.

11. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is executed by the server, it implements the wheelchair adaptation and usage status evaluation and detection method as described in any one of claims 1-6.

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