Intelligent nursing system based on mobile nursing

Abstract

The invention relates to the technical field of rehabilitation nursing, in particular to an intelligent nursing system based on mobile nursing, which mainly comprises a transfer robot, a movable mattress module, a physical sign monitoring module, an image detection module and an intelligent control module. Wherein the movable mattress module comprises a mattress and is mainly used for pushing the mattress to move transversely and vertically and folding and lifting the mattress. The physical sign monitoring module is mainly used for monitoring pressure distribution at the top of the mattress in real time and generating mattress surface pressure distribution data. The image detection module is mainly used for collecting terrain information around the transfer robot and generating terrain data. The intelligent control module is mainly used for controlling the moving path of the transfer robot by using a self-adaptive path planning method; and a gravity center control strategy is used for controlling the movable mattress module to move the mattress and folding and lifting the mattress. It can be ensured that when a nursed person carries on the transfer robot, the gravity center is kept stable, and the falling risk is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation nursing, and particularly to an intelligent nursing system based on mobile nursing. Background Art

[0002] With the aggravation of population aging and the increase in the prevalence of chronic diseases, intelligent nursing systems are increasingly widely used in the field of medical rehabilitation. Traditional nursing beds and mobile nursing equipment mainly achieve the body position adjustment and transfer of the cared person through mechanical structures, but still face multiple technical bottlenecks in actual clinical use.

[0003] In the prior art, the patent with the publication number CN111844083B discloses a transfer robot for persons with limited mobility. The two arms of the transfer robot of this invention can extend under the body of the user to lift the cared person in a lying state, rotate the seat plate to rotate the cared person in a side-sitting state to face the front side of the robot, and the auxiliary seat plate can lift the cared person forward and upward to facilitate the user to pick up and place items at high places. However, when the transfer and handling robot in this patent lifts and moves the cared person, since the working arm for execution is a rigid robotic arm, it is difficult to adapt to the terrain in terms of stability and center of gravity according to the terrain of different departments, which has the risk that the cared person is likely to fall from the transfer and handling robot.

[0004] In summary, how to solve the problem that when the transfer and handling robot lifts and moves the cared person, since the working arm for execution is a rigid robotic arm, it is difficult to adapt to the terrain in terms of stability and center of gravity according to the terrain of different departments, which has the risk that the cared person is likely to fall from the transfer and handling robot has become a difficult problem that urgently needs to be solved in this field at present. Therefore, it is necessary to propose an intelligent nursing system based on mobile nursing. Summary of the Invention

[0005] To solve the above problems, the present invention provides an intelligent nursing system based on mobile nursing, which is used to automatically adjust the working states of the transfer robot and the movable mattress module according to different terrains and the pressure distribution of the cared person, so as to ensure the stability of the center of gravity of the cared person during the transfer process and reduce the risk of falling.

[0006] To achieve the above object, the technical solution of the present invention is as follows: An intelligent nursing system based on mobile nursing includes a transfer robot, a movable mattress module, a vital sign monitoring module, an image detection module, and an intelligent control module.

[0007] The movable mattress module includes a mattress, and the movable mattress module is used to push the mattress to move horizontally and vertically, and fold and lift the mattress.

[0008] The sign monitoring module includes a sensor monitoring layer unit, and the sensor monitoring layer unit includes a pressure sensor layer which is fixedly connected to the top of the mattress; the sign monitoring module is used to use the pressure sensor layer to monitor the pressure distribution on the top of the mattress in real time and generate mattress surface pressure distribution data.

[0009] The image detection module includes a lidar sensor, and the image detection module is used to use the lidar sensor to collect the terrain information around the transfer robot and generate terrain data.

[0010] The intelligent control module is used to use the terrain data and the pressure distribution data, and use the adaptive path planning method to control the movement path of the transfer robot; and use the center of gravity control strategy to control the movable mattress module to move the mattress horizontally and vertically and fold and lift the mattress.

[0011] The technical principle of the above solution is as follows:

[0012] When the transfer robot starts, the lidar sensor scans in real time to construct a three-dimensional terrain model. At the same time, for the mattress surface pressure sensor layer, the intelligent control module fuses the two types of data and establishes a human-robot-environment dynamics model.

[0013] Based on the analysis of the centroid offset trend of the human body from the pressure distribution heat map, the movable mattress module adjusts the horizontal displacement of the mattress, and cooperates with the change of the lifting angle of the folding mechanism to ensure that the centroid projection of the cared person is always located in the safe area of the geometric center of the mattress.

[0014] The intelligent control module automatically switches the control mode according to different terrain features.

[0015] The beneficial effects of adopting the above solution are as follows:

[0016] 1. In the present invention, the image detection module collects terrain data in real time. At the same time, based on the pressure distribution information and the center of gravity control strategy, the movable mattress module timely adjusts the position and posture of the mattress to ensure that the cared person always maintains a stable center of gravity under different terrains, reducing the risk of falling.

[0017] 2. The intelligent control module of the present invention can switch the control mode, enabling the transfer robot to flexibly respond to different terrains, reducing manual intervention by caregivers, saving nursing time, and improving the overall nursing work efficiency.

[0018] 3. The intelligent control module of the present invention can control the fluctuation of the mattress pressure distribution data within 2 kPa per second, avoiding discomfort to the cared person's body caused by local high-pressure areas. The functions such as folding and lifting of the movable mattress module can adjust the body position at any time according to the needs of the cared person, providing a more comfortable nursing service for the cared person and improving the rehabilitation experience of the cared person.

[0019] Further, the movable mattress module further includes an adjustment unit. The adjustment unit includes a bottom plate, the bottom of the bottom plate is detachably connected to the top of the transfer robot arm, and symmetric and fixed support plates are connected to the top of the bottom plate. Driving members are fixedly connected to one side wall of each support plate. The output shafts of the driving members all penetrate through the adjacent support plates and are coaxially fixedly connected with worm gears. Both ends of the worm gears are rotatably matched with the adjacent support plates. A plurality of optical axes are fixedly connected between adjacent support plates. A slider is provided between adjacent optical axes. The slider is slidably matched with the optical axes. A rotating shaft is rotatably matched with the slider. One end of the rotating shaft is coaxially fixedly connected with a turbine, and the other end of the rotating shaft is coaxially fixedly connected with a gear. The turbine is meshed with the worm gear.

[0020] The gear is meshed with a rack. The rack is slidably matched with the slider. Connecting rods are fixedly connected to both ends of the rack. A sliding rod is fixedly connected between adjacent connecting rods. The sliding rod is slidably matched with the slider.

[0021] A bed board is provided above the gear. The bottom of the bed board and the top of the connecting rod are fixedly connected.

[0022] A folding assembly for folding and lifting the mattress is provided on the top of the bed board.

[0023] Beneficial effects: The design of the adjustment unit enables the mattress to accurately move horizontally and vertically. Through the cooperation of the driving member to drive the worm gear, the turbine, the gear and the rack, precise control of the position of the mattress is achieved, and it can flexibly adapt to the needs of adjusting the position of the mattress in different nursing scenarios.

[0024] Further, the folding assembly includes a double-headed driving member and sliding rails symmetrically and fixedly connected to the top of the bed board. The double-headed driving member is fixedly connected to the top of the bed board. A lead screw is coaxially fixedly connected to the output shaft at one end of the double-headed driving member, and a driving wheel is coaxially fixedly connected to the output shaft at the other end of the double-headed driving member; a nut seat is threadedly matched with the lead screw, and the nut seat is slidably matched with the bed board.

[0025] A support plate is hinged to the top of the nut seat. Guide blocks are symmetrically and hinged to the side wall of the support plate. The guide blocks are all slidably matched with the adjacent sliding rails. Top rods are symmetrically hinged to the side wall of the support plate. The ends of the top rods away from the support plate are all hinged to the top of the bed board.

[0026] A lying board is fixedly connected to the top of the bed board. The mattress is detachably connected to the top of the support plate.

[0027] A restraint assembly for automatically restraining the cared-for person during the handling process by the transfer robot is provided on the driving wheel.

[0028] Beneficial effects: The cooperation of the lead screw and the nut seat enables the support plate to perform a stable folding and lifting action, providing diverse body position options for the cared-for person.

[0029] Further, the restraint assembly includes a driving plate and a restraint strap. The driving plate is fixedly connected to the top of the bedplate. A sliding groove is formed in the driving plate, and a sliding plate is slidably fitted in the sliding groove. Driven wheels are symmetrically and rotatably fitted on the sliding plate. Fixed blocks are symmetrically and fixedly connected to one side wall of the driving plate. A fixed wheel is rotatably fitted on one side wall of the driving plate.

[0030] A belt is tensioned among the driven wheel, the fixed wheel and the driving wheel, and both ends of the belt are fixedly connected to the adjacent fixed blocks respectively.

[0031] Fixed rings are symmetrically and fixedly connected to the side wall of the support plate. Both ends of the restraint strap penetrate through the adjacent fixed rings and are fixedly connected to the top of the sliding plate.

[0032] Beneficial effects: The driving wheel drives the restraint assembly to work, realizing the automatic restraint of the cared-for person during the transfer process, ensuring the safety of the cared-for person during the movement and preventing accidental slipping.

[0033] Further, the limiting assembly includes baffles symmetrically and fixedly connected to the top of the support plate, and a piston cylinder fixedly connected to the top of the bottom plate. A piston is slidably fitted in the piston cylinder. A piston rod is fixedly connected to the piston. One end of the piston rod away from the piston is hinged with a pull rod. One end of the pull rod away from the piston rod is eccentrically hinged with a wheel disc. A rotating shaft is coaxially fixedly connected to one side wall of the wheel disc away from the pull rod. One end of the rotating shaft away from the wheel disc penetrates through the adjacent support plate and is coaxially fixedly connected to one end of the adjacent worm. An air inlet pipe and an air outlet pipe are communicated with the side wall of the piston cylinder. One-way valves are communicated in both the air inlet pipe and the air outlet pipe.

[0034] Air bags are fixedly connected to one side wall of each baffle, and the air bags are communicated with the air outlet pipe.

[0035] Beneficial effects: The limiting assembly drives the wheel disc through the rotation of the worm, and then makes the piston move in the piston cylinder, realizing the inflation and deflation of the air bag. When the transfer robot moves and causes the worm to rotate, the air bag will automatically inflate and expand. Cooperating with the baffle on the top of the support plate, it plays a dual limiting role on the cared-for person, effectively preventing the cared-for person from displacing due to bumps or posture changes during the transfer process.

[0036] Further, the mattress is made of silica gel material, and an antibacterial coating is applied on the top of the mattress.

[0037] Beneficial effects: The mattress is made of silica gel material, has good flexibility and comfort, can fit the body of the cared-for person, disperse the body pressure and reduce the risk of pressure sores.

[0038] Further, the restraint strap is made of elastic material.

[0039] Beneficial effects: The restraint belt is made of elastic material. While ensuring the restraint effect on the cared person, it can adaptively adjust according to the subtle movements of the cared person's body.

[0040] Furthermore, in the intelligent control module, the adaptive path planning method includes the following steps:

[0041] Step 1: Use the lidar sensor to scan and construct a three-dimensional environmental map around the transfer robot, synchronously fuse the mattress surface pressure distribution data, identify the distribution of obstacles and the human body pressure-sensitive areas, and automatically switch the navigation mode according to the real-time pressure-sensitive areas.

[0042] Step 2: Enable the low-speed bypass mode when detecting a local high-pressure area; use the fast-pass mode in the obstacle-free area.

[0043] Step 3: Control the lifting angle and speed of the support plate to adjust the mattress surface pressure distribution data so that the fluctuation is less than 2 kPa per second.

[0044] Beneficial effects: Automatically switch the navigation mode according to the real-time pressure level, enable the low-speed bypass mode in the local high-pressure area to effectively avoid discomfort or harm to the cared person; use the fast-pass mode in the obstacle-free area to improve the transfer efficiency.

[0045] Furthermore, in the intelligent control module, the center-of-gravity control strategy includes the following steps:

[0046] Step 1: Based on the mattress surface pressure distribution data and the three-dimensional environmental map around the transfer robot collected in real time by the pressure sensor layer and the lidar sensor, construct the distribution of the dynamic pressure of the cared person's center of mass on the mattress and analyze the force states of each support point of the mattress.

[0047] Step 2: When detecting an uphill terrain, control the movement of the mattress to change the center of gravity to form an anti-overturning moment; when detecting a downhill terrain, control the movement of the mattress to change the center of gravity to form an anti-tipping moment; when detecting a turn, control the movement of the mattress to change the center of gravity to form an anti-centrifugal moment.

[0048] Beneficial effects: Based on the data collected in real time by the pressure sensor layer and the lidar sensor, construct the distribution of the dynamic pressure of the cared person's center of mass on the mattress and analyze the force states of each support point of the mattress, and can accurately control the movement of the mattress according to different terrain features, change the center of gravity to form corresponding anti-overturning, anti-tipping and anti-centrifugal moments.

[0049] Further, it also includes an emergency braking module. The emergency braking module includes an emergency stop unit, and the emergency stop unit includes an emergency stop button. The emergency stop button is fixedly connected to the top of the lying board. The emergency braking module is used for, during the transfer process of the transfer robot, when an emergency occurs to the cared person, the cared person presses the emergency stop button, and the emergency braking module sends an emergency stop signal to the intelligent control module, and the intelligent control module controls the transfer robot to stop running.

[0050] Beneficial effects: The emergency stop button can respond quickly at critical moments, avoiding the risk of accidents in case of emergencies.

[0051] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a structural diagram of the intelligent nursing system based on mobile nursing of the present invention.

[0053] Figure 2 It is a side axonometric view of the adjustment unit in the intelligent nursing system based on mobile nursing of the present invention.

[0054] Figure 3 It is a rear axonometric view of the adjustment unit in the intelligent nursing system based on mobile nursing of the present invention.

[0055] Figure 4 It is a downward sectional view of the adjustment unit in the intelligent nursing system based on mobile nursing of the present invention.

[0056] Figure 5 It is a side sectional view of the adjustment unit in the intelligent nursing system based on mobile nursing of the present invention.

[0057] Figure 6 It is a front sectional view of the drive plate in the adjustment unit of the intelligent nursing system based on mobile nursing of the present invention.

[0058] Reference numerals in the accompanying drawings of the specification include: 1, bottom plate; 2, support plate; 3, driving member; 4, worm; 5, optical axis; 6, slider; 7, rotating shaft; 8, turbine; 9, gear; 10, rack; 11, connecting rod; 12, sliding rod; 13, bed plate; 14, double-headed driving member; 15, lead screw; 16, nut seat; 17, support plate; 18, guide block; 19, ejector rod; 20, lying board; 21, drive plate; 22, restraint belt; 23, sliding plate; 24, driven wheel; 25, fixed block; 26, fixed wheel; 27, belt; 28, fixing ring; 29, air outlet pipe; 30, piston cylinder; 31, piston rod; 32, pull rod; 33, wheel disc; 34, air inlet pipe; 35, slide rail; 36, drive wheel. DETAILED DESCRIPTION OF THE INVENTION

[0059] The following is a further detailed description through specific embodiments:

[0060] As shown in the attached Figures 1 - 6 figure: An intelligent nursing system based on mobile nursing mainly includes a transfer robot, a movable mattress module, a vital sign monitoring module, an image detection module, and an intelligent control module.

[0061] Among them, the movable mattress module includes a mattress, which is mainly used to push the mattress to move horizontally and vertically, and to fold and lift the mattress. The vital sign monitoring module is mainly used to monitor the pressure distribution on the top of the mattress in real time and generate mattress surface pressure distribution data. The image detection module is mainly used to collect the terrain information around the transfer robot and generate terrain data. The intelligent control module is mainly used to control the movement path of the transfer robot using an adaptive path planning method; and to control the horizontal and vertical movement of the movable mattress module on the mattress and to fold and lift the mattress using a center of gravity control strategy.

[0062] The functions of each module will be explained in detail in turn below:

[0063] The movable mattress module includes a mattress, and the movable mattress module is used to push the mattress to move horizontally and vertically, and to fold and lift the mattress.

[0064] The movable mattress module further includes an adjustment unit. The adjustment unit includes a bottom plate 1, the bottom of the bottom plate 1 is detachably connected to the top of the transfer robot arm, symmetric and integrally formed support plates 2 are provided on the top of the bottom plate 1, driving members 3 are fixedly connected to one side wall of each support plate 2 by screws, the output shafts of the driving members 3 all penetrate through the adjacent support plates 2 and are all coaxially integrally formed with worm gears 4, both ends of the worm gears 4 are rotatably matched with the adjacent support plates 2, a plurality of optical axes 5 are fixedly connected between the adjacent support plates 2 by screws, a slider 6 is provided between the adjacent optical axes 5, and the slider 6 and the optical axes 5 are all slidably matched.

[0065] A rotating shaft 7 is rotatably matched on the slider 6, one end of the rotating shaft 7 is coaxially fixedly connected with a turbine 8 by screws, and the other end of the rotating shaft 7 is coaxially fixedly connected with a gear 9 by screws. The turbine 8 and the worm gear 4 are both meshed.

[0066] The gear 9 meshes with a rack 10, the rack 10 and the slider 6 are slidably matched, connecting rods 11 are integrally formed at both ends of the rack 10, a sliding rod 12 is integrally formed between the adjacent connecting rods 11, and the sliding rod 12 and the slider 6 are slidably matched.

[0067] A bed board 13 is provided above the gear 9, and the bottom of the bed board 13 and the top of the connecting rod 11 are both fixedly connected by bolts.

[0068] A folding assembly for folding and lifting the mattress is provided on the top of the bed board 13.

[0069] The folding assembly includes a double-headed driving member 14 and slide rails 35 that are symmetrically and fixedly connected to the top of the bed board 13 by bolts. The double-headed driving member 14 is fixedly connected to the top of the bed board 13 by screws. A lead screw 15 is integrally formed coaxially on the output shaft at one end of the double-headed driving member 14. A driving wheel 36 is coaxially and fixedly connected to the output shaft at the other end of the double-headed driving member 14 by screws. A nut seat 16 is in threaded fit with the lead screw 15, and the nut seat 16 is in sliding fit with the bed board 13.

[0070] A support plate 17 is hinged to the top of the nut seat 16. Guide blocks 18 are symmetrically and hinged to the side wall of the support plate 17. The guide blocks 18 are all in sliding fit with the adjacent slide rails 35. Top rods 19 are symmetrically hinged to the side wall of the support plate 17. The ends of the top rods 19 far from the support plate 17 are all hinged to the top of the bed board 13.

[0071] A lying board 20 is fixedly connected to the top of the bed board 13 by bolts. The mattress is detachably connected to the top of the support plate 17.

[0072] A restraint assembly for automatically restraining the cared-for person during the transfer by the transfer robot is provided on the driving wheel 36.

[0073] The restraint assembly includes a driving plate 21 and a restraint belt 22. The driving plate 21 is fixedly connected to the top of the bed board 13 by screws. A chute is formed on the driving plate 21. A sliding plate 23 is in sliding fit in the chute. Driven wheels 24 are symmetrically rotatably fitted on the sliding plate 23. Fixed blocks 25 are symmetrically and integrally formed on one side wall of the driving plate 21. A fixed wheel 26 is rotatably fitted on one side wall of the driving plate 21.

[0074] A belt 27 is tensioned among the driven wheels 24, the fixed wheel 26 and the driving wheel 36. The two ends of the belt 27 are respectively fixedly bonded to the adjacent fixed blocks 25.

[0075] Fixed rings 28 are symmetrically and fixedly connected to the side wall of the support plate 17 by screws. Both ends of the restraint belt 22 penetrate through the adjacent fixed rings 28 and are fixedly bonded to the top of the sliding plate 23.

[0076] The limiting assembly includes baffles that are symmetrically and fixedly connected to the top of the support plate 17 by bolts, and a piston cylinder 30 that is fixedly connected to the top of the bottom plate 1 by screws. A piston is in sliding fit in the piston cylinder 30. A piston rod 31 is integrally formed on the piston. One end of the piston rod 31 far from the piston is hinged to a pull rod 32. One end of the pull rod 32 far from the piston rod 31 is eccentrically hinged to a wheel disc 33. A rotating shaft is coaxially and fixedly connected to the side wall of the wheel disc 33 far from the pull rod 32 by screws. One end of the rotating shaft far from the wheel disc 33 penetrates through the adjacent support plate 2 and is integrally formed coaxially with one end of the adjacent worm 4. An air inlet pipe 34 and an air outlet pipe 29 are communicated with the side wall of the piston cylinder 30. One-way valves are communicated in both the air inlet pipe 34 and the air outlet pipe 29.

[0077] Airbags are fixedly bonded to one side wall of the baffle, and the airbags are all connected to the air outlet pipe 29.

[0078] The mattress is made of silicone material, and an antibacterial coating is applied to the top of the mattress. The restraint strap 22 is made of elastic material.

[0079] The vital sign monitoring module includes a sensor monitoring layer unit, and the sensor monitoring layer unit includes a pressure sensor layer, which is fixedly connected to the top of the mattress.

[0080] The vital sign monitoring module is used to use the pressure sensor layer to continuously monitor the pressure distribution on the top of the mattress and generate mattress surface pressure distribution data.

[0081] The image detection module includes a lidar sensor. The image detection module is used to use the lidar sensor to collect the terrain information around the transfer robot and generate terrain data.

[0082] The intelligent control module is used to use the terrain data and the pressure distribution data to control the movement path of the transfer robot using an adaptive path planning method; and use a centroid control strategy to control the movable mattress module to move the mattress horizontally and vertically and fold and lift the mattress.

[0083] In the intelligent control module, the adaptive path planning method includes the following steps:

[0084] Step 1: Use the lidar sensor to scan and construct a three-dimensional environment map around the transfer robot, synchronously fuse the mattress surface pressure distribution data, identify the distribution of obstacles and the human body pressure-sensitive areas, and automatically switch the navigation mode according to the real-time pressure-sensitive areas.

[0085] Step 2: Enable the low-speed bypass mode when a local high-pressure area is detected; use the fast-pass mode in the obstacle-free area.

[0086] Step 3: Control the lifting angle and speed of the support plate 17 to adjust the fluctuation of the mattress surface pressure distribution data to be less than 2 kPa per second.

[0087] In the intelligent control module, the centroid control strategy includes the following steps:

[0088] Step 1: Based on the mattress surface pressure distribution data and the three-dimensional environment map around the transfer robot collected by the pressure sensor layer and the lidar sensor in real time, construct the distribution of the pressure of the centroid of the cared-for person on the mattress dynamically and analyze the force states of each support point of the mattress.

[0089] Step 2: When an uphill terrain is detected, control the mattress to move to change the center of gravity to form an anti-overturning moment; when a downhill terrain is detected, control the mattress to move to change the center of gravity to form an anti-tipping-forward moment; when a turn is detected, control the mattress to move to change the center of gravity to form an anti-centrifugal moment.

[0090] It further includes an emergency braking module. The emergency braking module includes an emergency stop unit. The emergency stop unit includes an emergency stop button. The emergency stop button is fixedly connected to the top of the lying board 20. The emergency braking module is used for the caregiver to press the emergency stop button when an emergency occurs to the caregiver during the transfer process of the transfer robot. The emergency braking module sends an emergency stop signal to the intelligent control module, and the intelligent control module controls the transfer robot to stop running.

[0091] Specifically, first, for example, in the rehabilitation department of a certain hospital, a caregiver who has been bedridden and has limited mobility needs to be transferred from the ward to the rehabilitation training room. The caregiver activates the transfer robot. At this time, the lidar sensor in the image detection module starts to work, scans the environment around the transfer robot, constructs a three-dimensional terrain map of the ward. The three-dimensional terrain map includes the position information of the hospital bed, desks, chairs and aisles, and generates terrain data and transmits it to the intelligent control module. At the same time, the pressure sensor layer of the vital sign monitoring module continuously monitors the pressure distribution on the top of the mattress, converts the pressure data of the caregiver lying on the mattress into mattress surface pressure distribution data and transmits it to the intelligent control module.

[0092] The intelligent control module fuses and analyzes the terrain data and pressure distribution data to perform adaptive path planning for the transfer robot. When there is a local high-pressure area on the top of the mattress and the pressure mutation > 4 kPa, the intelligent control module enables the low-speed bypass mode, controls the transfer robot to slowly drive towards the hospital bed where the cared person is located. At the same time, the intelligent control module controls the output shaft of the double-headed driving member 14 to rotate. In this embodiment, the double-headed driving member 14 is a double-headed stepper motor. The output shaft at one end of the double-headed stepper motor drives the lead screw 15 to rotate. When the lead screw 15 rotates, the nut seat 16 that is in threaded cooperation with it slides on the bed board 13. The movement of the nut seat 16 drives the guide block 18 on the side wall of the support plate 17 to slide synchronously in the slide rail 35. At this time, the included angle between the support plate 17 and the bed board 13 will change, thereby realizing the lifting of the upper body of the cared person. During this process, the intelligent control module will adjust the operating parameters of the double-headed stepper motor according to the local high-pressure position on the surface of the mattress feedback by the pressure sensor layer. For example, if there is a local high pressure in a certain area of the cared person's back, the intelligent control module controls the support plate 17 to lift upward to change the contact angle between the mattress and the cared person's body, thereby effectively dispersing the pressure and reducing the local pressure value. As the nut seat 16 continues to move, the support plate 17 is gradually lifted upward under the support of the ejector rod 19, slowly folding and lifting the mattress to help the cared person adjust to a suitable sitting position for subsequent transfer operations. During this process, the output shaft at the other end of the double-headed stepper motor drives the driving wheel 36 to rotate synchronously.

[0093] Combined with Figure 6 As shown, when the support plate 17 is lifted upward, at this time when the driving wheel 36 rotates, the belt 27 sleeved between the driven wheel 24, the fixed wheel 26 and the driving wheel 36 starts to drive. The driving of the belt 27 causes the sliding plate 23 to move downward in the chute of the driving plate 21. Both ends of the restraint belt 22 pass through the fixed ring 28 and are fixedly bonded to the top of the sliding plate 23. Therefore, as the sliding plate 23 moves downward, the restraint belt 22 gradually tightens, automatically restraining the cared person and effectively preventing the cared person from accidentally slipping during the subsequent transfer process.

[0094] When the transfer robot transports the cared person to move towards the rehabilitation training room, the lidar sensor continuously scans the surrounding terrain. If it detects an uphill terrain ahead, the intelligent control module constructs the distribution of the pressure of the center of mass of the cared person on the mattress based on the mattress surface pressure distribution data and terrain data collected in real time by the pressure sensor layer and the lidar sensor, and analyzes the force state of each support point of the mattress. Subsequently, the intelligent control module controls the output shaft of the driving member 3 in the adjustment unit to rotate. In this embodiment, the driving member 3 is a servo motor. The output shaft of the servo motor drives the worm 4 to rotate.

[0095] Combined with Figure 4 and Figure 5For example, since the worm 4 meshes with the turbine 8, when the output shafts of the two servo motors rotate in the same direction, the turbine 8 will move left and right between the upper worm 4 at this time, and the turbine 8 will not rotate. The turbine 8 drives the rotating shaft 7 and the slider 6 to move left and right on the optical axis 5. The slider 6 drives the connecting rod 11 and then drives the bed board 13 and the mattress to realize the function of moving left and right. Figure 4 The turbine 8 will move left and right between the upper worm 4, and the turbine 8 will not rotate. The turbine 8 drives the rotating shaft 7 and the slider 6 to move left and right on the optical axis 5. The slider 6 drives the connecting rod 11 and then drives the bed board 13 and the mattress to realize the function of moving left and right.

[0096] Combined with Figure 4 For example, when the output shafts of the two servo motors rotate in the opposite direction, the turbine 8 rotates at this time. The rotation of the turbine 8 drives the gear 9 to rotate. Since the gear 9 meshes with the rack 10, the rack 10 drives the slide rod 12 to move back and forth on the Figure 4 slider 6 on it, so that the bed board 13 and the mattress as a whole move back and forth, thereby changing the center of gravity position of the cared person.

[0097] If the transfer robot detects an uphill terrain during the movement, the intelligent control module controls the adjustment unit to move the mattress as a whole away from the transfer robot to form an anti-overturning moment, ensuring the stability of the center of gravity of the cared person during the transfer and safely passing through the uphill section.

[0098] If the transfer robot detects a downhill terrain during the movement, the intelligent control module controls the adjustment unit to move the mattress as a whole closer to the transfer robot to form an anti-tipping-forward moment, ensuring that the cared person will not be in danger due to gravity tipping forward. When the transfer robot turns, the intelligent control module controls the mattress to move towards the inner side of the turn according to the terrain data and the pressure distribution data to form an anti-centrifugal moment, preventing the cared person from tipping outward due to the centrifugal force.

[0099] When the transfer robot moves, the rotation of the worm 4 drives the disc 33 to rotate. The disc 33 makes the piston reciprocate in the piston cylinder 30 through the pull rod 32. The one-way valves in the intake pipe 34 and the exhaust pipe 29 control the gas flow direction, so that the gas in the piston cylinder 30 can only enter the airbag (not shown in the figure) through the exhaust pipe 29. As the transfer robot continues to move, the airbag gradually inflates and expands. The inflated airbag cooperates with the baffle (not shown in the figure) on the top of the support plate 17 to play a dual limiting role for the cared person, effectively preventing the cared person from being displaced due to the bumps or posture changes during the transfer.

[0100] Since the mattress is made of silicone material and coated with an antibacterial coating on the top, it provides a soft and comfortable support for the cared person, can effectively disperse the body pressure, and reduce the risk of pressure sores. At the same time, the antibacterial coating inhibits the growth of bacteria and keeps the surface of the mattress hygienic. The restraint belt 22 made of elastic material can not only firmly restrain the cared person, but also make adaptive adjustments according to the subtle movements of the cared person's body, without causing excessive pressure on the cared person's body, improving the comfort of the cared person during the transfer.

[0101] In addition, if the person being cared for feels unwell during the transfer process, they can immediately press the emergency stop button on the top of the reclining board 20. After receiving the signal, the emergency braking module quickly sends an emergency stop signal to the intelligent control module, and the intelligent control module immediately controls the transfer robot to stop running to ensure the safety of the person being cared for.

[0102] In the prior art, when a transfer and handling robot lifts and moves the person being cared for, since the working arm for execution is a rigid robotic arm, it is difficult to adapt to the terrain in terms of stability and center of gravity according to the terrain of different departments. This poses a risk that the person being cared for is likely to fall from the transfer and handling robot. However, in the present invention, the terrain data is collected in real time by the image detection module. At the same time, based on the pressure distribution information and the center of gravity control strategy, the movable mattress module can timely adjust the position and attitude of the mattress to ensure that the person being cared for always maintains a stable center of gravity under different terrains, reducing the risk of falling.

[0103] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or alterations can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or alterations derived therefrom are still within the protection scope of the present invention.

Claims

1. An intelligent nursing system based on mobile nursing, including a transfer robot, characterized in that, It further includes: A movable mattress module, a vital sign monitoring module, an image detection module, and an intelligent control module; The movable mattress module includes a mattress. The movable mattress module is used to push the mattress to move horizontally and vertically, and to fold and lift the mattress; The vital sign monitoring module includes a sensor monitoring layer unit. The sensor monitoring layer unit includes a pressure sensor layer, and the pressure sensor layer is fixedly connected to the top of the mattress; The vital sign monitoring module is used to use the pressure sensor layer to continuously monitor the pressure distribution on the top of the mattress and generate mattress surface pressure distribution data; The image detection module includes a lidar sensor. The image detection module is used to use the lidar sensor to collect the terrain information around the transfer robot and generate terrain data; The intelligent control module is used to use the terrain data and the pressure distribution data, and use an adaptive path planning method to control the movement path of the transfer robot; and use a center of gravity control strategy to control the movable mattress module to move the mattress horizontally and vertically and to fold and lift the mattress.

2. The intelligent care system based on mobile care according to claim 1, characterized in that, The movable mattress module further includes an adjustment unit. The adjustment unit includes a bottom plate (1). The bottom of the bottom plate (1) is detachably connected to the top of the transfer robot arm. Symmetrically and fixedly connected to the top of the bottom plate (1) are support plates (2). Driving members (3) are fixedly connected to one side wall of each support plate (2). The output shafts of the driving members (3) all penetrate through the adjacent support plates (2) and are all coaxially and fixedly connected with worm gears (4). Both ends of the worm gears (4) are rotationally matched with the adjacent support plates (2). A plurality of optical axes (5) are fixedly connected between the adjacent support plates (2). A slider (6) is arranged between the adjacent optical axes (5). The slider (6) is slidably matched with the optical axes (5). A rotating shaft (7) is rotationally matched with the slider (6). One end of the rotating shaft (7) is coaxially and fixedly connected with a turbine (8). The other end of the rotating shaft (7) is coaxially and fixedly connected with a gear (9). The turbine (8) is meshed with the worm gear (4); The gear (9) is meshed with a rack (10). The rack (10) is slidably matched with the slider (6). Connecting rods (11) are fixedly connected to both ends of the rack (10). A sliding rod (12) is fixedly connected between the adjacent connecting rods (11). The sliding rod (12) is slidably matched with the slider (6); Above the gear (9) is a bed board (13). The bottom of the bed board (13) and the top of the connecting rod (11) are fixedly connected; On the top of the bed board (13) is a folding assembly for folding and lifting the mattress.

3. The intelligent care system based on mobile care according to claim 2, wherein The folding assembly includes a double-headed driving member (14) and sliding rails (35) symmetrically and fixedly connected to the top of the bed board (13). The double-headed driving member (14) is fixedly connected to the top of the bed board (13). A lead screw (15) is coaxially and fixedly connected to the output shaft at one end of the double-headed driving member (14). A driving wheel (36) is coaxially and fixedly connected to the output shaft at the other end of the double-headed driving member (14); A nut seat (16) is threadedly matched with the lead screw (15). The nut seat (16) is slidably matched with the bed board (13); A support plate (17) is hinged to the top of the nut seat (16). Guide blocks (18) are symmetrically and hinged to the side wall of the support plate (17). The guide blocks (18) are all in sliding fit with the adjacent slide rails (35). Top rods (19) are symmetrically hinged to the side wall of the support plate (17). The ends of the top rods (19) far from the support plate (17) are all hinged to the top of the bed board (13). A lying board (20) is fixedly connected to the top of the bed board (13). The mattress is detachably connected to the top of the support plate (17). A restraint assembly for automatically restraining the cared-for person during the transfer of the transfer robot is provided on the driving wheel (36).

4. The intelligent care system based on mobile care according to claim 3, characterized in that The restraint assembly includes a driving plate (21) and a restraint belt (22). The driving plate (21) is fixedly connected to the top of the bed board (13). A chute is formed on the driving plate (21). A sliding plate (23) is in sliding fit in the chute. Driven wheels (24) are symmetrically and rotatably fitted on the sliding plate (23). Fixed blocks (25) are symmetrically and fixedly connected to one side wall of the driving plate (21). A fixed wheel (26) is rotatably fitted on one side wall of the driving plate (21). A belt (27) is tensioned between the driven wheels (24), the fixed wheel (26) and the driving wheel (36). The two ends of the belt (27) are respectively fixedly connected to the adjacent fixed blocks (25). Fixed rings (28) are symmetrically and fixedly connected to the side wall of the support plate (17). Both ends of the restraint belt (22) pass through the adjacent fixed rings (28) and are fixedly connected to the top of the sliding plate (23).

5. The intelligent nursing system based on mobile nursing according to claim 4, characterized in that, The limit assembly includes baffles symmetrically and fixedly connected to the top of the support plate (17), and a piston cylinder (30) fixedly connected to the top of the bottom plate (1). A piston is in sliding fit in the piston cylinder (30). A piston rod (31) is fixedly connected to the piston. One end of the piston rod (31) far from the piston is hinged to a pull rod (32). One end of the pull rod (32) far from the piston rod (31) is eccentrically hinged to a wheel disc (33). A rotating shaft is coaxially fixedly connected to the side wall of the wheel disc (33) far from the pull rod (32). One end of the rotating shaft far from the wheel disc (33) passes through the adjacent support plate (2) and is coaxially fixedly connected to one end of the adjacent worm (4). An air inlet pipe (34) and an air outlet pipe (29) are communicated with the side wall of the piston cylinder (30). One-way valves are communicated in both the air inlet pipe (34) and the air outlet pipe (29). Air bags are fixedly connected to one side wall of the baffles. The air bags are all communicated with the air outlet pipe (29).

6. The intelligent nursing system based on mobile nursing according to claim 5, characterized in that The mattress is made of silica gel material, and an antibacterial coating is applied to the top of the mattress.

7. The intelligent care system based on mobile care according to claim 6, characterized in that, The restraint belt (22) is made of elastic material.

8. The intelligent nursing system based on mobile nursing according to claim 7, wherein, In the intelligent control module, the adaptive path planning method includes the following steps: Step 1: Use a lidar sensor to scan and construct a three-dimensional environmental map around the transfer robot, synchronously fuse the mattress surface pressure distribution data, identify the distribution of obstacles and the human body pressure-sensitive areas, and automatically switch the navigation mode according to the real-time pressure-sensitive areas. Step 2: Enable the low-speed bypass mode when detecting a local high-pressure area; use the fast-pass mode in the obstacle-free area. Step 3: Control the lifting angle and speed of the support plate (17) to adjust the fluctuation of the mattress surface pressure distribution data to be less than 2 kPa per second.

9. The intelligent nursing system based on mobile nursing according to claim 8, characterized in that, In the intelligent control module, the center of gravity control strategy includes the following steps: Step 1: Based on the mattress surface pressure distribution data collected in real time by the pressure sensor layer and the lidar sensor and the three-dimensional environmental map around the transfer robot, construct the distribution of the pressure of the center of mass of the cared-for person on the mattress and analyze the force states of each support point of the mattress; Step 2: When an uphill terrain is detected, control the mattress to move to change the center of gravity to form an anti-overturning moment; when a downhill terrain is detected, control the mattress to move to change the center of gravity to form an anti-tipping-forward moment; when a turn is detected, control the mattress to move to change the center of gravity to form an anti-centrifugal moment.

10. The intelligent care system based on mobile care according to claim 9, characterized in that, It also includes an emergency braking module. The emergency braking module includes an emergency stop unit. The emergency stop unit includes an emergency stop button. The emergency stop button is fixedly connected to the top of the lying board (20). The emergency braking module is used to, during the transfer process of the transfer robot, when an emergency occurs to the cared-for person, the cared-for person presses the emergency stop button, and the emergency braking module sends an emergency stop signal to the intelligent control module, and the intelligent control module controls the transfer robot to stop running.

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