Intelligent shifting machine and control method thereof

Abstract

The invention relates to the technical field of intelligent nursing equipment, in particular to an intelligent shifting machine and a control method thereof.The intelligent shifting machine comprises walking wheels arranged at the bottom of a rack and a driving motor used for driving the walking wheels to rotate; the seat cushion and the backrest are arranged above the rack, and the electric actuating mechanism is used for adjusting the postures of the seat cushion and the backrest; the control system is electrically connected with the driving motor and the electric actuating mechanism, and the control system is used for receiving an operation instruction of a user, controlling the driving motor to drive the walking wheels based on the instruction, and controlling the electric actuating mechanism to adjust the postures of the cushion and the backrest; according to the invention, the mobile rack with the driving motor and the walking wheels, the sitting-standing conversion mechanism for linkage adjustment of the seat cushion and the backrest, and the intelligent control system for environment sensing, path planning and PID motion control algorithms are integrated, so that cooperative control of autonomous movement and posture conversion of the whole machine is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent nursing equipment, and specifically to an intelligent transfer machine and a control method thereof, which is particularly suitable for the elderly, disabled people and people with mobility difficulties. It can help the person being transferred complete the transition from a sitting position to a standing position, and provide intelligent control and safety protection functions. Background Art

[0002] With the advent of an aging society, the daily needs of the elderly and those with mobility impairments are increasing. Currently, existing nursing equipment is generally limited in function, complex to operate, and lacks intelligent design, failing to meet the diverse needs of these people in daily life. Existing transfer lifts, in particular, present operational inconveniences and safety risks during mobility, toileting, and standing.

[0003] In traditional nursing care equipment, manually adjusting the seat and back support angles of a lift requires complex operations by both the user and caregiver, and lacks intelligent control. Existing lifts often lack automatic adjustment features, failing to provide personalized support based on the user's body shape or activity needs. Furthermore, existing equipment features simplistic safety designs and lacks effective safeguards to prevent falls and other safety issues during the transition to a standing position.

[0004] Therefore, there is an urgent need for a new transfer machine that can combine intelligent control, automatic adjustment, and safety protection functions to provide a more convenient and safe living experience for the elderly, disabled people, and those with limited mobility. The transfer machine of the present invention is proposed based on this demand, aiming to provide a more intelligent and comfortable nursing device that can help the person being transferred to complete daily activities independently and improve their quality of life. Summary of the Invention

[0005] The technical problem to be solved by the present invention is that the equipment has a single function and a low level of intelligence. The purpose is to provide an intelligent transfer machine and a control method thereof, and to provide a comprehensive transfer device that is integrated, intelligent, easy to operate, and can safely adapt to complex home environments.

[0006] The present invention is achieved through the following technical solutions: An intelligent transfer machine, comprising: frame; A travel wheel provided at the bottom of the frame and a drive motor for driving the travel wheel to rotate; A seat cushion and a backrest are arranged above the frame, and an electric actuator for adjusting the posture of the seat cushion and the backrest, the seat cushion is rotatably connected to the frame, and the rear end of the seat cushion is rotatably connected to the lower end of the backrest; A control system is electrically connected to the drive motor and the electric actuator, and is used to receive user operation instructions and, based on the instructions, control the drive motor to drive the running wheels and control the electric actuator to adjust the posture of the seat cushion and backrest.

[0007] Optionally, the frame includes: a cross beam, an oblique beam and a front support frame, the oblique beam is obliquely arranged below the cross beam, and its upper end is fixedly connected to the front end of the cross beam through a frame support block, the middle part of the oblique beam is fixedly connected to the middle part of the cross beam through a support rod, and the front support frame is fixed to the frame support block through a frame connecting block.

[0008] Optionally, the walking wheels include: a front wheel and a rear drive wheel, the front wheel is fixedly connected to the front support frame, the rear drive wheel is fixedly connected to the lower end of the inclined beam, and the drive motor is arranged on the inclined beam and drives the rear drive wheel to rotate.

[0009] Optionally, the electric actuator includes: An electric push rod, one end of which is connected to the frame, and the other end of which is rotatably connected to the seat cushion via a transmission connecting rod; an angle adjustment motor, which is provided at the connection between the backrest and the seat cushion and is used to drive the backrest to rotate relative to the seat cushion; An angle adjuster for detecting the postures of the seat cushion and the backrest; The electric push rod, the angle adjustment motor and the angle adjuster are all electrically connected to the control system.

[0010] Furthermore, the transfer machine also includes an armrest connected to the side of the backrest; the physical control structure of the control system is arranged in the electronic component assembly box on the back side of the backrest, and the control system also includes an operating rocker for receiving user operating instructions, and the operating rocker is arranged at the front end of the armrest.

[0011] Furthermore, the transfer machine also includes a safety device and a lying device, wherein the safety device is used to fix the user on the seat cushion and / or the backrest; the lying device has a normal posture and a lying posture, when the lying device is in the lying posture, the backrest is horizontally arranged, and the lying device supports the upper part of the backrest; when the lying device is in the normal posture, the lying device is stored on the rear side of the backrest.

[0012] Optionally, the transfer machine further comprises an intelligent toilet system for docking with a universal toilet, the toilet system comprising: a separable seat cushion comprising a left seat cushion and a right seat cushion that can slide relative to each other to form a toilet opening therebetween; A three-dimensional positioning module for scanning the position and shape of a universal toilet; a path planning module, configured to plan a movement path for the transfer machine to dock with a universal toilet based on information acquired by the three-dimensional positioning module; a drive control module for controlling the drive motor to execute the movement path; A real-time calibration system for continuously monitoring and correcting the relative position of the lift and the universal toilet during movement; and A height adaptation device is used to fine-tune the electric actuator so that the height of the seat cushion matches the height of a common toilet.

[0013] A control method for an intelligent transfer machine, based on the intelligent transfer machine, the control method includes: The environment sensing and acquisition module installed on the transfer machine collects the three-dimensional spatial data of the environment around the transfer machine in real time; Through the path planning module, an obstacle avoidance path to the target point is generated based on the three-dimensional spatial data and the preset target point position; Controlling the driving motor to drive the walking wheels through the driving execution module so that the transfer machine moves along the obstacle avoidance path; During the moving process, the steps of environment perception, path planning and driving execution are repeated until the lift reaches the target point.

[0014] A control method for an intelligent transfer machine, based on the intelligent transfer machine described above, the control method includes: Scan and obtain the three-dimensional coordinates and height information of the universal toilet through the three-dimensional positioning module; Based on the acquired 3D coordinates and height information, the relative position of the transfer machine and the universal toilet is calculated, and the movement path for docking with the universal toilet is planned; controlling the drive motor to drive the transfer machine to move along the moving path toward the universal toilet; During the movement, the docking deviation between the transfer lift and the universal toilet is continuously monitored and corrected through the real-time calibration system; When the transfer machine moves to the preset docking range, the height of the seat cushion is adjusted through the height adaptation device to match the height of a common toilet; When the lift is precisely docked on the universal toilet, lock the wheels and slide the left and right seat cushions to the sides to create an opening for accessing the toilet.

[0015] Specifically, the method for planning a moving path for docking a universal toilet includes: calculating the relative distance and azimuth between the transfer machine and the universal toilet based on the three-dimensional coordinate data, and generating an adjusted driving path including travel direction, speed, and steering angle parameters accordingly; The method for controlling the driving motor includes: adjusting the driving path by a driving motor controller and a steering motor controller so that the transfer machine approaches the universal toilet; Steering angle The control formula is: ,in, is the lateral deviation of the path, For time, is the proportional gain, is the integral gain, is the differential gain; Travel speed The control formula is: ,in, is the longitudinal distance deviation; The working method of the real-time calibration system includes: during the movement process, the real-time three-dimensional coordinates of the universal toilet are scanned and obtained in real time through the three-dimensional positioning module, and the docking deviation is monitored. When the docking deviation exceeds the preset threshold, the path planning step is returned to perform dynamic correction.

[0016] Compared with the prior art, the present invention has the following advantages and beneficial effects: The present invention integrates a mobile frame with a drive motor and running wheels, a sit-to-stand conversion mechanism with coordinated adjustment of the seat cushion and backrest, an intelligent control system with environmental perception, path planning, and PID motion control algorithms to achieve coordinated control of the autonomous movement and posture change of the entire machine. The invention realizes multiple functions in one machine by providing a sit-stand conversion mechanism, overcoming the defect of single function of existing equipment, and can fully meet the user's multiple core needs such as moving, sitting, and standing on one machine, thereby improving the integration and use value of the equipment. By adopting a closed-loop control method based on environmental perception, path planning and drive execution, the transfer machine is given the ability to autonomously navigate and avoid obstacles; users or caregivers can achieve safe movement from one position to another without continuous and stressful manual operation, which reduces the usage threshold and the labor intensity of care, thereby improving the intelligence level and safety of the movement process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, are used to explain the principles of the present invention. These drawings are included to provide a further understanding of the present invention, and the accompanying drawings are included in and constitute a part of this specification and do not constitute a limitation of the embodiments of the present invention.

[0018] Figure 1 This is a structural schematic diagram of an intelligent transfer machine according to the present invention, in which the user is in a sitting position.

[0019] Figure 2 This is a schematic structural diagram of an intelligent transfer machine according to the present invention, in which the user is in a standing position.

[0020] Figure 3 2 is a schematic structural diagram of a leg safety device according to an embodiment of the present invention.

[0021] Figure 4 2 is a schematic structural diagram of a waist safety device according to an embodiment of the present invention.

[0022] Figure 5 It is a schematic diagram of the docking of the transfer machine according to the present invention and a universal toilet.

[0023] Figure 6 It is a schematic diagram of the docking of the transfer machine and the bed according to the present invention.

[0024] Figure 7 It is a flow chart of the control method according to the present invention.

[0025] Figure numerals: 1, footrest; 2, front support frame; 3, frame connection block; 4, electronic component assembly box; 5, operating joystick; 6, armrest; 7, rotating safety frame; 8, fixed safety frame; 9, backrest; 10, backrest main frame; 11, front baffle; 12, safety belt box; 13, back safety buckle; 14, angle adjustment motor; 15, angle adjuster; 16, seat cushion main support frame; 17, crossbeam; 18, transmission connecting rod; 19, electric push rod; 20, rear drive wheel; 21, support rod; 22, drive motor; 23, oblique beam; 24, front wheel; 25, frame connection block; 26, waist safety belt; 27, waist safety belt Buckle; 28. Leg safety belt; 29. ​​Leg safety belt box; 30. Rotating shaft; 31. First electromagnet; 32. Second block; 33. First volute spring; 34. First ratchet; 35. First block fixing bracket; 36. Safety belt clip; 37. Leg safety belt; 38. Second electromagnet; 39. Second block; 40. Second block fixing bracket; 41. Second ratchet; 42. Waist safety belt box; 43. Second volute spring; 45. Left seat cushion; 46. Front end of seat cushion; 47. Right seat cushion; 48. Universal toilet; 49. Bed; 50. Hinge; 51. Telescopic rod; 52. Support leg; 53. Anti-slip base. DETAILED DESCRIPTION

[0026] To make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the relevant content and are not intended to limit the present invention.

[0027] It should also be noted that, for the convenience of description, only the parts related to the present invention are shown in the drawings.

[0028] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they may refer to fixed connection, detachable connection, or integration; they may refer to direct connection or indirect connection through an intermediate medium; they may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0029] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0030] In the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0031] Example 1 like Figure 1 、 Figure 2 As shown, this embodiment provides a core posture adjustment system for an intelligent lift. This system uses an electric drive mechanism to change the angle and relative position of the seat cushion and backrest 9, thereby assisting users in smoothly and safely transitioning from sitting to standing (or vice versa). Specifically, it includes the following structures: a frame as the foundation, a traveling mechanism responsible for movement, an electric actuator for posture adjustment, and a control system as the brain.

[0032] The bottom of the frame is equipped with running wheels and a drive motor 22 for driving them. This combination of the running wheels and the drive motor 22 provides the lift with basic mobility, enabling it to move forward, backward, and turn on the ground. Driven by the drive motor 22, the running wheels support the device's forward, backward, and rotational functions, ensuring stable movement on various surfaces. The wheels can automatically adjust their speed and direction to suit different environments. The running wheels also provide shock absorption, enhancing the lift's stability and comfort.

[0033] The seat cushion and backrest 9 are arranged above the frame, and an electric actuator for adjusting the posture of the seat cushion and the backrest 9. The seat cushion is rotatably connected to the frame, and the rear end of the seat cushion is rotatably connected to the lower end of the backrest 9. The height and angle of the seat cushion can be adjusted to help the displaced person smoothly transition to a standing state, and the seat cushion can automatically adapt to the body shape of the displaced person during the adjustment process to provide the most comfortable sitting and standing support.

[0034] The control system is electrically connected to the drive motor 22 and the electric actuator. The control system is used to receive user operation instructions and, based on the instructions, control the drive motor 22 to drive the walking wheels and control the electric actuator to adjust the posture of the seat cushion and backrest 9.

[0035] Among them, the electric actuators as key components include: One end of the electric push rod 19 is connected to the frame, and the other end of the electric push rod 19 is rotatably connected to the seat cushion through a transmission connecting rod 18; when the control system instructs it to extend or shorten, it will push or pull the seat cushion, causing the entire seat cushion to pitch around the rotation point between it and the frame, thereby lifting the user from a low sitting position.

[0036] The angle adjustment motor 14, located at the junction of the backrest 9 and the seat cushion, is used to drive the backrest 9 to rotate relative to the seat cushion. Its core function is to independently adjust the angle of the backrest 9 relative to the seat cushion. For example, during assisted standing, in addition to the lifting action of the electric push rod 19, the angle adjustment motor 14 simultaneously drives the backrest 9 to rotate, gradually increasing the angle between the seat cushion and the backrest 9 (approaching 180 degrees), thereby helping the user to straighten their body and complete standing.

[0037] The angle adjuster 15 is used to detect the posture of the seat cushion and the backrest 9; it continuously detects the real-time posture of the seat cushion and the backrest 9 (that is, their respective inclination angles and the angle between them), and transmits these data to the control system, so that the control system can accurately know the current posture and compare it with the target posture, thereby achieving precise closed-loop control to avoid the situation where the angle is too large or too small. At the same time, the user can choose different angles according to personal needs to achieve the best support effect.

[0038] The electric push rod 19 , the angle adjustment motor 14 , and the angle adjuster 15 are all electrically connected to the control system.

[0039] When the user issues a posture change command, the control system receives it and, based on the initial posture information fed back by the angle adjuster 15, simultaneously issues coordinated action commands to the electric actuator 19 and the angle adjustment motor 14. The electric actuator 19 is responsible for lifting and tilting the seat cushion, shifting the user's center of gravity forward and upward. Simultaneously, the angle adjustment motor 14 adjusts the angle between the backrest 9 and the seat cushion, assisting the user in extending their torso. Throughout the entire movement process, the angle adjuster 15 continuously provides real-time angle feedback, ensuring precise, smooth, and synchronized movement of the two drive components, ultimately completing the preset posture change safely and comfortably.

[0040] Example 2 This embodiment further defines the core components of the intelligent transfer machine based on the basic architecture of the previous embodiment.

[0041] The frame includes: a cross beam 17, an oblique beam 23 and a front support frame 2. The oblique beam 23 is obliquely arranged below the cross beam 17, and its upper end is fixedly connected to the front end of the cross beam 17 through a frame support block. The middle part of the oblique beam 23 is fixedly connected to the middle part of the cross beam 17 through a support rod 21, and the front support frame 2 is fixed to the frame support block through a frame connecting block 3.

[0042] The main body of the frame is composed of a crossbeam 17 (a horizontal member that primarily bears the weight of the upper portion), diagonal beams 23 (connected at an angle to form a stable triangular structure), and support rods 21 (which reinforce the connection between the crossbeam 17 and diagonal beams 23). This design leverages the stability principle of a triangle, ensuring the frame's exceptional rigidity and resistance to deformation even when carrying human weight and during movement.

[0043] Furthermore, the front support frame 2 is not welded directly to the main beam, but is secured via standardized connectors such as the frame connection block 3 and the frame support block. This modular connection method not only ensures connection reliability but also facilitates subsequent production, maintenance, and component replacement. The footrest 1 is located at the front of the lift, and its height and angle can be adjusted as needed by the person being lifted, providing leg support.

[0044] The walking wheels include: a front wheel 24 and a rear drive wheel 20, the front wheel 24 is fixedly connected to the front support frame 2, the rear drive wheel 20 is fixedly connected to the lower end of the inclined beam 23, and the drive motor 22 is arranged on the inclined beam 23 and drives the rear drive wheel 20 to rotate.

[0045] The front running wheels 24 are universal wheels with shock absorption, and the rear drive wheels 20 are equipped with independent brakes. This combination of running wheels enhances the lift's stability and comfort in various floor conditions. The brakes on the rear drive wheels 20 utilize an electronically controlled braking system, enabling precise control of stability during parking. The braking system, managed by an intelligent control module, automatically adjusts based on the lift's speed, floor conditions, and the needs of the person being moved. Braking force is automatically adjusted based on the lift's operating status, the person being moved's instructions, or environmental conditions, ensuring smooth operation.

[0046] The control system also includes an operating rocker 5 for receiving user operating instructions. In order to facilitate user operation, the transfer machine also includes an armrest 6 connected to the side of the backrest 9; and an operating rocker 5 is installed at the front end of the armrest 6 (i.e., the most easily accessible position).

[0047] The physical control structure of the control system is arranged in the electronic component assembly box on the rear side of the backrest 9, and the movement direction, standing mode, sitting mode, walking speed and other functions of the device are controlled by operating the joystick 5.

[0048] Example 3 The transfer machine also includes a safety device and a flat lying device, wherein the safety device is used to fix the user on the seat cushion and / or the backrest 9; the flat lying device has a normal posture and a flat lying posture, when the flat lying device is in the flat lying posture, the backrest 9 is horizontally arranged, and the flat lying device supports the upper part of the backrest 9; when the flat lying device is in the normal posture, the flat lying device is stored at the rear side of the backrest 9.

[0049] like Figure 3 and Figure 4 As shown, To provide users with all-round body fixation and protection, the safety device provided in this embodiment is a combination of a waist safety device and a leg safety device, which effectively and intelligently restrain the upper and lower body of the human body respectively.

[0050] The waist safety device is primarily responsible for securing the user's waist and torso, preventing them from tilting or slipping when the device is moved or in a different position. Its function is similar to a car seat belt. A waist safety belt box 42 is mounted on one side of the backrest 9; a waist safety belt 26 extends from the box; and a waist safety belt buckle 27 is secured to the other side of the backrest 9. The user unscrews the safety belt, wraps it around the waist, and inserts the safety belt clip 36 at the end into the buckle to secure the belt.

[0051] A lap belt box 42 is provided on one side of the backrest 9; one end of the lap belt 26 is received in the lap belt box 42 via a first telescopic locking mechanism; a lap belt buckle 27 is provided on the other side of the backrest 9; the other end of the lap belt 26 is detachably engaged with the lap belt buckle 27 via a belt clip 36; The first telescopic locking mechanism is different from the traditional mechanical locking safety belt. Its core lies in an electronically controlled telescopic locking mechanism. This mechanism includes: The first block fixing frame 35 is fixed to the waist safety belt box 42. The first block fixing frame 35 is arranged above the first ratchet 34. The first block is slidably connected to the first block fixing frame 35. The first block fixing frame 35 is fixed inside the safety belt box 12 and serves as a moving guide rail and bracket for the first block. The first block can only reciprocate along the path set by the fixing frame (in this case, the up and down direction) without deflection.

[0052] The first electromagnet 31 is arranged above the stopper, forming a vertical layout of "electromagnet->stopper->ratchet" from top to bottom, which is the key to realizing the subsequent gravity reset function.

[0053] When powered, the first electromagnet 31 magnetically attracts the first stopper, disengaging it from the first ratchet 34. When the user activates the upper electromagnet via the operating handle, it generates an upward magnetic force that magnetically attracts the lower metal first stopper and lifts it upward. The stopper slides upward along the mounting bracket, disengaging the lower first ratchet 34 and unlocking the lock.

[0054] When the power is off, the first stopper moves downward under the action of gravity, meshing with the first ratchet 34. When the operating handle issues a power-off command, the magnetic force of the electromagnet disappears. Now, with no force supporting the first stopper, gravity forces it downward vertically along the guide rails of the mounting bracket and re-enters the tooth groove of the first ratchet 34, completing the locking process.

[0055] The first elastic return member is a first spiral spring 33 wound around the first rotating shaft, and the first electromagnet 31 is an electromagnet connected via an operating handle.

[0056] The volute spring works in conjunction with the electromagnet. When the seat belt is stretched too long, the volute spring can automatically shorten the length of the seat belt by compressing its internal structure. At the same time, it increases the tightening force of the seat belt, ensuring that the seat belt fits tightly against the user's body, preventing the seat belt from loosening during standing or moving, and further improving comfort and safety.

[0057] The spiral spring can not only adjust the length of the safety belt, but also automatically retract the safety belt to its original position by utilizing its elastic recovery function when the user is not using the safety belt, effectively saving storage space, keeping the appearance of the transfer machine neat, and preventing the safety belt from being worn or deformed due to long-term exposure, thereby extending the service life of the equipment.

[0058] The seat belt latch is made of high-strength materials, such as steel or high-strength plastic, and is surface-treated to improve corrosion resistance, wear resistance, and fatigue resistance, ensuring that it will not loosen, age, or crack during long-term use, further enhancing the durability of the seat belt fixing device and ensuring user safety.

[0059] The leg safety device can actively prevent the user from leaning forward or falling from the device, which is particularly important in key operations such as standing assistance. The leg safety device includes: one end of the fixed safety frame 8 is fixedly connected to the upper end of the backrest 9; one end of the rotating safety frame 7 is rotatably connected to the other end of the fixed safety frame 8; the fixed safety frame 8 and the rotating safety frame 7 form a swing arm structure, which switches between a storage state at the rear of the backrest 9 and a protection state in front of the user. The device also includes a rotating safety frame 7 and a fixed safety frame 8, and the rotating safety frame 7 is connected to the fixed safety frame 8 through a rotation point. The rotating safety frame 7 can be rotated to the optimal position as needed to provide back support for the displaced person and prevent falls; The leg safety belt box 29 is fixed to the other end of the rotating safety frame 7 through the front baffle 11 and moves with it. Only when the rotating safety frame 7 is in the "protection state" in the front, the leg safety belt 37 will be delivered to the user for use.

[0060] One end of the leg safety belt 37 is received in the leg safety belt box 29 via a second telescopic locking mechanism; The buckle of the leg safety belt 37 is arranged at the lower end of the backrest 9, and the other end of the leg safety belt 37 is detachably connected to the buckle of the leg safety belt 37 through the safety belt clamp 36; The leg safety belt box 29 has a storage state and a protection state. When in the storage state, the leg safety belt box 29 is located on the rear side of the backrest 9; when riding normally or not walking, the rotating safety frame 7 is flipped to the rear of the backrest 9. At this time, the entire leg safety device is stored and does not affect the user's activities or getting on and off the equipment.

[0061] In the protective state, the leg safety belt box 29 is located in front of the backrest 9. When standing or moving, the rotating safety frame 7 will flip forward in front of the user. At this time, the front baffle 11 fixed with the safety belt box 12 will form a physical guardrail, effectively preventing the user from leaning forward or sliding off the device.

[0062] After entering the protection state, the user can pull out the leg safety belt 37 from the leg safety belt box 29 located in the front and fix it to the leg safety belt 37 buckle at the lower end of the backrest 9, thereby restraining the legs or knees and fixing the lower body.

[0063] Different from the vertical rotating shaft of the waist component, the rotating shaft 30 is arranged horizontally, the leg safety belt 37 is pulled out laterally from the leg safety belt box 29, and the second ratchet 41 is arranged between the two leg safety belts 37 to ensure the locking and release of the entire rotating shaft.

[0064] The structure of the second telescopic locking mechanism is almost the same as the first telescopic locking mechanism of the waist assembly, including: a second stopper fixing frame 40 fixed to the leg safety belt box 29, the second stopper fixing frame 40 being arranged above the second ratchet 41, the second stopper 32 being slidably connected to the second stopper fixing frame 40, and the second electromagnet 38 being arranged above the stopper; When power is on, the second electromagnet 38 magnetically attracts the second stopper 32 to disengage the second stopper 32 from the second ratchet 41 ; when power is off, the second stopper 32 moves downward under the action of gravity to engage with the second ratchet 41 .

[0065] The leg safety belt 37 assembly in this example is located on the rear side of the backrest 9 when not in use. Therefore, the leg safety belt box 29 changes its position through the safety belt box 12 fixing frame, which includes a fixed safety frame 8 and a rotating safety frame 7. The "fixed safety frame 8 + rotating safety frame 7" structure constitutes a swingable cantilever or rocker arm, allowing the entire leg safety belt box 29 to rotate around the connection point.

[0066] One end of the fixed safety frame 8 is fixedly connected to the upper end of the backrest 9, one end of the rotating safety frame 7 is rotatably connected to the other end of the fixed safety frame 8, and the leg safety belt box 29 is fixedly connected to the other end of the rotating safety frame 7. When in use, the leg safety belt box 29 is rotated to the front of the user, and then the two leg safety belts 37 are pulled out and locked to provide stable and symmetrical protection for the user's lower limbs.

[0067] The second elastic return member is a second spiral spring 43 wound around the rotating shaft 30 , and the second electromagnet 38 is an electromagnet connected via an operating handle.

[0068] Furthermore, to prevent excessive pressure on the waist belt 26 caused by excessive forward bending while standing, a support plate is installed on the rear side of the leg belt box 29. The support plate is designed to resemble a semicircular arc, which better fits the waist and makes it fit more closely to the user, effectively preventing the user from leaning forward when using the lift. The support plate design not only provides appropriate support to prevent waist discomfort caused by long-term sitting, but also adopts a moderate hardness to prevent forward leaning without causing physical pressure or discomfort. This provides comfortable support for the user while ensuring stability and health during long-term use.

[0069] The bed-compatible reclining backrest 9 system of the transfer machine includes a backrest 9 and a seat cushion. The backrest 9 is connected to the frame via a hinge 50. The backrest 9 and the main seat support frame 16 can be adjusted in angle via an electric push rod 19 and an angle adjuster 15, allowing the transfer machine to smoothly transition from a sitting position to a reclining position. This system automatically adjusts the sitting and reclining positions of the transfer machine to the patient's body type and needs, providing maximum comfort and is particularly suitable for bedridden patients.

[0070] The lying backrest 9 system is linked to the electric push rod 19 system through the intelligent control module. The person being moved can quickly adjust the sitting and lying angles of the transfer machine by inputting commands through the remote control, realizing rapid conversion from sitting position, standing position to lying position, ensuring the comfort of the person being moved when lying in bed for a long time, and effectively reducing the workload of nursing staff.

[0071] The reclining mechanism structurally comprises a telescopic rod 51 and support legs 52. To activate the reclining function, the entire support assembly, consisting of the telescopic rod 51 and support legs 52, is first flipped downward from the backrest 9 via a hinge 50. The telescopic rod 51 can then be adjusted in length as needed to ensure that the support legs 52 at their final ends precisely contact a supporting surface (e.g., the ground), providing a stable support point for the already horizontal backrest 9. A non-slip base 53 is provided at the lower end of the support legs 52.

[0072] Example 4 This invention significantly enhances the intelligence of nursing equipment by integrating intelligent control, automatic adjustment, smart navigation, and multiple safety features. The intelligent operating system allows the patient to independently transition from sitting to standing and perform daily tasks such as using the toilet, reducing reliance on assistance and improving quality of life. The combination of intelligent control and safety design not only improves the device's ease of use but also enhances safety during use.

[0073] This embodiment focuses on the two core functions of the intelligent transfer machine: a dedicated, task-specific automatic docking system (intelligent toileting system), and a general, global movement-oriented autonomous navigation capability (automatic navigation function).

[0074] The transfer machine also includes an intelligent toilet system for docking with a universal toilet 48, the goal of which is to guide the transfer machine to dock with the universal toilet 48 in the bathroom with millimeter-level precision without human intervention.

[0075] The toilet system comprises: The detachable seat cushion includes a left seat cushion 45 and a right seat cushion 47 that slide together to form a toilet opening. After docking, the two cushions separate to form an opening, allowing the user to use the toilet without leaving the lift. To prevent the entire seat cushion from completely separating, a non-detachable seat cushion front end 46 can be provided at the front of the seat cushion.

[0076] A three-dimensional positioning module is used to scan the position and shape of the universal toilet 48; it uses scanning technology (such as radar or sensors) to accurately detect and identify the precise position, size and orientation of the target object (universal toilet 48) in three-dimensional space.

[0077] a path planning module for planning a movement path for the transfer machine to dock with the universal toilet 48 based on the information obtained by the three-dimensional positioning module; a drive control module, configured to control the drive motor 22 to execute the movement path; A real-time calibration system continuously monitors and corrects the relative position of the lift and universal toilet 48 during movement. Due to slippery floors or initial measurement errors, a one-time path planning may not be sufficient for perfect alignment. The system continuously monitors the relative position and posture deviations between the lift and the universal toilet throughout the lift's approach to the toilet, making dynamic, real-time fine-tuning to ensure final alignment accuracy.

[0078] A height adaptation device is used to fine-tune the electric actuator so that the height of the seat cushion matches the height of a common toilet 48.

[0079] Likewise, by utilizing the above-mentioned multiple modules, the general function of automatic navigation can be realized.

[0080] During the driving process, if an obstacle is detected ahead, the system will automatically replan and adjust the route to bypass the obstacle instead of stopping or colliding blindly.

[0081] By identifying and matching environmental features (similar to how people remember reference objects to find their way), the system can roughly determine its own position in the indoor environment. This is the basis for achieving true autonomous navigation (such as automatically moving from the bedroom to the living room).

[0082] The intelligent control system also includes an automatic navigation function. Using sensors and radar scanning technology, the intelligent control system can automatically adjust the lift's route according to the surrounding environment, avoid obstacles and achieve autonomous positioning, further enhancing the lift's intelligence level.

[0083] Example 5 This embodiment details the control logic for the autonomous navigation capability of the intelligent lift. Rather than planning and executing a fixed path all at once, a closed-loop feedback control method of perception, planning, and control is employed. The control method includes: The environmental perception and acquisition module installed on the transfer machine collects three-dimensional spatial data of the environment around the transfer machine in real time. It is usually composed of multiple sensors such as laser radar (LiDAR), depth camera or ultrasonic sensor, which continuously transmits detection signals to the surroundings and receives return signals, thereby constructing three-dimensional spatial data of its surrounding environment in real time.

[0084] Through the path planning module, an obstacle avoidance path to the target point is generated based on the three-dimensional spatial data and the preset target point position; that is, the optimal or suboptimal path from the current position to the target point that can perfectly avoid all known obstacles.

[0085] The drive execution module controls the drive motor 22 to drive the travel wheels, causing the lift to move along the obstacle avoidance path. The path instructions are broken down into specific control commands for the drive motor 22 (e.g., left wheel speed, right wheel speed, and duration). By precisely controlling the motor, it drives the travel wheels, allowing the lift to move strictly along the planned path in the physical world.

[0086] During the moving process, the steps of environment perception, path planning and driving execution are repeated until the lift reaches the target point.

[0087] The lift doesn't just complete its "perception-planning-execution" cycle once. This cycle repeats itself continuously every second it travels along its path. Even if a new obstacle appears along the way (for example, a passing person or pet), a new round of "environmental perception" immediately detects this change. The subsequent "path planning" immediately generates a new path that circumvents the new obstacle, which is then implemented by "drive execution." This ensures the lift can dynamically adapt to environmental changes, enabling safe and reliable autonomous navigation.

[0088] Example 6 This embodiment describes the functions related to automatic toileting. By integrating multiple sensors (such as radars, infrared sensors, etc.) and an electric drive system, it is possible to achieve precise docking of the transfer machine with a universal toilet 48. First, the system obtains the position of the toilet through sensor scanning and adjusts it according to the current coordinates of the transfer machine to ensure that the transfer machine and the toilet are accurately docked. If there is a difference in height between the transfer machine and the toilet, the intelligent control system will automatically adjust the height of the transfer machine to ensure that the person being displaced can maintain a comfortable posture during toileting. At the same time, the system monitors the environment in real time to avoid obstacles interfering with the movement of the transfer machine, ensuring that the transfer machine completes the adjustment safely and stably throughout the operation. Finally, after the system confirms the docking position, it automatically locks the transfer machine and prompts the person being displaced to complete the docking. The specific process is as follows: The three-dimensional coordinates and height information of the universal toilet 48 are scanned and obtained through a three-dimensional positioning module (usually composed of sensors such as lidar or depth cameras); the bathroom environment is scanned, the universal toilet 48 is accurately identified in a complex environment, and its complete three-dimensional spatial coordinates (i.e., X, Y, and Z axis positions) and crucial height information are obtained.

[0089] Calculate the relative position (distance and azimuth) between the transfer machine and the universal toilet 48 based on the acquired three-dimensional coordinates and height information, and plan the movement path for docking with the universal toilet 48; Controlling the drive motor 22 to drive the transfer machine along the moving path toward the universal toilet 48; During the movement, the docking deviation between the transfer machine and the universal toilet 48 is continuously monitored and corrected through the real-time calibration system; the "docking deviation" between the transfer machine and the toilet (that is, the small difference between the actual position and the theoretical path position) is constantly remeasured, and the control instructions of the drive motor 22 are dynamically fine-tuned to continuously correct the route.

[0090] When the lift reaches the preset docking range, the height of the seat cushion is adjusted by the height adaptor according to the toilet height information obtained in the first step to match the height of the universal toilet 48; When the transfer machine is precisely docked with the universal toilet 48 (error ≤ 1 cm), the running wheels are locked and the left seat cushion 45 and the right seat cushion 47 are slid to both sides to form a toilet opening.

[0091] The specific methods used in some steps are as follows: The method for planning a movement path for docking the universal toilet 48 includes: calculating the relative distance and azimuth between the transfer machine and the universal toilet 48 based on the three-dimensional coordinate data, and generating an adjusted travel path including travel direction, speed, and steering angle parameters accordingly; The method of controlling the drive motor 22 includes: adjusting the travel path by executing, through the drive motor 22 controller and the steering motor controller, such that the transfer machine approaches the universal toilet 48; Steering angle The control formula is: ,in, is the lateral deviation of the path, For time, is the proportional gain, is the integral gain, is the differential gain; Travel speed The control formula is: ,in, is the longitudinal distance deviation; The working method of the real-time calibration system includes: during the movement process, the real-time three-dimensional coordinates of the universal toilet are scanned and obtained in real time through the three-dimensional positioning module, and the docking deviation is monitored. When the docking deviation exceeds the preset threshold, the path planning step is returned to perform dynamic correction.

[0092] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments / methods or examples. In addition, those skilled in the art may combine and combine different embodiments / methods or examples described in this specification and the features of different embodiments / methods or examples, unless they are contradictory.

[0093] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0094] It should be understood by those skilled in the art that the above embodiments are merely for the purpose of illustrating the present invention clearly, and are not intended to limit the scope of the present invention. For those skilled in the art, other changes or modifications may be made based on the above invention, and these changes or modifications are still within the scope of the present invention.

Claims

1. An intelligent transfer machine, characterized in that: include: frame; A running wheel provided at the bottom of the frame and a driving motor (22) for driving the running wheel to rotate; A seat cushion and a backrest (9) are arranged above the frame, and an electric actuator for adjusting the posture of the seat cushion and the backrest (9), the seat cushion being rotatably connected to the frame, and the rear end of the seat cushion being rotatably connected to the lower end of the backrest (9); A control system is electrically connected to the drive motor (22) and the electric actuator, the control system being used to receive an operation instruction from a user and, based on the instruction, control the drive motor (22) to drive the running wheel and control the electric actuator to adjust the posture of the seat cushion and backrest (9).

2. The intelligent transfer machine according to claim 1, characterized in that: The frame comprises: a crossbeam (17), an inclined beam (23) and a front support frame (2); the inclined beam (23) is obliquely arranged below the crossbeam (17), and its upper end is fixedly connected to the front end of the crossbeam (17) through a frame support block; the middle part of the inclined beam (23) is fixedly connected to the middle part of the crossbeam (17) through a support rod (21); and the front support frame (2) is fixed to the frame support block through a frame connection block (3).

3. The intelligent transfer machine according to claim 2, characterized in that: The traveling wheels include: a front wheel (24) and a rear driving wheel (20), wherein the front wheel (24) is fixedly connected to the front support frame (2), and the rear driving wheel (20) is fixedly connected to the lower end of the inclined beam (23), and the driving motor (22) is arranged on the inclined beam (23) and drives the rear driving wheel (20) to rotate.

4. The intelligent transfer machine according to claim 1, characterized in that: The electric actuator comprises: An electric push rod (19), one end of which is connected to the frame, and the other end of the electric push rod (19) is rotatably connected to the seat cushion via a transmission connecting rod (18); an angle adjustment motor (14), which is arranged at the connection between the backrest (9) and the seat cushion and is used to drive the backrest (9) to rotate relative to the seat cushion; An angle adjuster (15) for detecting the postures of the seat cushion and the backrest (9); The electric push rod (19), the angle adjustment motor (14) and the angle adjuster (15) are all electrically connected to the control system.

5. The intelligent transfer machine according to claim 1, characterized in that: It also includes an armrest (6) connected to the side of the backrest (9); the physical control structure of the control system is arranged in an electronic component assembly box on the rear side of the backrest (9); the control system also includes an operating rocker (5) for receiving user operation instructions, and the operating rocker (5) is arranged at the front end of the armrest (6).

6. The intelligent transfer machine according to claim 1, characterized in that: It also includes a safety device and a flat-lying device, wherein the safety device is used to fix the user on the seat cushion and / or the backrest (9); the flat-lying device has a normal posture and a flat-lying posture, and when the flat-lying device is in the flat-lying posture, the backrest (9) is horizontally arranged, and the flat-lying device supports the upper part of the backrest (9); when the flat-lying device is in the normal posture, the flat-lying device is stored at the rear side of the backrest (9).

7. The intelligent transfer machine according to claim 1, characterized in that: Also included is an intelligent toilet system for docking with a universal toilet (48), the toilet system comprising: a separable seat cushion comprising a left seat cushion (45) and a right seat cushion (47) that can slide relative to each other to form a toilet opening therebetween; A three-dimensional positioning module for scanning the position and shape of a universal toilet (48); A path planning module, which is used to plan a movement path for the transfer machine to dock with the universal toilet (48) based on the information obtained by the three-dimensional positioning module; a drive control module for controlling the drive motor (22) to execute the movement path; A real-time calibration system for continuously monitoring and correcting the relative position of the lift and the universal toilet (48) during movement; and A height adaptation device is used for fine-tuning the electric actuator so that the height of the seat cushion matches the height of a universal toilet (48).

8. A method for controlling an intelligent transfer machine, characterized in that: Based on the intelligent transfer machine according to claim 1, the control method includes: The environment sensing and acquisition module installed on the transfer machine collects the three-dimensional spatial data of the environment around the transfer machine in real time; Through the path planning module, an obstacle avoidance path to the target point is generated based on the three-dimensional spatial data and the preset target point position; Controlling the drive motor (22) to drive the walking wheels through a drive execution module so that the transfer machine moves along the obstacle avoidance path; During the moving process, the steps of environment perception, path planning and driving execution are repeated until the lift reaches the target point.

9. A control method for an intelligent transfer machine, characterized in that: Based on the intelligent transfer machine according to claim 7, the control method includes: Scan and obtain the three-dimensional coordinates and height information of the universal toilet (48) through the three-dimensional positioning module; Calculating the relative position of the transfer machine and the universal toilet (48) based on the acquired three-dimensional coordinates and height information, and planning a movement path for docking with the universal toilet (48); controlling the drive motor (22) to drive the lift to move along a moving path toward the universal toilet (48); During the movement, the docking deviation between the transfer machine and the universal toilet (48) is continuously monitored and corrected through a real-time calibration system; When the lift reaches the preset docking range, the height of the seat cushion is adjusted by the height adaptor to match the height of a universal toilet (48); When the lift is precisely docked with the universal toilet (48), the running wheels are locked and the left seat cushion (45) and the right seat cushion (47) are slid to both sides to form a toilet opening.

10. The control method of the intelligent transfer machine according to claim 9, characterized in that: The method for planning a movement path for docking a universal toilet includes: calculating the relative distance and azimuth between the transfer machine and the universal toilet based on the three-dimensional coordinate data, and generating an adjusted travel path including travel direction, speed, and steering angle parameters accordingly; The method for controlling the driving motor includes: adjusting the driving path by a driving motor controller and a steering motor controller so that the transfer machine approaches the universal toilet; Steering angle The control formula is: ,in, is the lateral deviation of the path, For time, is the proportional gain, is the integral gain, is the differential gain; Travel speed The control formula is: ,in, is the longitudinal distance deviation; The working method of the real-time calibration system includes: during the movement process, the real-time three-dimensional coordinates of the universal toilet are scanned and obtained in real time through the three-dimensional positioning module, and the docking deviation is monitored. When the docking deviation exceeds the preset threshold, the path planning step is returned to perform dynamic correction.

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