A rehabilitation nursing remote collaboration method, system and terminal

Abstract

This application provides a method, system, and terminal for remote collaboration in rehabilitation nursing, relating to the technical field of rehabilitation nursing. The method includes: acquiring a user's wheelchair control request command; analyzing the wheelchair control request command to determine a wheelchair use request command or a wheelchair reset request command; if a wheelchair reset request command is determined, controlling a preset wheelchair to reset into a preset wheelchair slot on a preset nursing bed; controlling the wheelchair to deform according to a preset reset action command to reset the user onto the nursing bed; if a wheelchair use request command is determined, controlling the preset nursing bed to move the user onto the preset wheelchair; and controlling the wheelchair to deform according to a preset use action command to move the user off the nursing bed. This application effectively ensures good results in remote rehabilitation collaboration.

Description

Technical Field

[0001] This application relates to the technical field of rehabilitation nursing, and in particular to a method, system and terminal for remote collaboration in rehabilitation nursing. Background Technology

[0002] Remote collaboration in rehabilitation nursing is a way to achieve communication and cooperation between medical team members and between the medical team and patients by using modern information technology, such as the Internet, mobile applications, and video conferencing. This method can overcome geographical limitations and enable more people to access the rehabilitation services they need.

[0003] Among related technologies, remote collaboration in rehabilitation nursing includes remote education and training, which aims to popularize rehabilitation knowledge among patients and their families, and improve their ability to manage diseases and care for themselves. For example, patients with mobility impairments often need to use wheelchairs for assistance. Through remote collaboration in rehabilitation nursing, patients and their families can be educated on how to use wheelchairs, ensuring that patients can use wheelchairs correctly.

[0004] Regarding the aforementioned technologies, although remote collaboration in rehabilitation nursing can guide patients and their families in the correct use of wheelchairs, patients still need family members to help them move into the wheelchair or move into it slowly on their own. If the patient feels unwell or their family is not nearby, the patient will be unable to use the wheelchair, resulting in less than ideal results from remote collaboration in rehabilitation, and there is still room for improvement. Summary of the Invention

[0005] To ensure effective remote collaboration in rehabilitation, this application provides a method, system, and terminal for remote collaboration in rehabilitation nursing.

[0006] Firstly, this application provides a remote collaborative method for rehabilitation nursing, employing the following technical solution:

[0007] A remote collaborative method for rehabilitation nursing includes:

[0008] Obtain the user's wheelchair control request command;

[0009] Analyze wheelchair control request commands to determine whether they are wheelchair use request commands or wheelchair reset request commands;

[0010] If a wheelchair reset request command is confirmed, the preset wheelchair will be reset into the preset wheelchair slot on the nursing bed.

[0011] The wheelchair is deformed according to preset reset action commands to reset the user onto the nursing bed;

[0012] If a wheelchair use request is confirmed, the preset nursing bed will be controlled to move the user to the preset wheelchair.

[0013] The wheelchair is controlled to deform according to preset usage instructions to move the user out of the nursing bed.

[0014] By adopting the above technical solution, when a wheelchair control request command is detected and determined to be a wheelchair reset request command, the wheelchair is controlled to reset to the wheelchair slot on the nursing bed. Then, according to the reset action command, the wheelchair is controlled to deform to reset the user onto the nursing bed. When the wheelchair control request command is determined to be a wheelchair use request command, the nursing bed is controlled to move the user onto the wheelchair. Then, according to the use action command, the wheelchair is controlled to deform to move the user off the nursing bed. This eliminates the need for the user to move to the wheelchair themselves or for someone else to help them, thus ensuring a good remote rehabilitation collaboration effect.

[0015] Optionally, the steps of controlling the preset nursing bed to move the user to the preset wheelchair include:

[0016] Obtain an image of the user lying on the nursing bed;

[0017] Image recognition and analysis are performed on images of lying nursing beds to determine the user's lying position;

[0018] Determine whether the user's lying position meets the preset baseline wheelchair position requirements;

[0019] If the conditions are met, the nursing bed will be put into standby mode.

[0020] If the conditions are not met, the user's lying position and the reference wheelchair position will be analyzed to determine the user's position offset parameters.

[0021] The nursing bed is controlled to move the user to a wheelchair based on the user's position offset parameters.

[0022] By adopting the above technical solution, images of the user lying on the nursing bed are acquired, and the user's lying position is determined after image recognition of the images. When it is determined that the user's lying position does not meet the requirements of the reference wheelchair position, the user's lying position and the reference wheelchair position are analyzed to determine the user's position offset parameters. Based on the user's position offset parameters, the nursing bed is controlled to move the user to the wheelchair, thereby improving the convenience and accuracy of user movement.

[0023] Optionally, the steps of controlling the nursing bed to move the user onto the wheelchair based on the user position offset parameters include:

[0024] Analyze the user's position offset parameters to determine whether the user's lateral offset type, longitudinal offset type, or composite offset type is used.

[0025] If the user's composite offset type is determined, the nursing bed and wheelchair will be controlled to move the user to the wheelchair according to the preset composite movement mode;

[0026] If the user's longitudinal offset type is determined, the nursing bed and wheelchair will be controlled according to the preset assisted movement method to move the user to the wheelchair;

[0027] If the user's lateral offset type is determined, the user's position offset parameters are analyzed to determine the user's lateral adjustment parameters.

[0028] The system controls the lateral movement of the wheelchair based on the user's lateral adjustment parameters to transfer the user to the wheelchair.

[0029] By adopting the above technical solution, after analyzing the user's position offset parameters, the user's lateral offset type, longitudinal offset type, or composite offset type can be determined. Then, based on the determined specific offset type, a composite movement mode, an auxiliary movement mode, or direct control of the wheelchair to move the user laterally based on the user's lateral adjustment parameters can be selected, thereby improving the convenience of moving the user.

[0030] Optionally, the steps of controlling the nursing bed and wheelchair to move the user onto the wheelchair according to a preset composite movement mode include:

[0031] Analyze the user's position offset parameters to determine the longitudinal and lateral position adjustment parameters;

[0032] The longitudinal position adjustment parameters control the longitudinal movement of the nursing bed to align the user laterally with the wheelchair;

[0033] The parameters are adjusted based on the lateral position to control the lateral movement of the wheelchair so that the user can be transferred to the wheelchair.

[0034] By adopting the above technical solution, the user position offset parameters are analyzed to determine the longitudinal position adjustment parameters and the lateral position adjustment parameters. Then, the nursing bed is first controlled to move the user with the longitudinal position adjustment parameters so that the user is laterally aligned with the wheelchair. Then, the wheelchair is controlled to move the user with the lateral position adjustment parameters, thereby moving the user from the nursing bed to the wheelchair, thus improving the convenience and accuracy of user movement.

[0035] Optionally, the steps of controlling the nursing bed and wheelchair to move the user onto the wheelchair according to the preset assisted mobility mode include:

[0036] The user's lying position and the preset nursing bed reference position are analyzed to determine the auxiliary lateral adjustment parameters and auxiliary lateral reset parameters;

[0037] The wheelchair is moved laterally to transfer the user to the nursing bed based on the auxiliary lateral adjustment parameters.

[0038] Analyze the user's position offset parameters to determine the user's longitudinal adjustment parameters;

[0039] The nursing bed is adjusted longitudinally to move the user so that the user is laterally aligned with the wheelchair, based on the user's longitudinal adjustment parameters.

[0040] The lateral movement of the wheelchair is controlled according to the auxiliary lateral reset parameters to transfer the user to the wheelchair.

[0041] By adopting the above technical solution, auxiliary lateral adjustment parameters and auxiliary lateral reset parameters are determined according to the user's lying position and the reference position of the nursing bed. This allows the wheelchair to be controlled to move the user onto the nursing bed using the auxiliary lateral adjustment parameters, so that the nursing bed can move the user using the user's longitudinal adjustment parameters to laterally align the user with the wheelchair. Then, the wheelchair is controlled to move the user back from the nursing bed to the wheelchair using the auxiliary lateral reset parameters, thereby improving the convenience and accuracy of the user's use of the wheelchair.

[0042] Optionally, the steps of analyzing the user's lying position and the preset nursing bed reference position to determine the auxiliary lateral adjustment parameters and auxiliary lateral reset parameters include:

[0043] The user's lying position and the nursing bed's reference position are analyzed to determine the first adjustment direction and the corresponding first adjustment distance, as well as the second adjustment direction and the second adjustment distance;

[0044] Determine whether the first adjustment distance meets the requirements of the second adjustment distance;

[0045] If the conditions are met, the first adjustment distance and the first adjustment direction are associated to generate auxiliary lateral adjustment parameters;

[0046] If not, then associate the second adjustment distance and the second adjustment direction to generate auxiliary lateral adjustment parameters;

[0047] The auxiliary lateral adjustment parameters and the preset reverse trigger signal are analyzed to determine the auxiliary lateral reset parameters.

[0048] By adopting the above technical solution, when the first adjustment distance meets the requirements of the second adjustment distance, it indicates that the distance when moving the user in the first adjustment direction is short. Therefore, auxiliary lateral adjustment parameters are generated by associating the first adjustment distance and the first adjustment direction. When the first adjustment distance does not meet the requirements of the second adjustment distance, it indicates that the distance when moving the user in the second adjustment direction is short. Therefore, auxiliary lateral adjustment parameters are generated by associating the second adjustment distance and the second adjustment direction, thereby improving the convenience of moving the user.

[0049] Optionally, after the preset nursing bed moves the user to the preset wheelchair, the system also includes a user posture adjustment step, the specific steps of which include:

[0050] Acquire an image of the user lying in a wheelchair;

[0051] Image recognition and analysis are performed on images of reclining wheelchairs to determine the position of the user's wheelchair.

[0052] Determine whether the user's wheelchair position meets the preset requirements for wheelchair-human position;

[0053] If the conditions are met, the wheelchair will be put into standby mode.

[0054] If not, the user's wheelchair position and wheelchair-human position are analyzed to determine the human position offset parameters;

[0055] The wheelchair is adjusted to adjust the user's posture based on the body's position offset parameters.

[0056] By adopting the above technical solution, the position of the user's wheelchair is determined after image recognition of the image of the reclining wheelchair. If the position of the user's wheelchair does not meet the requirements of the wheelchair's human body position, it indicates that the user is not lying in the wheelchair in a standard posture. Therefore, the wheelchair is controlled to adjust the user's posture according to the human body position offset parameter to ensure that the user sits in the wheelchair in the correct posture, thereby improving the user's safety when using the wheelchair.

[0057] Optionally, the steps for adjusting the user's posture by controlling the wheelchair based on human body position offset parameters include:

[0058] Analyze the human body position offset parameters to determine the limb offset parameters and trunk offset parameters;

[0059] The preset limb movement component moves the user's limbs according to the limb offset parameter, and the preset torso movement component moves the user's torso according to the torso offset parameter so that the user lies in the wheelchair in a preset standard posture.

[0060] By adopting the above technical solution, the limb movement component is controlled to move the user's limbs according to the limb offset parameter, and the torso movement component is controlled to move the user's torso according to the torso offset parameter. This allows for the separate movement of the user's limbs and torso, preventing the user's posture from still not meeting the requirements of the standard posture after overall movement, thereby improving the convenience and accuracy of adjusting the user's posture.

[0061] Secondly, this application provides a remote collaborative rehabilitation nursing system, which adopts the following technical solution:

[0062] A remote collaborative rehabilitation nursing system includes:

[0063] The acquisition module is used to acquire wheelchair control request commands;

[0064] A memory for storing a program for a remote collaborative rehabilitation nursing method as described in any of the preceding claims;

[0065] The processor and the program in the memory can be loaded and executed by the processor to implement a remote collaborative rehabilitation care method as described in any of the above.

[0066] By adopting the above technical solution, the control processor loads and executes a program of a remote collaboration method for rehabilitation nursing stored in the memory, enabling the acquisition module to acquire a series of data related to remote collaboration in rehabilitation nursing. Thus, when a wheelchair control request command is detected and determined to be a wheelchair reset request command, the wheelchair is controlled to reset to the wheelchair slot on the nursing bed. Then, according to the reset action command, the wheelchair is controlled to deform to reset the user onto the nursing bed. When the wheelchair control request command is determined to be a wheelchair use request command, the nursing bed is controlled to move the user onto the wheelchair. Then, according to the use action command, the wheelchair is controlled to deform to move the user off the nursing bed, without requiring the user to move to the wheelchair themselves or with the help of others, thereby ensuring a good effect of remote collaboration in rehabilitation.

[0067] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0068] A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any of the preceding claims for a remote collaborative rehabilitation care method.

[0069] By adopting the above technical solution, and operating the smart terminal, the processor loads and executes a computer program stored in the memory for a remote collaboration method for rehabilitation nursing. When a wheelchair control request command is detected and determined to be a wheelchair reset request command, the wheelchair is controlled to reset to the wheelchair slot on the nursing bed. Then, according to the reset action command, the wheelchair is controlled to deform to reset the user onto the nursing bed. When the wheelchair control request command is determined to be a wheelchair use request command, the nursing bed is controlled to move the user onto the wheelchair. Then, according to the use action command, the wheelchair is controlled to deform to move the user off the nursing bed. This eliminates the need for the user to move to the wheelchair themselves or for someone else to help them, thus ensuring a good remote collaboration effect for rehabilitation.

[0070] In summary, this application includes at least one of the following beneficial technical effects:

[0071] 1. When a wheelchair control request command is detected and determined to be a wheelchair reset request command, the wheelchair is controlled to reset to the wheelchair slot on the nursing bed. Then, according to the reset action command, the wheelchair is controlled to deform to reset the user onto the nursing bed. When the wheelchair control request command is determined to be a wheelchair use request command, the nursing bed is controlled to move the user onto the wheelchair. Then, according to the use action command, the wheelchair is controlled to deform to move the user off the nursing bed. This eliminates the need for the user to move to the wheelchair themselves or for someone else to help them move to the wheelchair, thus ensuring a good remote rehabilitation collaboration effect.

[0072] 2. By acquiring images of the user lying on the nursing bed, the user's lying position is determined after image recognition. When the user's lying position does not meet the requirements of the reference wheelchair position, the user's lying position and the reference wheelchair position are analyzed to determine the user's position offset parameter. Based on the user's position offset parameter, the nursing bed is controlled to move the user to the wheelchair, thereby improving the convenience and accuracy of user movement.

[0073] 3. After performing image recognition on the image of the reclining wheelchair, the position of the user's wheelchair is determined. If the position of the user's wheelchair does not meet the requirements of the wheelchair's human body position, it indicates that the user is not lying in the wheelchair in a standard posture. Therefore, the wheelchair is controlled to adjust the user's posture according to the human body position offset parameters to ensure that the user sits in the wheelchair in the correct posture, thereby improving the user's safety when using the wheelchair. Attached Figure Description

[0074] Figure 1 This is a flowchart of a remote collaborative rehabilitation nursing method according to an embodiment of this application.

[0075] Figure 2 This is a flowchart of the steps in this application embodiment to control a preset nursing bed to move a user onto a preset wheelchair.

[0076] Figure 3 This is a flowchart of the steps in this application embodiment to control the nursing bed to move the user onto the wheelchair based on the user position offset parameter.

[0077] Figure 4 This is a flowchart of the steps in this application embodiment to control the nursing bed and wheelchair to move the user onto the wheelchair according to a preset composite movement mode.

[0078] Figure 5 This is a flowchart of the steps in this application embodiment to control the nursing bed and wheelchair to move the user onto the wheelchair according to a preset assisted movement method.

[0079] Figure 6 This is a flowchart illustrating the steps in this application embodiment to analyze the user's lying position and the preset nursing bed reference position to determine the auxiliary lateral adjustment parameters and auxiliary lateral reset parameters.

[0080] Figure 7 This is a flowchart of the user's posture adjustment steps in an embodiment of this application.

[0081] Figure 8 This is a flowchart of the steps in this application embodiment to control the wheelchair to adjust the user's posture based on human body position offset parameters. Detailed Implementation

[0082] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1 to 8 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0083] This application discloses a remote collaboration method for rehabilitation nursing, specifically a processing terminal, a nursing bed, and a wheelchair. The processing terminal is communicatively connected to both the nursing bed and the wheelchair to achieve data interaction and control. When the processing terminal receives a user's wheelchair control request command, it analyzes the command to determine whether it is a wheelchair use request command or a wheelchair reset request command. If it is determined to be a wheelchair reset request command, the processing terminal controls the wheelchair to reset into the wheelchair slot on the nursing bed, and then controls the wheelchair to deform using a reset action command, thereby resetting the user onto the nursing bed. If it is determined to be a wheelchair use request command, the processing terminal controls the nursing bed to move the user onto the wheelchair, and then controls the wheelchair to deform using a use action command, thereby removing the user from the nursing bed without requiring the user to move to the wheelchair themselves or with assistance, thus ensuring a good remote collaboration effect for rehabilitation.

[0084] Reference Figure 1 This application discloses a remote collaboration method for rehabilitation nursing, including the following steps:

[0085] Step S100: Obtain the user's wheelchair control request command.

[0086] Among them, the wheelchair control request command refers to the command that needs to control the wheelchair. It is obtained by the user input processing terminal and can be input by voice or by the visual interface.

[0087] Step S101: Analyze the wheelchair control request command to determine whether it is a wheelchair use request command or a wheelchair reset request command.

[0088] Among them, the wheelchair use request instruction refers to the instruction that the user needs to move from the nursing bed to the wheelchair to use the wheelchair, and the wheelchair reset request instruction refers to the instruction that the user needs to move from the wheelchair to the nursing bed. The processing terminal parses and understands the wheelchair control request instruction, such as performing syntax analysis, semantic analysis and context understanding to determine the actual meaning of the wheelchair control request instruction, and then matches the corresponding instruction in the command library according to the actual meaning.

[0089] Step S1011: If a wheelchair reset request command is confirmed, control the preset wheelchair to reset into the preset wheelchair slot on the nursing bed.

[0090] If the processing terminal determines that the wheelchair control request command is a wheelchair reset request command, it indicates that the user needs to move from the wheelchair to the nursing bed. Therefore, the processing terminal controls the wheelchair to reset and move into the wheelchair slot on the nursing bed. The specific movement process is as follows: the processing terminal uses a path planning algorithm to calculate the optimal path from the wheelchair position to the nursing bed position, thereby controlling the wheelchair to move to the side of the nursing bed along the optimal path. Then, it uses distance sensors (infrared sensors or ultrasonic sensors) and mark recognition (such as RFID or QR codes) for precise positioning to ensure that the wheelchair reverses into the wheelchair slot. After the wheelchair enters the wheelchair slot, it controls the electromagnetic devices on the nursing bed and the wheelchair to lock the wheelchair.

[0091] A wheelchair is a tool that assists users in getting around. In this embodiment, the wheelchair includes a motor drive system, a battery, a controller, a transforming component, a lateral movement component, a wireless communication module, and sensors. The controller connects to a processing terminal via the wireless communication module for data exchange. The controller is also connected to the motor drive system, which issues commands to drive the wheelchair using battery power. The sensors include infrared sensors, ultrasonic sensors, and lidar for environmental perception and obstacle avoidance, as well as RFID tags or QR codes for precise positioning. The transforming component includes footrest transformation and backrest transformation, controlled by a servo motor system. By rotating the footrest and backrest between 0 and 90 degrees, the wheelchair can switch between sitting and reclining positions. The lateral movement component includes limb lateral movement components, hip lateral movement components, and trunk lateral movement components, respectively mounted on the footrest, seat, and backrest of the wheelchair. These components can be composed of a motor-driven conveyor belt, allowing the user to be moved from a nursing bed to the wheelchair and their posture adjusted.

[0092] A nursing bed is a bed where a user lies down. The nursing bed is generally divided into two parts: a left bed and a right bed. The headboards of the left and right beds are fixedly connected by a bed frame. A wheelchair groove is formed between the left and right beds for a wheelchair to enter. After the wheelchair enters the groove, it deforms to form a complete nursing bed with the left and right beds. In this embodiment, by adjusting the dimensions of the left and right beds, when the user lies on the nursing bed, part of the user's body is always on the wheelchair, facilitating the movement of the user from the nursing bed to the wheelchair. The left and right beds are also equipped with a longitudinal movement component, which can be composed of a motor-driven conveyor belt. This component is used to move the user, aligning the user with the wheelchair in the lateral direction.

[0093] Step S10111: Control the wheelchair to deform according to the preset reset action command to reset the user onto the nursing bed.

[0094] When the processing terminal determines that the wheelchair has been reset into the wheelchair slot, the processing terminal sends a reset action command to the wheelchair's controller, thereby controlling the wheelchair to deform and reset the user onto the nursing bed.

[0095] The reset action command refers to the action command that moves the wheelchair to return the user to the nursing bed. Specifically, the footrest rotates upward 90 degrees, the backrest rotates downward 90 degrees, and the seat cushion remains unchanged. This command is stored in the processing terminal by the operator.

[0096] Step S1012: If a wheelchair use request instruction is confirmed, the preset nursing bed is controlled to move the user to the preset wheelchair.

[0097] If the processing terminal determines that the wheelchair control request command is a wheelchair use request command, it indicates that the user needs to move from the nursing bed to the wheelchair. Therefore, the processing terminal controls the nursing bed to move the user to the wheelchair. The specific method is as follows: Figure 2 The steps.

[0098] The nursing bed and wheelchair in this step are the same as those in step S1011, and will not be described again here.

[0099] Step S10121: Control the wheelchair to deform according to the preset usage action instructions to move the user out of the nursing bed.

[0100] In this process, after the processing terminal determines that the nursing bed will move the user onto the wheelchair, the processing terminal sends a usage action command to the wheelchair's controller, thereby controlling the wheelchair to deform and move the user off the nursing bed.

[0101] Using action commands refers to actions that involve the wheelchair transforming to move the user out of the nursing bed. Specifically, the footrests rotate downwards by 90 degrees, the backrest rotates upwards by 90 degrees, while the seat remains unchanged, thereby adjusting the user to a sitting position. After moving a preset distance, the user leaves the nursing bed, and the actions are stored in the processing terminal by the operator.

[0102] Reference Figure 2 The steps for controlling the preset nursing bed to move the user to the preset wheelchair include:

[0103] Step S200: Obtain an image of the user's lying nursing bed.

[0104] Among them, the image of the lying nursing bed refers to the image of the user lying on the nursing bed, which is captured by the camera above the nursing bed and sent to the processing terminal.

[0105] Step S201: Perform image recognition analysis on the image of the lying nursing bed to determine the user's lying position.

[0106] The user's lying position refers to the coordinates of the user's buttocks on the nursing bed. The processing terminal uses a trained convolutional neural network to perform image recognition on the image of the lying nursing bed, thereby extracting the features of the user's buttocks. Then, the coordinate system is mapped into the image of the lying nursing bed to identify the coordinates of the buttocks features in the coordinate system and obtain the user's lying position.

[0107] Step S202: Determine whether the user's lying position meets the requirements of the preset baseline wheelchair position.

[0108] The reference wheelchair position refers to the coordinates of the seat cushion in the wheelchair within the coordinate system. The specific coordinates are determined by the operator based on the actual situation of the seat cushion and the coordinate system. The requirement for the reference wheelchair position is that it must be consistent with the reference wheelchair position.

[0109] The processing terminal determines whether the user's lying position is consistent with the reference wheelchair position, thereby determining whether the user's position needs to be adjusted.

[0110] Step S2021: If the condition is met, then control the nursing bed to standby mode.

[0111] If the processing terminal determines that the user's lying position is consistent with the reference wheelchair position, it indicates that the user is in the position of the wheelchair, so no position adjustment is required, thereby controlling the nursing bed to standby.

[0112] Step S2022: If not, analyze the user's lying position and the reference wheelchair position to determine the user's position offset parameters.

[0113] If the processing terminal determines that the user's lying position is inconsistent with the reference wheelchair position, it indicates that the user is not fully in the wheelchair position. Therefore, the user's position needs to be adjusted. The user's position offset parameters are determined by analyzing the user's lying position and the reference wheelchair position, providing data support for subsequent user position adjustments.

[0114] User position offset parameters refer to the position offset parameters between the user and the wheelchair, including offset angle and offset distance. The processing terminal connects the user's lying position and the reference wheelchair position to identify the angle between the connecting line and the coordinate axis to obtain the offset angle. Then, the length of the connecting line is calculated to obtain the offset distance. The user position offset parameters are obtained by associating the offset angle and the offset distance.

[0115] Step S203: Control the nursing bed to move the user onto the wheelchair based on the user position offset parameters.

[0116] After the processing terminal obtains the user's position offset parameters, it controls the nursing bed to move the user onto the wheelchair based on these parameters. The specific method is described in [reference needed]. Figure 3 The steps ensure that the user can sit accurately in the wheelchair.

[0117] Reference Figure 3 The steps for controlling the nursing bed to move the user to the wheelchair based on the user's position offset parameters include:

[0118] Step S300: Analyze the user position offset parameters to determine the user's lateral offset type, longitudinal offset type, or composite offset type.

[0119] Among them, the user lateral offset type means that the user only offsets in the lateral direction, the user longitudinal offset type means that the user only offsets in the longitudinal direction, and the user composite offset type means that the user offsets in both the longitudinal and lateral directions. The processing terminal analyzes the offset angle of the user position offset parameter. If the offset angle is 0 degrees and 180 degrees, it means that the user only offsets in the longitudinal direction. If the offset angle is 90 degrees and 270 degrees, it means that the user only offsets in the lateral direction. All other angles indicate that the user offsets in both the longitudinal and lateral directions.

[0120] Step S301: If the user's composite offset type is determined, the nursing bed and wheelchair are controlled to move the user onto the wheelchair according to the preset composite movement mode.

[0121] If the processing terminal determines that the user has a composite offset type, it means that the user is offset in both the longitudinal and lateral directions. Therefore, the nursing bed and wheelchair are controlled according to the composite movement mode to move the user to the wheelchair.

[0122] Hybrid mobility refers to a method of adjusting the user's position both horizontally and vertically. See details... Figure 4 The steps.

[0123] Step S302: If the user's longitudinal offset type is determined, the nursing bed and wheelchair are controlled to move the user onto the wheelchair according to the preset assisted movement method.

[0124] If the processing terminal determines that the user's longitudinal offset type is such that the user is only offset in the longitudinal direction, then the wheelchair-assisted nursing bed is controlled to move the user in the longitudinal direction according to the assisted movement method, so that the user can be moved onto the wheelchair.

[0125] Assisted mobility refers to the method by which a wheelchair-assisted nursing bed moves the user longitudinally, allowing the user to move into a wheelchair. See details... Figure 5 The steps.

[0126] Step S303: If the user's lateral offset type is determined, the user's position offset parameters are analyzed to determine the user's lateral adjustment parameters.

[0127] If the processing terminal determines the user's lateral offset type, it indicates that the user is only offset in the lateral direction. Therefore, after analyzing the user's position offset parameters, the user's lateral adjustment parameters are determined to provide data support for subsequent adjustments to the user's position.

[0128] The user's lateral adjustment parameter refers to the distance the user adjusts in the lateral direction. It is determined by the processing terminal after analyzing the user's position offset parameter. The user's position offset parameter includes the offset angle and the offset distance. When the offset angle is 90 degrees, the lateral adjustment direction is to the left. When the offset angle is 270 degrees, the lateral adjustment direction is to the right. The user's lateral adjustment parameter is obtained by associating the lateral adjustment direction and the offset distance.

[0129] Step S3031: Control the wheelchair to move the user laterally according to the user's lateral adjustment parameters so that the user can be transferred to the wheelchair.

[0130] After determining the user's lateral adjustment parameters, the processing terminal controls the lateral movement component on the wheelchair to move the user as a whole in the direction and distance corresponding to the user's lateral adjustment parameters, thereby moving the user onto the wheelchair and ensuring that the user is accurately seated in the wheelchair.

[0131] Reference Figure 4 The steps for moving the user to the wheelchair by controlling the nursing bed and wheelchair according to the preset composite movement mode include:

[0132] Step S400: Analyze the user position offset parameters to determine the longitudinal position adjustment parameters and the lateral position adjustment parameters.

[0133] The longitudinal position adjustment parameter refers to the direction and distance of the user's longitudinal adjustment. It is determined by the processing terminal after analyzing the user's position offset parameter. First, it is determined which quadrant the offset angle in the user's position offset parameter is in. If it is in the first and fourth quadrants, the movement direction is determined to be downward. If it is in the second and third quadrants, the movement direction is determined to be upward. The offset distance and the longitudinal adjustment distance are related like the hypotenuse and leg of a right triangle. Therefore, the length of the opposite leg, i.e., the longitudinal adjustment distance, is obtained by calculating the offset distance and the offset angle using trigonometric functions. The longitudinal position adjustment parameter is obtained by associating the longitudinal adjustment distance and the movement direction.

[0134] The lateral position adjustment parameter refers to the direction and distance of the user's lateral adjustment. It is determined by the processing terminal after analyzing the user's position offset parameter. First, it is determined which quadrant the offset angle in the user's position offset parameter is in. If it is in the first or second quadrant, the movement direction is to the right. If it is in the third or fourth quadrant, the movement direction is to the left. The relationship between the offset distance and the lateral adjustment distance is like that of the hypotenuse and the right-angled side of a right triangle. Therefore, the length of the right-angled side of the adjacent side is obtained by calculating the offset distance and the offset angle using trigonometric functions. That is, the lateral adjustment distance. The lateral position adjustment parameter is obtained by associating the lateral adjustment distance and the movement direction.

[0135] Step S401: Adjust the parameters according to the longitudinal position to control the longitudinal movement of the nursing bed to align the user laterally with the wheelchair.

[0136] After determining the longitudinal position adjustment parameters, the processing terminal controls the longitudinal movement component on the nursing bed to move the user according to the direction and distance corresponding to the longitudinal position adjustment parameters, so as to align the user laterally with the wheelchair and ensure that the user can be accurately moved into the wheelchair.

[0137] Step S402: Adjust parameters according to the lateral position to control the lateral movement of the wheelchair to transfer the user to the wheelchair.

[0138] In this process, after the processing terminal controls the nursing bed to align the user and the wheelchair laterally, the processing terminal adjusts the direction and distance corresponding to the lateral position adjustment parameters to control the lateral movement components on the wheelchair to move the user, thereby completely transferring the user from the nursing bed to the wheelchair, so as to ensure that the user can use the wheelchair accurately.

[0139] Reference Figure 5 The steps for moving the user to the wheelchair by controlling the nursing bed and wheelchair according to the preset assisted mobility mode include:

[0140] Step S500: Analyze the user's lying position and the preset nursing bed reference position to determine the auxiliary lateral adjustment parameters and auxiliary lateral reset parameters.

[0141] The reference position of the nursing bed refers to the coordinates of the left and right sides of the nursing bed in the coordinate system, which is determined by the operator based on the actual situation of the nursing bed and the coordinate system.

[0142] The lateral adjustment parameter refers to the direction and distance by which the wheelchair moves the user laterally onto the nursing bed. The lateral reset parameter refers to the direction and distance by which the wheelchair moves the user laterally from the nursing bed onto the wheelchair. The lateral adjustment and reset parameters have opposite directions and equal distances, and are determined by the processing terminal based on the user's lying position and the nursing bed's reference position. For specific methods, please refer to [reference needed]. Figure 6 The steps.

[0143] Step S501: Control the wheelchair to move the user laterally according to the auxiliary lateral adjustment parameters so that the user can be transferred to the nursing bed.

[0144] In this process, after the processing terminal receives the auxiliary lateral adjustment parameters, it moves the user according to the movement direction and distance corresponding to the auxiliary lateral adjustment parameters, thereby transferring part of the user's body from the wheelchair to the nursing bed, providing a basis for the subsequent adjustment of the user's position in the longitudinal direction by the nursing bed.

[0145] Step S502: Analyze the user position offset parameters to determine the user's longitudinal adjustment parameters.

[0146] Among them, the user's longitudinal adjustment parameter refers to the direction and distance of the user's longitudinal adjustment. It is determined by the processing terminal after analyzing the user's position offset parameter. First, it is determined which quadrant the offset angle in the user's position offset parameter is in. If it is in the first and fourth quadrants, the movement direction is determined to be downward. If it is in the second and third quadrants, the movement direction is determined to be upward. The offset distance and the longitudinal adjustment distance are related like the hypotenuse and leg of a right triangle. Therefore, the length of the opposite leg of the right triangle is obtained by calculating the offset distance and the offset angle according to trigonometric functions, which is the longitudinal adjustment distance. The user's longitudinal adjustment parameter is obtained by associating the longitudinal adjustment distance and the movement direction.

[0147] Step S503: Control the nursing bed to move the user longitudinally according to the user's longitudinal adjustment parameters so that the user is laterally aligned with the wheelchair.

[0148] In this process, after determining that the wheelchair will move part of the user's body onto the nursing bed, the processing terminal controls the longitudinal movement component on the nursing bed to move the user according to the direction and distance corresponding to the user's longitudinal adjustment parameters, so that the user is laterally aligned with the wheelchair and can accurately sit in the wheelchair.

[0149] Step S504: Control the lateral movement of the wheelchair to transfer the user to the wheelchair according to the auxiliary lateral reset parameters.

[0150] In this process, after the processing terminal determines that the user is moved longitudinally on the nursing bed and aligned laterally with the wheelchair, the processing terminal controls the lateral movement component on the wheelchair to move the user again according to the direction and distance corresponding to the auxiliary lateral reset parameters, thereby resetting part of the user's body from the nursing bed to the wheelchair, ensuring that the user is accurately seated in the wheelchair.

[0151] Reference Figure 6 The steps for analyzing the user's lying position and the preset nursing bed reference position to determine the auxiliary lateral adjustment parameters and auxiliary lateral reset parameters include:

[0152] Step S600: Analyze the user's lying position and the reference position of the nursing bed to determine the first adjustment direction and the corresponding first adjustment distance, as well as the second adjustment direction and the second adjustment distance.

[0153] The first adjustment direction is to adjust to the left, and the first adjustment distance is the distance the user moves to the left onto the nursing bed. This distance is calculated by the processing terminal based on the coordinates of the user's lying position and the coordinates of the left side of the nursing bed corresponding to the reference position of the nursing bed.

[0154] The second adjustment direction is to adjust to the right, and the second adjustment distance is the distance the user moves to the right onto the nursing bed. This distance is calculated by the processing terminal based on the coordinates of the user's lying position and the coordinates of the right side of the nursing bed corresponding to the reference position of the nursing bed.

[0155] Step S601: Determine whether the first adjustment distance meets the requirements of the second adjustment distance.

[0156] The requirement for the second adjustment distance is that it should not exceed the second adjustment distance. The processing terminal determines whether the first adjustment distance is not greater than the second adjustment distance, thereby determining which distance is closer, the left adjustment or the right adjustment.

[0157] Step S6011: If the conditions are met, then associate the first adjustment distance and the first adjustment direction to generate auxiliary lateral adjustment parameters.

[0158] If the processing terminal determines that the first adjustment distance is not greater than the second adjustment distance, it indicates that the leftward adjustment distance is closer. Therefore, the first adjustment distance and the first adjustment direction are associated to generate auxiliary lateral adjustment parameters.

[0159] Step S6012: If not, associate the second adjustment distance and the second adjustment direction to generate auxiliary lateral adjustment parameters.

[0160] If the processing terminal determines that the first adjustment distance is greater than the second adjustment distance, it indicates that the rightward adjustment distance is closer. Therefore, the second adjustment distance and the second adjustment direction are associated to generate auxiliary lateral adjustment parameters.

[0161] Step S602: Analyze the auxiliary lateral adjustment parameters and the preset reverse trigger signal to determine the auxiliary lateral reset parameters.

[0162] The reverse direction trigger signal is an instruction to adjust the direction in the adjustment parameters to the opposite direction, which is stored in the processing terminal by the operator.

[0163] The auxiliary lateral reset parameters in this step are the same as those in step S500. They are obtained by the processing terminal responding to the reverse trigger signal, thereby adjusting the movement direction in the auxiliary lateral adjustment parameters to the opposite direction.

[0164] Reference Figure 7 After the preset nursing bed moves the user to the preset wheelchair, the system also includes steps to adjust the user's posture. These steps include:

[0165] Step S700: Obtain an image of the user lying in a wheelchair.

[0166] Among them, the image of the user lying in a wheelchair refers to the image of the user lying in the wheelchair after the nursing bed has moved the user into the wheelchair, which is captured by a camera above the nursing bed.

[0167] Step S701: Perform image recognition analysis on the image of the reclining wheelchair to determine the position of the user's wheelchair.

[0168] The user's wheelchair position refers to the coordinates of the user's limbs and torso when the user is lying in the wheelchair. The processing terminal uses a trained convolutional neural network to perform image recognition on the image of the lying wheelchair, thereby extracting the user's limb and torso features. The coordinate system is then mapped into the image of the lying wheelchair to identify the coordinates of the limb and torso features in the coordinate system and obtain the user's wheelchair position.

[0169] Step S702: Determine whether the user's wheelchair position meets the preset requirements for the wheelchair user position.

[0170] Among them, the wheelchair human body position refers to the standard position of the user's limbs and torso on the wheelchair. The operator defines the coordinates of the footrests on the wheelchair as the standard coordinates of the limbs and the coordinates of the backrest on the wheelchair as the standard coordinates of the torso. The requirement for the wheelchair human body position is that it is completely within the coordinate range corresponding to the wheelchair human body position.

[0171] The processing terminal determines whether the limb coordinates and torso coordinates corresponding to the user's wheelchair position are completely within the coordinate range corresponding to the wheelchair's human body position, thereby determining whether the user's posture inside the wheelchair is a standard posture.

[0172] Step S7021: If the condition is met, then put the wheelchair into standby mode.

[0173] If the processing terminal determines that the limb coordinates and torso coordinates corresponding to the user's wheelchair position are completely within the coordinate range corresponding to the wheelchair's human body position, it indicates that the user's limbs are on the footrests and the user's torso is on the backrest. Therefore, the user is lying in the wheelchair in a standard posture, and the wheelchair can be put into standby mode.

[0174] Step S7022: If not, analyze the user's wheelchair position and wheelchair-human position to determine the human position offset parameters.

[0175] If the processing terminal determines that the limb coordinates and torso coordinates corresponding to the user's wheelchair position are not completely within the coordinate range corresponding to the wheelchair body position, it indicates that some of the user's limbs and torso are outside the wheelchair's footrests and backrest. Therefore, the human body position offset parameters are determined after analyzing the user's wheelchair position and wheelchair body position to provide data support for subsequent adjustments to the user's posture.

[0176] Human body position offset parameters refer to the position offset parameters between the user's limbs and torso and the wheelchair footrests and backrest. These parameters include offset angle and offset distance. The processing terminal connects the limb coordinates in the user's wheelchair position to the footrest coordinates in the wheelchair body position, and then connects the torso coordinates in the user's wheelchair position to the backrest coordinates in the wheelchair body position. The offset angle is obtained by identifying the angle between the connecting line and the coordinate axis. The offset distance is then calculated by calculating the length of the connecting line. The human body position offset parameters are obtained by associating the offset angle and the offset distance.

[0177] Step S703: Adjust the user's posture by controlling the wheelchair according to the human body position offset parameters.

[0178] After determining the human body position offset parameters, the processing terminal controls the wheelchair to move the user's limbs and torso based on these parameters, thereby adjusting the position of the user's limbs and torso on the wheelchair. The specific method is described in [reference needed]. Figure 8 The steps allow the user to lie in a standard position in the wheelchair.

[0179] Reference Figure 8 The steps for adjusting the user's posture using a wheelchair based on human body position offset parameters include:

[0180] Step S800: Analyze the human body position offset parameters to determine the limb offset parameters and trunk offset parameters.

[0181] Among them, the limb offset parameter refers to the offset angle and distance between the user's limbs and the foot support, and the torso offset parameter refers to the offset angle and distance between the user's torso and the backrest. These parameters are obtained by the processing terminal from the human body position offset parameters.

[0182] Step S801: Control the preset limb movement component to move the user's limbs according to the limb offset parameter, and control the preset torso movement component to move the user's torso according to the torso offset parameter so that the user lies in the wheelchair in a preset standard posture.

[0183] In this process, after the processing terminal determines the limb offset parameters and the torso offset parameters, it controls the limb movement component to move the user's limbs according to the offset angle and distance corresponding to the limb offset parameters, thereby moving the user's limbs into the range of the footrest. Similarly, it controls the torso movement component to move the user's torso according to the offset angle and distance corresponding to the torso offset parameters, thereby moving the user's torso into the range of the backrest. The specific movement logic is similar to... Figure 4 The steps are the same as those in the previous section.

[0184] The limb movement component and trunk movement component in this step are the same as the limb lateral movement component and trunk lateral movement component in step S1011, and will not be described again here.

[0185] Based on the same inventive concept, embodiments of this application provide a remote collaborative rehabilitation nursing system, including:

[0186] The acquisition module is used to acquire wheelchair control request commands, images of lying nursing beds, and images of lying wheelchairs;

[0187] A memory for storing a program for a remote collaborative rehabilitation nursing method;

[0188] The processor can load and execute programs in memory to implement a remote collaborative method for rehabilitation care.

[0189] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0190] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a remote collaborative method for rehabilitation care.

[0191] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0192] Based on the same inventive concept, this application provides a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor to provide a remote collaborative rehabilitation nursing method.

[0193] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0194] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A remote collaborative method for rehabilitation nursing, characterized in that, include: Obtain the user's wheelchair control request command; Analyze wheelchair control request commands to determine whether they are wheelchair use request commands or wheelchair reset request commands; If a wheelchair reset request command is confirmed, the preset wheelchair will be reset into the preset wheelchair slot on the nursing bed. The wheelchair is deformed according to preset reset action commands to reset the user onto the nursing bed; If a wheelchair use request is confirmed, the preset nursing bed will be controlled to move the user to the preset wheelchair. The wheelchair is deformed according to preset usage instructions to move the user out of the nursing bed; The steps of controlling the wheelchair deformation according to the preset usage action instructions to move the user out of the nursing bed include: the wheelchair footrests are rotated downwards by 90 degrees, the wheelchair backrest is rotated upwards by 90 degrees, and the wheelchair seat remains unchanged, thereby adjusting the user into a sitting position, and the wheelchair moves a preset distance and leaves the nursing bed. The steps for controlling the preset nursing bed to move the user to the preset wheelchair include: Acquire an image of the user lying on the nursing bed; Image recognition and analysis are performed on images of lying nursing beds to determine the user's lying position; Determine whether the user's lying position meets the preset baseline wheelchair position requirements; If the conditions are met, the nursing bed will be put into standby mode. If the conditions are not met, the user's lying position and the reference wheelchair position will be analyzed to determine the user's position offset parameters. The nursing bed is controlled to move the user to a wheelchair based on the user's position offset parameters; The steps involved in controlling the nursing bed to move the user to the wheelchair based on the user's position offset parameters include: Analyze the user's position offset parameters to determine whether the user's lateral offset type, longitudinal offset type, or composite offset type is used. If the user's composite offset type is determined, the nursing bed and wheelchair will be controlled to move the user to the wheelchair according to the preset composite movement mode; If the user's longitudinal offset type is determined, the nursing bed and wheelchair will be controlled to move the user to the wheelchair according to the preset assisted movement method; If the user's lateral offset type is determined, the user's position offset parameters are analyzed to determine the user's lateral adjustment parameters. The system controls the lateral movement of the wheelchair based on the user's lateral adjustment parameters to transfer the user to the wheelchair.

2. The method for remote collaborative rehabilitation nursing according to claim 1, characterized in that, The steps for moving the user to the wheelchair by controlling the nursing bed and wheelchair according to the preset composite movement mode include: Analyze the user's position offset parameters to determine the longitudinal and lateral position adjustment parameters; The longitudinal position adjustment parameters control the longitudinal movement of the nursing bed to align the user laterally with the wheelchair; The parameters are adjusted based on the lateral position to control the lateral movement of the wheelchair to allow the user to transfer to the wheelchair.

3. The method for remote collaborative rehabilitation nursing according to claim 1, characterized in that, The steps for moving the user to the wheelchair by controlling the nursing bed and wheelchair according to the preset assisted mobility mode include: The user's lying position and the preset nursing bed reference position are analyzed to determine the auxiliary lateral adjustment parameters and auxiliary lateral reset parameters; The wheelchair is moved laterally to transfer the user to the nursing bed based on the auxiliary lateral adjustment parameters. Analyze the user's position offset parameters to determine the user's longitudinal adjustment parameters; The nursing bed is adjusted longitudinally to move the user so that the user is laterally aligned with the wheelchair, based on the user's longitudinal adjustment parameters. The lateral movement of the wheelchair is controlled according to the auxiliary lateral reset parameters to transfer the user to the wheelchair.

4. The method for remote collaborative rehabilitation nursing according to claim 3, characterized in that, The steps for analyzing the user's lying position and the preset nursing bed reference position to determine the auxiliary lateral adjustment parameters and auxiliary lateral reset parameters include: The user's lying position and the nursing bed's reference position are analyzed to determine the first adjustment direction and the corresponding first adjustment distance, as well as the second adjustment direction and the second adjustment distance; Determine whether the first adjustment distance meets the requirements of the second adjustment distance; If the conditions are met, the first adjustment distance and the first adjustment direction are associated to generate auxiliary lateral adjustment parameters; If not, then associate the second adjustment distance and the second adjustment direction to generate auxiliary lateral adjustment parameters; The auxiliary lateral adjustment parameters and the preset reverse trigger signal are analyzed to determine the auxiliary lateral reset parameters.

5. The method for remote collaborative rehabilitation nursing according to claim 1, characterized in that, After the preset nursing bed moves the user to the preset wheelchair, the system also includes steps to adjust the user's posture. These steps include: Acquire an image of the user lying in a wheelchair; Image recognition and analysis are performed on images of reclining wheelchairs to determine the position of the user's wheelchair. Determine whether the user's wheelchair position meets the preset requirements for wheelchair-human position; If the conditions are met, the wheelchair will be put into standby mode. If not, the user's wheelchair position and wheelchair-human position are analyzed to determine the human position offset parameters; The wheelchair is adjusted to adjust the user's posture based on the body's position offset parameters.

6. The method for remote collaborative rehabilitation nursing according to claim 5, characterized in that, The steps for adjusting the user's posture using a wheelchair based on human body position offset parameters include: Analyze the human body position offset parameters to determine the limb offset parameters and trunk offset parameters; The preset limb movement component moves the user's limbs according to the limb offset parameter, and the preset torso movement component moves the user's torso according to the torso offset parameter so that the user lies in the wheelchair in a preset standard posture.

7. A remote collaborative rehabilitation nursing system, characterized in that, include: The acquisition module is used to acquire wheelchair control request commands; A memory for storing a program of a remote collaborative rehabilitation nursing method as described in any one of claims 1 to 6; The processor and the program in the memory can be loaded and executed by the processor to implement the remote collaborative rehabilitation nursing method as described in any one of claims 1 to 6.

8. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 6 for a remote collaborative rehabilitation care method.

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