Sickbed with intelligent multi-mode active delivery system and control method thereof

Abstract

The invention relates to the technical field of medical care equipment, and discloses a sickbed with an intelligent multi-mode active delivery system and a control method thereof.The sickbed comprises a sickbed body, a driving module, a sensing module, a control module and the like, data are collected through multiple sensors for position, pressure, physiological parameters and the like, the control module generates an instruction after analysis and processing, and the instruction is sent to the intelligent multi-mode active delivery system; the sickbed is driven to realize multi-mode operation of manual operation, automation, nursing, emergency and the like, and the patient transfer and nursing requirements under the scenes of hospitals, nursing homes and the like are met. The sickbed with the intelligent multi-mode active delivery system and the control method of the sickbed have the advantages of intelligent control, multi-mode flexible switching, safety, reliability, data sharing and interaction and the like, nursing efficiency can be improved, medical care labor intensity can be reduced, comfort and safety of patients can be improved, and the sickbed has remarkable technical advantages and application prospects.

Description

Technical Field

[0001] This invention relates to the field of medical and nursing equipment technology, specifically to a hospital bed with an intelligent multimodal active delivery system and its control method. Background Technology

[0002] Traditional hospital bed delivery systems suffer from significant technical bottlenecks: turning over relies heavily on manual adjustment, lacking automated position-changing mechanisms; steering control depends on manual movement using casters, hindering precise movement; and the absence of assistive functions for getting in and out of bed necessitates full assistance from medical staff, resulting in high nursing intensity and safety risks. Furthermore, the existing bed's movement drive and position adjustment functions are independent, lacking coordinated control of multimodal movements and failing to dynamically adjust bed posture during turning or getting in and out of bed; the mechanical structure and control logic lack a standardized collaborative mechanism, leading to insufficient precision or patient discomfort during the connection of turning and steering movements. Therefore, proposing a novel intelligent delivery bed design scheme is of significant practical importance. Summary of the Invention

[0003] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a hospital bed with an intelligent multimodal active delivery system and its control method. This system offers advantages such as intelligent control, flexible multimodal switching, safety and reliability, and data sharing and interaction. It can improve nursing efficiency, reduce the workload of medical staff, and enhance patient comfort and safety. It possesses significant technical advantages and promising application prospects, solving the problems of existing technologies that often focus on single functions such as body position adjustment or movement control, lack multi-technology collaboration and active sensing capabilities, and suffer from insufficient intelligent collaboration and system integration.

[0004] (II) Technical Solution To achieve the above objectives, the present invention provides the following technical solution: a hospital bed with an intelligent multimodal active delivery system and a control method thereof, comprising: Environmental Perception System: LiDAR and 3D semantic recognition technology enable dynamic obstacle avoidance. Physiological Monitoring System: Multimodal sensors collect real-time data on living organisms. Drive and Power System: Carbon fiber composite bed frame, electric actuators, and four-wheel independent drive. Intelligent Control Module: Optimized design based on TRIZ theory, integrating gesture recognition, voice control, and touchscreen interaction.

[0005] The drive and power system uses DC-powered electric actuators, supporting bed tilt adjustment and providing flexible turning capabilities. Combined with a differential and four-wheel independent drive, it achieves precise driving and obstacle avoidance. The casters and braking system, equipped with silent rollers and an electromagnetic braking system, ensures mobility and stability. The shock absorption module uses hydraulic or spring shock absorbers to reduce driving bumps.

[0006] The sensing and control system includes vibration and angle sensors, pressure and gravity sensors, a horizontal gyroscope, and a voice control module. It monitors for abnormal tilting or the risk of a fall from the hospital bed, triggering a buzzer alarm.

[0007] The bed delivery system includes a three-stage planetary gear transmission system coupled with a low-noise servo motor, integrates a gyroscope and incremental coding, and achieves precise positioning through a PID dual closed-loop control algorithm.

[0008] Preferably, the electric push rod uses a DC-powered drive assembly, which supports backrest tilt adjustment and provides flexible turning function. It works in conjunction with lumbar spine micro-adjustment to achieve automated control of the patient's sitting-up movement, and the sitting-up speed is controllable.

[0009] Preferably, the four-wheel independent drive structure, combined with a differential, achieves dynamic obstacle avoidance through lidar and three-dimensional semantic recognition technology, supports omnidirectional movement and steering of the hospital bed, and achieves rotation in place or arc driving by adjusting the speed difference of the four wheels when steering.

[0010] Preferably, the height of the bed is adjusted by an electric push rod, which, together with the tilt adjustment, forms a ramp-like posture for getting in and out of bed; the four corners of the bed are integrated with foldable universal wheel brackets, the bottom anti-slip adsorption device provides adsorption force, and the side panels are equipped with electric telescopic handrails, the extension length of which is adjustable.

[0011] Preferably, the physiological monitoring system includes a pressure sensor matrix, a vibration sensor, and a horizontal gyroscope, distributed in various segments of the bed board, to collect patient position data and physiological parameters in real time; the intelligent control module is based on a reinforcement learning algorithm to generate a position adjustment plan according to the patient's body shape and condition, supporting timed adjustment, physiological response adjustment, and personalized learning adjustment modes.

[0012] Preferably, the timed adjustment mode supports automatic position changes, and the back can be raised and the legs can be bent by linking the electric push rod with the five-section bed board; the physiological response mode automatically adjusts the bed to a head-high-feet-low position and sends an alarm when abnormal heart rate or decreased blood oxygen saturation is detected.

[0013] Preferably, when performing a turning motion, the five-segment electric adjustment mechanism first adjusts the bed tilt angle, and then applies force alternately through the electric push rods on both sides, in conjunction with the anti-slip coating on the bed board, to achieve a smooth turning of the patient's torso and avoid impact from the movement.

[0014] Preferably, the intelligent control module integrates the SLAM algorithm, constructs a three-dimensional environmental map using LiDAR, and automatically plans the patient transfer route using a path planning algorithm, supporting the automatic transfer of patients to designated areas.

[0015] Preferably, the bed chassis has a built-in dual power redundancy system that automatically switches to the backup power supply in the event of a power outage, ensuring that a complete body position adjustment or bed movement operation can be completed, and the system has a low failure rate.

[0016] The specific operating procedures for using a hospital bed equipped with an intelligent multimodal active delivery system are as follows: During use, the environmental perception system enables centimeter-level obstacle recognition, while the heavy-duty robotic arm reduces the intensity of care. The physiological monitoring module accurately captures vital signs, ensuring patient safety. Carbon fiber composite materials are used to reduce weight, and the drive system combines electric push rods with independent four-wheel drive for flexible adjustment and stable movement. The perception and control module integrates gesture and voice recognition technologies, and the communication system connects to the hospital's Internet of Things (IoT), supporting real-time data upload and remote management. The overall design enhances the functionality, safety, and intelligence of the hospital bed, meeting the needs of diverse medical scenarios.

[0017] (III) Beneficial Effects Compared with the prior art, the present invention provides a hospital bed with an intelligent multimodal active delivery system and its control method, which has the following beneficial effects: 1. This intelligent multimodal active delivery system and its control method utilize a three-stage planetary gear transmission system coupled with a low-noise servo motor to drive the bed chassis. It integrates a gyroscope and incremental encoder, achieving precise positioning through a closed-loop control algorithm. The drive system employs DC-powered electric actuators, combined with multimodal sensor data fusion technology to monitor the patient's physiological parameters and position in real time during delivery. The battery module is equipped with a voltage regulation and heat dissipation system to ensure stable operation of the drive components. Through the collaboration of the electric actuators and the algorithm, it achieves adaptive adjustment of bed height, tilt angle, and turning movements.

[0018] 2. This intelligent multimodal active delivery system and its control method utilize a physiological monitoring system to collect real-time data on patient pressure distribution, heart rate, etc. The intelligent control module dynamically adjusts the tilt angle and support structure of the five-segment bed board based on preset clinical rules and personalized algorithms. The drive system and the position adjustment mechanism are linked through PID dual closed-loop control, ensuring coordination between delivery path planning and position management. This not only meets the requirements for transport efficiency but also improves patient safety and comfort through dynamic position optimization, constructing an intelligent delivery position adjustment mechanism integrating precise positioning, physiological response, and posture control.

[0019] 3. This hospital bed with an intelligent multimodal active delivery system and its control method utilizes a lightweight, high-strength design for its bed structure. The main frame is constructed from medical-grade aluminum alloy and carbon fiber composite materials: the medical-grade aluminum alloy is used for the support and load-bearing structure to ensure mechanical strength and corrosion resistance; carbon fiber composite panels are used for the bed board and non-load-bearing components. The bed board features a five-stage electric adjustment mechanism and is covered with an antibacterial nano-coating, combining ergonomic comfort with antibacterial function.

[0020] 4. The bed with intelligent multimodal active delivery system and its control method integrate folding universal wheel brackets at the four corners of the bed, with built-in shock-absorbing spring groups and anti-slip adsorption devices. The bracket adopts an aluminum alloy and carbon fiber composite structure, which supports quick folding and storage and stable docking. The bottom anti-slip device can provide adsorption force when stationary, ensuring the safety and flexibility of the bed during transportation. Attached Figure Description

[0021] Figure 1 This is a perspective view of the overall structure of the present invention; Figure 2 This is an isometric view of the present invention; Figure 3 This is a front view of the present invention; Figure 4 This is a diagram of the motion and control integration part of the present invention; Figure 5 This is a top view of the structure of the present invention; Figure 6 This is a top view of the turntable and telescopic structure of the present invention; Figure 7 This is a side view of the turntable and telescopic result of the present invention; Figure 8 This is a schematic diagram of the control panel of the present invention; Figure 9 This is a front view of the telescopic bed board of the present invention; Figure 10 This is an isometric view of the bed board telescopic mechanism of the present invention.

[0022] In the diagram: 1. Structural support column; 2. Fixing buckle; 3. Headrest; 4. Casters; 5. Leg support; 6. Bed frame; 7. Bed board; 8. Side panel; 9. Delivery track; 10. 360° steering device; 11. Bracket; 12. Transmission guide rod; 13. Front panel; 14. Control box; 15. Transmission belt; 16. Motor; 17. Vertical support column; 18. Main battery; 19. Backup battery; 20. Sensor; 21. Guide rail; 22. Joint pivot; 23. Pressure sensor; 24. Power motor; 25. Three-axis gyroscope; 26. Pressure sensor; 28. Mechanical connector; 29. ​​Plate-to-plate connector; 30. Bed board fixer; 31. Backrest support column; 32. Backrest movable support; 33. Leg support column; 34. Leg movable support. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Please see Figures 1-10 The present invention provides a hospital bed with an intelligent multimodal active delivery system, comprising: a bed frame, a power drive system, an intelligent control system, an energy supply system, and safety auxiliary devices; the power drive system is installed at the bottom of the bed frame, the energy supply system is electrically connected to the power drive system, and the intelligent control system is electrically connected to the power drive system; the power drive system includes a drive motor and a lifting servo motor, the drive motor is connected to the energy supply system, and the lifting servo motor is connected to the intelligent control system.

[0025] The bed frame is constructed from a medical-grade aluminum alloy and carbon fiber composite structure, equipped with a five-section electrically adjustable bed board, folding universal wheels, and anti-slip adsorption devices. The power system achieves ±180° omnidirectional movement and precise lifting through a permanent magnet synchronous motor and omnidirectional Mecanum wheels. The intelligent control system is based on a medical-grade main control chip and integrates multimodal sensors such as binocular vision, lidar, and pressure sensing matrix. The energy supply uses a lithium iron phosphate battery pack, supporting wireless fast charging and emergency charging. Safety auxiliary devices include anti-collision buffer strips, infrared curtains, audible and visual alarms, and physiological parameter monitoring modules.

[0026] A bed control method with an intelligent multimodal active delivery system: encompassing initialization self-check, autonomous delivery including intelligent navigation and dynamic obstacle avoidance, patient care such as automatic body position adjustment, emergency handling such as tilt alarm, low battery protection, and human-machine collaborative operation such as touch / voice / remote control three modes. It features lightweight, intelligent, safe and reliable operation and is suitable for patient transfer and care in all hospital scenarios.

[0027] Example 1 See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 and Figure 10 The hospital bed with an intelligent multimodal active delivery system provided in this embodiment of the invention includes five modules that work together.

[0028] 1. Implementation of the delivery module The bed delivery module uses a drive motor 16 and a transmission belt 15 as its power core, combined with a four-wheel independent drive structure and a steering device 10, and achieves motion control through a microprocessor in the control box 14. The bed chassis adopts a three-stage planetary gear transmission system coupled with a power motor 24 for drive, and integrates an inertial measurement unit consisting of a three-axis gyroscope 25 and a sensor 20, achieving precise positioning and attitude adjustment through a PID dual closed-loop control algorithm. During delivery, lidar and three-dimensional semantic recognition technology are integrated into the front baffle 13 to scan the environment in real time. The SLAM algorithm in the control box 14 constructs an environmental map, and combined with a path planning algorithm, it automatically avoids obstacles. At the same time, the height and tilt angle of the bed are adjusted in linkage with the transmission guide rod 12 and the joint pivot 22.

[0029] The patient positioning mechanism monitors the patient's pressure distribution in real time through a matrix of pressure sensors 23 and 26, and senses the bed's posture with a horizontal gyroscope 25. When bumps or incline changes are detected in the delivery path, an electric push rod drives the five-segment bed board to dynamically adjust via guide rail 21: for example, when encountering obstacles and slowing down, the backrest bed board is raised via hydraulic rod 1 to cushion the impact; when pressure sensor 23 detects concentrated pressure on the patient's torso, the bed automatically adjusts its tilt angle via joint pivot 22, and the electric telescopic handrails on the side baffles 8 maintain the patient's positional stability. The delivery system and the positioning mechanism work together through an AI algorithm within the control box 14, dynamically generating adjustment strategies based on the patient's physiological parameters to achieve adaptive management of the patient's position during transport. The side expansion interface supports the connection of medical equipment such as IV stands. Through the mechanical linkage between the transmission guide rod 12 and the bed support structure, it ensures that the equipment adjusts synchronously with the bed during delivery, avoiding the risk of tubing traction due to changes in position.

[0030] 2. Implementation of the power drive module Sixteen drive motors are installed at the bottom of the hospital bed, each corresponding to one wheel, forming a four-wheel independent drive system. By precisely controlling the motor speed and direction, the bed can move flexibly, encompassing forward, backward, lateral movement, and 360° rotation. Power is provided by a high-performance battery, which is connected to each motor via wires. The battery is equipped with an intelligent management system that monitors power, voltage, and current in real time, ensuring stable power supply and meeting the needs of long-term continuous operation.

[0031] The bed chassis employs a three-stage planetary gear transmission system coupled with a low-noise servo motor, supporting stepless rotation. It integrates a 25-inch gyroscope and an incremental encoder, achieving precise positioning through a PID dual-closed-loop control algorithm. DC-powered electric actuators are used. The battery module is connected to each actuator via wires, and a voltage regulator is included to prevent voltage fluctuations. An internal heat dissipation device prevents overheating during operation. Combined with a differential and four-wheel independent drive, precise driving and obstacle avoidance are achieved.

[0032] 3. Configuration of the intelligent control module The microprocessor 20 serves as the control core, receiving data from pressure sensors 23. These sensors monitor the bed's position, speed, and posture in real time, allowing the microprocessor to precisely control the drive motor, achieving smooth start-up and accurate positioning of the bed. Simultaneously, the bed is equipped with an autonomous navigation system that supports autonomous path planning, enabling it to quickly avoid obstacles and ensure safe and efficient movement in complex hospital environments.

[0033] 4. Stable structural design The frame is made of carbon fiber reinforced epoxy resin, which has high strength and low density, making it suitable for ultra-lightweight hospital bed structures such as bed frames and mobile chassis, balancing load-bearing capacity and portability. The support legs are made of aluminum alloy, providing good mechanical strength and corrosion resistance while reducing the overall weight of the bed. Connectors are custom-made using 3D printing, with complex connectors created through photopolymerization or fused deposition modeling techniques to meet personalized structural needs. The bed board is made of antibacterial coated wood, designed with ergonomics in mind to improve patient comfort and inhibit bacterial growth, thus enhancing overall comfort.

[0034] 5. Reliable security mechanism module Connecting to the hospital's HIS system via Bluetooth / Wi-Fi modules, it uploads data such as heart rate and body temperature to the cloud in real time, supporting AI-assisted diagnosis. Medical staff can manage multiple beds in batches through a central control console, effectively optimizing the allocation of nursing resources. A dual-power redundant design with a main power supply (18) and a backup battery (19) automatically switches in case of power failure, ensuring continuous system operation. Triple protection including an emergency brake button, tilt limit switch, and anti-pinch sensor results in a low failure rate.

[0035] It should be noted that the term "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. Hospital beds equipped with intelligent multimodal active delivery systems, including: Environmental perception system: LiDAR and 3D semantic recognition technology enable dynamic obstacle avoidance. Physiological monitoring system: multimodal sensors to collect data on living organisms in real time. Drive and power system: Carbon fiber composite bed, electric actuators and four-wheel independent drive. Intelligent control module: Optimized design based on TRIZ theory, integrating gesture recognition, voice control and touch screen interaction; The drive and power system uses DC-powered electric actuators, supporting bed tilt adjustment and providing flexible turning capabilities. Combined with a differential and four-wheel independent drive, it achieves precise driving and obstacle avoidance. The casters and braking system are equipped with silent rollers and an electromagnetic braking system to ensure mobility and stability. The shock absorption module uses hydraulic or spring shock absorbers to reduce driving bumps. The sensing and control system includes vibration and angle sensors, pressure and gravity sensors, a horizontal gyroscope, and a voice control module. It monitors for abnormal tilting or the risk of a fall from the hospital bed, triggering a buzzer alarm. The bed delivery system includes a three-stage planetary gear transmission system coupled with a low-noise servo motor, integrates a gyroscope and incremental coding, and achieves precise positioning through a PID dual closed-loop control algorithm.

2. The hospital bed with an intelligent multimodal active delivery system according to claim 1, characterized in that: The electric push rod uses a DC-powered drive component, which supports backrest tilt adjustment and provides flexible turning function. It works in conjunction with lumbar spine micro-adjustment to achieve automated control of the patient's sitting-up movement, and the sitting-up speed is controllable.

3. The hospital bed with an intelligent multimodal active delivery system according to claim 1, characterized in that: The four-wheel independent drive structure, combined with a differential, achieves dynamic obstacle avoidance through lidar and three-dimensional semantic recognition technology, supporting omnidirectional movement and steering of the hospital bed. When steering, it can achieve rotation in place or arc driving by adjusting the speed difference of the four wheels.

4. The hospital bed with an intelligent multimodal active delivery system according to claim 1, characterized in that: The height of the bed is adjusted by an electric push rod, which, together with the tilt adjustment, creates a ramp-like posture for getting in and out of bed. The four corners of the bed are integrated with foldable universal wheel brackets, and the bottom anti-slip adsorption device provides adsorption force. The side panels are equipped with electric telescopic handrails, and the extension length of the handrails is adjustable.

5. The hospital bed with an intelligent multimodal active delivery system according to claim 1, characterized in that: The physiological monitoring system includes a pressure sensor matrix, vibration sensors, and a horizontal gyroscope, distributed across different sections of the bed board, to collect patient position data and physiological parameters in real time. The intelligent control module is based on a reinforcement learning algorithm to generate a position adjustment plan according to the patient's body shape and condition, supporting timed adjustment, physiological response adjustment, and personalized learning adjustment modes.

6. The hospital bed with an intelligent multimodal active delivery system according to claim 5, characterized in that: The timed adjustment mode supports automatic position changes, using an electric push rod linked to the five-section bed board to achieve movements such as back lifting and leg bending; the physiological response mode automatically adjusts the bed to a head-high-feet-low position and sends an alarm when abnormal heart rate or decreased blood oxygen saturation is detected.

7. The hospital bed with an intelligent multimodal active delivery system according to claim 1, characterized in that: When performing a turning motion, the five-segment electric adjustment mechanism first adjusts the bed tilt angle, and then applies force alternately through the electric push rods on both sides, in conjunction with the anti-slip coating on the bed board, to achieve a smooth turning of the patient's torso and avoid impact from the movement.

8. The hospital bed with an intelligent multimodal active delivery system according to claims 1-7, characterized in that: The intelligent control module integrates the SLAM algorithm, constructs a three-dimensional environmental map using LiDAR, and automatically plans the patient transfer route using a path planning algorithm, supporting the automatic transfer of patients to designated areas.

9. The hospital bed with an intelligent multimodal active delivery system according to claims 1-8, characterized in that: The bed chassis has a built-in dual power redundancy system that automatically switches to backup power in the event of a power outage, ensuring that a complete body position adjustment or bed movement operation can be completed, and the system has a low failure rate.

10. A method of using a hospital bed with an intelligent multimodal active delivery system according to any one of claims 1-9, characterized in that: During use, the environmental perception system enables centimeter-level obstacle recognition, while the heavy-duty robotic arm reduces the intensity of care. The physiological monitoring module accurately captures vital signs, ensuring patient safety. Carbon fiber composite materials are used to reduce weight, and the drive system combines electric push rods with independent four-wheel drive for flexible adjustment and stable movement. The perception and control module integrates gesture and voice recognition technologies, and the communication system connects to the hospital's Internet of Things (IoT), supporting real-time data upload and remote management. The overall design enhances the functionality, safety, and intelligence of the hospital bed, meeting the needs of diverse medical scenarios.

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