Multi-mode coordinated control method and device of medical electric turning-over anti-pressure-sore mattress

Abstract

The application discloses a multi-mode coordinated control method and equipment of a medical electric turning-over anti-pressure-sore mattress. The method divides an air bag array into multiple functional subareas, determines first control layer participation marks and second control layer participation marks of each functional subarea according to a working mode, calculates a body position target air pressure value of the first control layer according to a turning-over mode, generates a periodic air pressure fluctuation signal of the second control layer according to a fluctuation mode, and superimposes the two control layers orthogonally to obtain a final target air pressure of each air bag. The layered orthogonal control can realize the simultaneous operation of turning-over and fluctuation massage on the same air bag array.

Description

Technical Field

[0001] This invention relates to the field of medical and nursing equipment technology, specifically to a multi-mode coordinated control method and equipment for a medical electric turning and pressure ulcer prevention mattress. Background Technology

[0002] Medical electric turning and pressure ulcer prevention mattresses are widely used in the care of long-term bedridden patients. Through the inflation and deflation of air bladders, they can realize nursing functions such as turning the patient's body position and undulating massage, which helps prevent pressure ulcers and promote blood circulation.

[0003] Existing medical electric turning and pressure ulcer prevention mattresses typically employ multiple independent airbag groups to perform different care functions. For example, an independent turning airbag group enables position changes, and an independent undulating airbag group provides massage. These airbag groups are physically isolated and have independent control logic. This multi-independent airbag group architecture has the following problems: On the one hand, multiple independent airbag sets lead to a complex internal structure of the mattress, an increase in the total number of airbags, and higher costs; on the other hand, the various functional modes are achieved through hard switching, that is, one mode must be stopped before starting another mode. At the moment of switching, the patient may lose support, posing a safety hazard of sudden changes in body position, and turning over and undulating massage cannot be performed at the same time. Summary of the Invention

[0004] To address the structural redundancy and support breakage issues caused by multiple independent airbag assemblies in existing technologies, this invention provides a multi-mode coordinated control method and device for a medical electric turning and pressure ulcer prevention mattress.

[0005] The first aspect of this invention provides a multi-mode coordinated control method for a medical electric turning and pressure ulcer prevention mattress, comprising the following steps: Based on the selected working mode, the participation markers of the first control layer and the second control layer are determined for each functional zone of the airbag array. The first control layer is used to maintain the patient's posture, and the second control layer is used to generate a massage effect. Based on the turning pattern and target angle, the target air pressure value for each functional zone participating in the first control layer is calculated. Based on the fluctuation pattern, periodic air pressure fluctuation signals are generated for each airbag participating in the second control layer; The target air pressure values ​​for each functional zone and the periodic air pressure fluctuation signals of the corresponding airbags are orthogonally superimposed, and the superposition results are subjected to safety limiting to obtain the final target air pressure of each airbag.

[0006] A second aspect of the present invention provides a medical electric turning and pressure ulcer prevention mattress with an airbag array, wherein the airbag array includes multiple airbags and the multiple airbags are divided into multiple functional zones; An air pump and an array of solenoid valves are used to inflate or deflate each airbag in the airbag array. Pressure sensors are used to detect the actual air pressure values ​​of each functional zone; A controller for performing the method described in the first aspect of the present invention.

[0007] The beneficial effects of this invention include: 1. By dividing the airbag array into multiple functional zones and adopting a hierarchical orthogonal control architecture, the body turning position maintenance and the wave massage function share the same physical airbag array, eliminating the hardware redundancy of multiple independent airbag groups in the existing technology and simplifying the mattress structure. 2. By executing the orthogonal superposition of the first and second control layers in a time-sharing manner within each control cycle, the first control layer continuously maintains patient support during mode switching, eliminating the risk of support breakage caused by hard switching; 3. By achieving a functionally independent orthogonal relationship between the two control layers, simultaneous operation of turning over and undulating massage is realized. Attached Figure Description

[0008] Figure 1 This is a general flowchart of the multi-mode coordinated control method provided in the embodiments of the present invention; Figure 2 This is a schematic diagram of the air pressure distribution at the body position reference layer provided in an embodiment of the present invention; Figure 3 This is a timing signal diagram of the dynamic fluctuation layer provided in an embodiment of the present invention; Figure 4 A system module architecture diagram provided for embodiments of the present invention; Figure 5 System software interface provided for embodiments of the present invention Figure 1 ; Figure 6 System software interface provided for embodiments of the present invention Figure 2 . Detailed Implementation

[0009] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0010] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0011] The technical solutions in the embodiments of the present invention will now be clearly and completely described in conjunction with the accompanying drawings.

[0012] The multi-mode coordinated control method provided in this invention can be applied to various medical and nursing equipment, including but not limited to: medical electric turning and anti-pressure ulcer mattresses, medical anti-pressure ulcer air mattresses, rehabilitation nursing air mattresses, ICU nursing mattress systems, and smart home care mattresses. These devices can be deployed in hospital wards, ICU intensive care units, nursing home units, and home bedrooms to provide long-term bedridden patients with repositioning and pulsating massage nursing services.

[0013] The medical electric turning and pressure ulcer prevention mattress provided in this embodiment includes an airbag array, an air pump, a solenoid valve array, pressure sensors, and a controller. The airbag array is a matrix arrangement of 72 airbags (12 rows x 6 columns) laid on the bed frame. The air pump is a diaphragm pump driven by a DC brushless motor, distributing airflow to each airbag through a network of solenoid valves. Each airbag is equipped with a three-way solenoid valve, whose normally closed path connects to the air pump output, and its normally open path connects to the atmosphere, enabling inflation and deflation switching. Each functional zone is equipped with one pressure sensor, totaling nine sensors, used to detect the air pressure value of a representative airbag within the corresponding zone. The controller is an embedded microcontroller that receives user operation commands via a touch panel, performs air pressure calculations, and outputs control signals to the solenoid valves and air pump.

[0014] In this embodiment, the first control layer is specifically a position reference layer, used to maintain the patient's position during turning over. The second control layer is specifically a dynamic fluctuation layer, used to superimpose periodic air pressure changes on the position reference to generate a massage effect. The first air pressure increment is specifically the turning air pressure increment, the first phase group is specifically an odd-numbered row of airbags, the second phase group is specifically an even-numbered row of airbags, the first fluctuation amplitude is specifically a weight-related fluctuation amplitude parameter, and the first fluctuation period is specifically an 8-second fixed fluctuation period.

[0015] like Figure 1 As shown, the multi-mode coordinated control method provided in this embodiment includes the following steps: S000, System initialization and parameter configuration.

[0016] After the system is powered on, the controller reads the weight and mattress firmness settings set by the caregiver from the touch panel. There are 5 weight settings, corresponding to patient weight ranges of under 40kg, 40-60kg, 60-80kg, 80-120kg, and over 120kg. There are 3 mattress firmness settings: soft, medium, and firm.

[0017] The controller loads a pre-calibrated three-dimensional mapping table of weight, stiffness, and air pressure from memory, and calculates the basic support air pressure value for each functional zone based on the set weight and stiffness levels. The calculation method for the basic air pressure of each zone is as follows: In the formula, These are the reference air pressure values ​​corresponding to the weight levels. This value represents the minimum air pressure level required to prevent the human body from hitting the bottom under standard stiffness. The reference air pressure values ​​for the five weight levels are 3 kPa, 4.5 kPa, 6 kPa, 8 kPa, and 10 kPa, respectively. The weight distribution coefficients for different body parts reflect the varying proportions of weight borne by different parts of the body due to differences in the prominence of bones and the thickness of muscles. The weight distribution coefficients for the head area are 0.6, for the shoulders and back area it is 1, for the waist and hips area it is 1.2, for the thigh area it is 0.9, and for the calf area it is 0.5. The hardness correction factor is 0.85 for the softer setting, 1 for the medium setting, and 1.15 for the harder setting. The hardness correction factor is typically in the range of 0.8 to 1.2, and the three values ​​in this embodiment cover the main operating points within this range.

[0018] Safety boundary parameters include the minimum bottom-proof pressure and the rated maximum pressure. Minimum bottom-proof pressure When the airbag pressure is below this value, the airbag height is insufficient to prevent the patient's body from contacting the bed board. Rated maximum air pressure kPa is determined by the compressive strength of the airbag membrane material and the heat-sealing welding process.

[0019] The airbag partition topology adopts a two-dimensional logical mapping, that is, each physical airbag belongs to two orthogonal dimensions, namely the rollover dimension partition and the fluctuation dimension group, through the partition mapping table.

[0020] The turning dimension partitioning divides the airbag array along the column direction into left, middle, and right halves. In a 12-row × 6-column array, airbags numbered 0 to 1 belong to the left half, 2 to 3 to the middle half, and 4 to 5 to the right half. The vertical region partitioning divides the airbag array along the row direction into head and shoulder, waist and hip, and leg areas. Airbags numbered 0 to 3 belong to the head and shoulder area, 4 to 7 to the waist and hip area, and 8 to 11 to the leg area. The fluctuation dimension grouping divides the airbags into a first phase group (odd-numbered rows, row numbers 1, 3, 5, 7, 9, 11) and a second phase group (even-numbered rows, row numbers 0, 2, 4, 6, 8, 10) based on row parity.

[0021] For example, when the weight setting is selected as 60 to 80 kg and the firmness is set to medium, the baseline air pressure for each zone is calculated as follows: Baseline air pressure for the head zone is... kPa, shoulder and back area kPa, waist and hip area kPa, thigh area is kPa, calf area is kPa. The minimum air pressure to prevent bottoming out is kPa.

[0022] S100, according to the working mode, determines the first control layer participation flag and the second control layer participation flag for each functional partition of the airbag array.

[0023] At the beginning of each control cycle, the controller reads the mode selection status of the touch panel and determines the dual-layer participation status of each functional zone based on the currently active working mode combination.

[0024] Users can choose from two main categories of working modes: undulation mode and rolling mode, as well as two special modes: suspension mode and prone position mode. The undulation mode includes four options: static mode (no undulation), limb undulation mode, hip undulation mode, and full-body undulation mode. The rolling mode includes seven options: static mode (no rolling), upper body left roll, upper body right roll, upper body cycle, full-body left roll, full-body right roll, and full-body cycle.

[0025] For each functional zone, the controller determines a zone role vector, which contains two binary flags: a positional reference layer participation flag (i.e., the first control layer participation flag) and a dynamic fluctuation layer participation flag (i.e., the second control layer participation flag). When the first control layer participation flag is valid, the zone participates in the pressure calculation of the positional reference layer; when the second control layer participation flag is valid, the airbags in the zone participate in the signal superposition of the dynamic fluctuation layer.

[0026] When multiple operating modes are selected simultaneously, the controller arbitrates mode conflicts according to a preset priority order. The priorities, from highest to lowest, are: hovering mode, prone position mode, rolling over mode, and undulating mode. Higher priority modes can disable some or all functions of lower priority modes.

[0027] Among them, the hover mode is the highest priority exclusive mode. When hover mode is enabled, the first and second control layer participation flags of all functional zones are set to invalid, the rollover and undulation functions are all suspended, and the regular S200 to S400 dual-layer control process is not executed. At this time, the controller switches to the hover control logic, which bypasses the dual-layer control process and directly sets the target air pressure of all airbags to 60% of the base air pressure of each zone (i.e., This achieves a low-pressure, uniform support effect, reducing pressure. Subsequent inflation and deflation steps continue to operate normally, using the target air pressure output by the levitation control logic as the final target air pressure. The levitation mode automatically exits after 20 minutes, and the controller resumes the dual-layer control process and its previous operating state.

[0028] When the prone position mode is activated, the second control layer participation flags for all functional zones are forcibly set to invalid, and the undulating massage function is turned off. At this time, the first control layer participation flags are set according to the prone position allocation rules, which appropriately reduce the air pressure in the waist and hip areas to adapt to the changes in the body's weight distribution when prone. The turning function can still be used in addition to the prone position.

[0029] In normal mode, the flipping mode and the fluctuation mode operate in an orthogonal superposition without interfering with each other.

[0030] For example, taking the combination of the upper body leftward rollover pattern and the whole-body undulation pattern as an example: In the intersection of the left half and the head and shoulder area, the first control layer participation indicator is valid, marked as pressure increase on the rolling side; the second control layer participation indicator is valid, participating in undulation superposition. In the intersection of the right half and the head and shoulder area, the first control layer participation indicator is valid, marked as pressure decrease on the contralateral side; the second control layer participation indicator is valid. In the intersection of the middle area and the head and shoulder area, the first control layer participation indicator is valid, but marked as intermediate transition, maintaining baseline air pressure. In all areas of the leg area, the first control layer participation indicator is invalid (legs do not participate in positional changes when the upper body rolls over), and the second control layer participation indicator is valid (legs participate in undulation massage during whole-body undulation).

[0031] S200 calculates the target air pressure value for each functional zone participating in the first control layer based on the turning pattern and target angle, so that the air pressure of the functional zone on the turning side is higher than that of the functional zone on the opposite side to form an inclined support surface.

[0032] like Figure 2As shown, this step converts the user-defined turning angle into a differential air pressure distribution between the functional zones on the turning side and the opposite side, forming an inclined support surface. When the patient lies on the airbag array, the airbag on the turning side inflates and rises while the airbag on the opposite side deflates and falls, forming an inclined plane under the patient's body. Under the influence of gravity, the patient's body tilts to the target angle according to this support surface.

[0033] The pressure increment during turning over (i.e., the first pressure increment) is: In the formula These are the angle-pressure difference values ​​calibrated under standard body weight conditions. The calibration method involves measuring the required left-right pressure difference at different angles on a standard body mannequin weighing 60 to 80 kg. The calibration values ​​for the four selectable turning angles are: 15° = 2.0 kPa, 20° = 2.8 kPa, 25° = 3.6 kPa, and 30° = 4.5 kPa. This refers to the weight correction factor, used to compensate for the different torques required by patients of different weights at the same angle. The correction factors corresponding to the five weight levels are 0.7, 0.85, 1.00, 1.20, and 1.45, respectively. The greater the weight, the greater the air pressure difference required to overcome the larger component of gravity. The weight correction factor is typically in the range of 0.6 to 1.5, and the five values ​​in this embodiment cover the main operating points within this range.

[0034] The distribution rules for the target air pressure in each functional zone are determined according to the turning direction. For left turning movements: the target air pressure in the zone where the turning side (left half) intersects with the longitudinal zone involved in the turning is equal to the baseline air pressure of that zone plus the turning air pressure increment; the target air pressure in the zone where the opposite side (right half) intersects with the longitudinal zone involved in the turning is equal to the baseline air pressure of that zone minus the turning air pressure increment multiplied by the opposite side decompression coefficient; the middle zone maintains the baseline air pressure as a transitional support zone. The opposite side decompression coefficient is set to 0.7, meaning that the decompression on the opposite side is 70% of the pressure increase on the turning side. This asymmetrical design allows the patient's body to naturally tilt towards the turning side. During right turning movements, the left and right roles are reversed. The cyclic turning pattern switches periodically between left and right turning rules according to the current phase of the cyclic timer.

[0035] For upper body rolling over, only the head, shoulder, and hip areas participate in the rolling motion, while the base air pressure remains constant in all areas of the legs. For full-body rolling over, all longitudinal areas participate in the rolling over. Safety checks for rolling over results: If the target air pressure on the rolling side exceeds the rated maximum air pressure of 14.0 kPa, it will be limited to 14.0 kPa; if the target air pressure on the opposite side is lower than the minimum air pressure to prevent bottoming out... Then the limit is set to .

[0036] For example, when the weight range is 60 to 80 kg, the target angle is 20°, and the rolling pattern is upper body rolling to the left: the air pressure increment during rolling is... kPa. The target air pressure for the positional region at the intersection of the left half and the lumbosacral region is... kPa. The target air pressure in the area where the right half of the body intersects with the head and shoulder region is... kPa, this value is lower than the minimum air pressure for preventing bottoming out (2.4 kPa), so the pressure is limited to 2.4 kPa. The target air pressure for the right half of the body area, where it intersects with the waist and hip area, is... kPa. The middle and leg areas maintain their respective baseline pressures.

[0037] In another embodiment, the target air pressure value for body position can also be achieved through adaptive PID control. The controller continuously reads feedback from the pressure sensor and adjusts the target value to make the actual tilt angle approach the set value. This method is suitable for application scenarios where the elastic properties of the airbag change significantly with temperature.

[0038] S300 generates periodic air pressure fluctuation signals for each airbag participating in the second control layer according to the fluctuation pattern.

[0039] like Figure 3 As shown, this step generates periodic air pressure signals for the dynamic wave layer (i.e., the second control layer). The effect of the wave massage comes from the alternating inflation and deflation of adjacent airbag rows. When the first phase group (i.e., odd-numbered rows) of airbags inflates and rises, the second phase group (i.e., even-numbered rows) of airbags simultaneously deflates and lowers, forming a pressure wave that propagates along the longitudinal axis of the human body.

[0040] The range of areas involved in the fluctuation is determined based on the fluctuation pattern. In the limb fluctuation pattern, only all rows in the leg area and the upper two rows in the head and shoulder area participate in the fluctuation, while the trunk area remains stable. In the hip fluctuation pattern, only all rows in the waist and hip area participate in the fluctuation. In the whole-body fluctuation pattern, all rows participate in the fluctuation. Within the determined area of ​​participation, the airbags are divided into a first phase group and a second phase group according to the parity of the rows. The fluctuation phases of the two groups differ by half a cycle, i.e., they are completely out of phase.

[0041] The fluctuating air pressure signal (i.e., the first fluctuating signal) is: In the formula, This is the fluctuation amplitude (i.e., the first fluctuation amplitude), which is positively correlated with the weight level. A larger weight requires a greater fluctuation to produce an effective massage sensation. The fluctuation amplitudes corresponding to the five weight levels are 0.8 kPa, 1.0 kPa, 1.2 kPa, 1.5 kPa, and 1.8 kPa, respectively. The fluctuation amplitudes are typically in the range of 0.5 kPa to 2.5 kPa, and the five levels in this embodiment cover the optimal massage effect range. The fluctuation period (i.e., the first fluctuation period) is fixed at 8 seconds, corresponding to a massage frequency of 7.5 times / minute. This frequency balances the massage effect with the tracking capability of the solenoid valve. The fluctuation period can be, for example, 6 seconds, 8 seconds, 10 seconds, 12 seconds, etc., but in this embodiment, 8 seconds is used. For airbags The phase values ​​are set to 0 for the first phase group and 0 for the second phase group. . For airbags The second control layer participation flag of the partition is set to 1 when it is valid and 0 when it is invalid.

[0042] The controller uses a lookup table method to generate sinusoidal signals. A 256-point sine value lookup table is pre-stored in memory. The controller increments the index value by 16 every 500ms (corresponding to an 8-second sampling interval), reads the current sine value, and multiplies it by the fluctuation amplitude to obtain the fluctuation amount at the current moment. The sine index of the second phase group is offset by 128 sampling points relative to the first phase group, equivalent to a half-cycle phase difference.

[0043] For example, when the weight range is 60 to 80 kg and the fluctuation pattern is whole-body fluctuation, the fluctuation amplitude is 1.2 kPa. At time... At seconds, the sine phase is The sine value is 1. The superposition of fluctuations in each airbag of the first phase group is... kPa (inflation direction), the superposition of fluctuations in each airbag of the second phase group is kPa (venting direction). At time Roles switch at seconds, first phase group is kPa, the second phase group is kPa. Within a complete 8-second cycle, each row of airbags undergoes a complete fluctuation process of inflating to its peak value and then deflating to its trough value.

[0044] In another embodiment, the periodic pressure fluctuation signal can also be generated by a trapezoidal waveform, which consists of four equal-duration stages: an inflation stage, a holding stage, a deflation stage, and a holding stage. The solenoid valve control only requires switching on and off without continuous adjustment, making it suitable for low-cost scenarios with low control accuracy requirements.

[0045] S400 orthogonally superimposes the target air pressure values ​​of each functional zone with the periodic air pressure fluctuation signals of the corresponding airbags, performs safety limiting on the superposition results, and obtains the final target air pressure of each airbag.

[0046] This step involves orthogonally superimposing the target air pressures for each zone output from the body position reference layer (i.e., the first control layer) with the airbag fluctuations output from the dynamic fluctuation layer (i.e., the second control layer). Orthogonality means that the two control layers are completely independent in function: the body position reference layer determines the average air pressure level of each airbag, and the dynamic fluctuation layer superimposes periodic disturbances on this average value. The two are calculated independently and then linearly added to obtain the final result.

[0047] The superposition formula is: In the formula, For airbags The target air pressure value for the body position in the relevant zone (from S200 output). For airbags At any moment The amount of fluctuation superposition (from S300 output).

[0048] After stacking, safety limiting must be implemented to ensure that the airbag pressure does not exceed the safety boundary. Limiting employs a two-stage protection mechanism. The first stage is dynamic amplitude compression, calculating the minimum margin between the current body position air pressure and the upper and lower safety boundaries for each airbag: When the original fluctuation amplitude Exceed At that time, the fluctuation of the airbag is proportional. Compression avoids sudden pressure changes and waveform distortion caused by hard truncation. The second stage is a hard limiting fallback: Under normal circumstances, the first-level dynamic compression ensures that the signal does not exceed the limit, while the second-level hard limiting only plays a protective role in abnormal situations such as sensor drift or calculation errors.

[0049] For example, continuing the aforementioned calculation conditions (upper body turning to the left + whole body undulation), (seconds): The target air pressure for the odd-numbered rows of airbags in the left lumbar and hip area is 10 kPa, with an allowable fluctuation margin of [missing information]. kPa, greater than the fluctuation amplitude of 1.2 kPa, no compression is needed, the final target air pressure is kPa. The target air pressure for the right-side head and shoulder airbag is 2.4 kPa (limited to the bottoming-out value), with an allowable fluctuation margin of [missing information]. kPa, the fluctuation amplitude is completely compressed to 0, and the final target pressure is maintained at 2.4 kPa. This area is at the minimum permissible pressure, and fluctuations are completely shielded to ensure that the patient's body does not touch the ground.

[0050] S500 performs inflation and deflation control on each airbag, following the sequence of first inflating the airbags that need to be inflated and then deflating the airbags that need to be deflated.

[0051] In this embodiment, the controller converts the final target air pressure output by S400 into actual control actions of the solenoid valve and air pump within each control cycle. The control cycle is 500ms, synchronized with the fluctuation signal update frequency.

[0052] The controller compares the final target air pressure of each airbag with the current actual air pressure fed back by the pressure sensor, and calculates the air pressure deviation. When the absolute value of the deviation is less than the dead zone parameter of 0.1 kPa, the airbag does not perform any action to avoid the solenoid valve frequently opening and closing near the target value. When the deviation is greater than the dead zone, airbags with positive deviations are assigned to the inflation group, and airbags with negative deviations are assigned to the deflation group.

[0053] The opening time of the solenoid valve is calculated using proportional control: In the formula, For proportional control gain, this embodiment uses a value of 300 ms / kPa. This value is determined by calibration using the linear relationship between inflation / deflation time and pressure change of a standard airbag under no-load conditions. The proportional control gain is typically in the range of 200 ms / kPa to 500 ms / kPa, determined by the airbag volume and valve diameter; this embodiment uses 300 ms / kPa. The maximum opening time of the solenoid valve within a single control cycle is limited to 400 ms, with the remaining 100 ms used for sensor sampling and calculation.

[0054] To prevent rapid changes in air pressure from causing patient discomfort, the controller imposes a rate-of-change limit on the actual air pressure change within each control cycle. The maximum allowable change per cycle is 0.5 kPa, corresponding to a rate-of-change upper limit of 1.0 kPa / s. When the calculated target change exceeds 0.5 kPa, only a 0.5 kPa change is executed in this cycle, with the remaining difference being carried over to subsequent cycles in a ramp-up manner.

[0055] It should be noted that the execution sequence follows a pre-inflation-deflation strategy. The inflation and deflation groups here are defined based on the deviation sign between the final target pressure (not the output of a single layer) after S400 orthogonal superposition and safety limiting, and the current actual pressure. Even if the target pressure of a certain airbag in the positioning layer is decreasing, if the superposition amount of the fluctuation layer at that moment makes the final target pressure still higher than the current actual pressure, then that airbag is still classified as an inflation group. Within each control cycle, the controller first starts the air pump and then sequentially opens the inflation valves of each airbag in the inflation group to complete the inflation action. After all inflation valves are closed, the deflation valves of each airbag in the deflation group are then sequentially opened to complete the deflation action. This sequence ensures that during position changes, the supporting side establishes high support first before the opposite side begins to lower, so that the patient always has one side in a fully supported state at any intermediate moment.

[0056] For example, when the system switches from static mode to upper body left-turn mode, the airbag in the left lumbar and hip area needs to rise from the base pressure of 7.2 kPa to the target pressure of 10 kPa, with a deviation of 2.8 kPa. Due to the rate of change limitation, only 0.5 kPa is applied per cycle, and the valve opening time is... ms. Requires processing. The entire boost process is completed in 6 cycles (3 seconds).

[0057] The S600 performs safety monitoring, responds to emergency signals by interrupting all control logic and simultaneously opening all deflation pathways, continuously monitors the actual air pressure of each airbag and triggers an alarm when it exceeds the safe range, and automatically stops working when the system runs for more than the preset working time.

[0058] In this embodiment, the safety monitoring module operates independently of the functional control loops of S100 to S500, has the highest control priority, and can unconditionally interrupt normal operation at any time.

[0059] The rapid CPR deflation function is implemented through an independent hardware circuit. The CPR button on the panel is connected to both the main controller's GPIO interrupt input and an independent relay circuit. When the button is pressed, the relay activates, directly cutting off the power supply to the air pump and connecting the common terminal of all 72 deflation valves. This hardware path does not rely on the main controller software, ensuring that the CPR function remains available even if the controller crashes. The main controller responds to the GPIO interrupt within 1ms, stopping all control tasks from S100 to S500, and the panel switches to a red CPR status display. It takes approximately 10 seconds for all airbags to drop from their working pressure to below 0.5 kPa, meeting the time requirements for rigid support surfaces in cardiopulmonary resuscitation. After deflation, the system maintains all valves open until the caregiver manually presses the reset button to restore operation.

[0060] The anomaly detection state machine performs detection on the following events every 500ms control cycle.

[0061] Sensor disconnection detection: When the reading of a pressure sensor in a certain zone is lower than -0.5 kPa or higher than 20 kPa, it is determined that it is outside the physical reasonable range, the sensor in that zone is marked as faulty, the closed-loop control of that zone is stopped, and a yellow warning is displayed on the panel.

[0062] Gas leak detection: If the air pressure does not rise within 3 consecutive control cycles after the inflation valve is opened, it is determined that there may be a gas leak. Increase the opening time of the inflation valve to 1.5 times and try again. If it is still ineffective, trigger the red alarm on the panel.

[0063] System overpressure protection: When the actual air pressure of an airbag exceeds the rated maximum air pressure plus 1 kPa (i.e. 15 kPa), the airbag deflation valve will be opened immediately to release the pressure.

[0064] Overtime protection: When the system runs continuously for longer than the time set by the user through the panel, the controller will automatically stop all inflation and deflation operations, so that all airbags return to the static support of the basic air pressure state.

[0065] like Figure 4-6 As shown in the illustration, this application also provides a medical electric turning and pressure ulcer prevention mattress. The mattress includes an airbag array, an air pump, a solenoid valve array, a pressure sensor, and a controller. The airbag array contains 72 airbags arranged in a 12x6 matrix. The controller includes a pattern parsing module, a body position calculation module, a fluctuation generation module, and an air pressure synthesis module.

[0066] The mode parsing module is used to perform mode conflict priority arbitration based on the combination of working modes input by the touch panel, determine the first control layer participation flag and the second control layer participation flag of each functional area, and output the determination result to the body position calculation module and the wave generation module.

[0067] The body position calculation module receives parameters such as the turning mode, target angle, and weight level, calculates the turning pressure increment (i.e., the first pressure increment), distributes the pressure increment positive or negative to the corresponding functional zones according to the turning direction, and outputs the target body position pressure value for each zone to the pressure synthesis module. The body position calculation module executes once per second because the body position target is a slow variable.

[0068] The fluctuation generation module generates periodic air pressure fluctuation signals for each airbag based on the fluctuation pattern and weight level using a sine lookup table, and outputs the superimposed fluctuation amount of each airbag to the air pressure synthesis module. The fluctuation generation module updates every 500ms, synchronized with the control cycle.

[0069] The air pressure synthesis module is used to orthogonally superimpose the target air pressure of each zone output by the body position calculation module with the airbag fluctuation output by the fluctuation generation module, perform dynamic amplitude compression and safety limiting, and output the final target air pressure of each airbag to the solenoid valve drive circuit.

[0070] The controller implements the functions of the above modules by executing program instructions in the memory through a processor. In another embodiment, the pattern parsing module and the air pressure synthesis module can also be implemented using FPGA hardware logic to achieve lower control latency.

[0071] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit described above can be implemented in hardware.

[0072] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A multi-mode coordinated control method for a medical electric turning and pressure ulcer prevention mattress, characterized in that, include: Based on the selected working mode, the participation markers of the first control layer and the second control layer are determined for each functional zone of the airbag array. The first control layer is used to maintain the patient's posture, and the second control layer is used to generate a massage effect. Based on the turning pattern and target angle, the target air pressure value for each functional zone participating in the first control layer is calculated. Based on the fluctuation pattern, periodic air pressure fluctuation signals are generated for each airbag participating in the second control layer; The target air pressure values ​​for each functional zone and the periodic air pressure fluctuation signals of the corresponding airbags are orthogonally superimposed, and the superposition results are subjected to safety limiting to obtain the final target air pressure of each airbag.

2. The method according to claim 1, characterized in that, The method further includes: When multiple working modes are selected at the same time, the validity of each working mode is determined according to a preset priority order. Among them, the priority of the floating mode is higher than that of the turning mode, and the priority of the turning mode is higher than that of the fluctuation mode. When the prone position mode is enabled, the second control layer participation flag for all functional areas is set to invalid.

3. The method according to claim 2, characterized in that, The floating mode is an exclusive mode. When the floating mode is enabled, the first control layer participation flag and the second control layer participation flag of all functional areas are set to invalid to suspend the normal two-layer control process. The floating control logic directly sets the target air pressure of all airbags to the preset ratio value of the base air pressure and automatically exits the floating mode after a preset time.

4. The method according to claim 1, characterized in that, The calculation of the target air pressure value for body position in each functional zone participating in the first control layer based on the turning pattern and target angle includes: The first air pressure increment is determined based on body weight parameters and target angle; wherein, the base air pressure is determined based on body weight parameters, zone weight distribution coefficient, and hardness parameters; Based on the first pressure increment and the baseline pressure of the functional zone on the turning side, determine the target pressure value for the turning side. Based on the first pressure increment, the decompression coefficient on the opposite side, and the baseline pressure of the functional zone on the opposite side, the target pressure value for the body position on the opposite side is determined.

5. The method according to claim 1, characterized in that, Based on the fluctuation pattern, periodic air pressure fluctuation signals are generated for each airbag participating in the second control layer: The airbags participating in the second control layer are divided into a first phase group and a second phase group by row; A first fluctuation signal is generated with a first fluctuation amplitude and a first fluctuation period, wherein the periodic air pressure fluctuation signal includes the first fluctuation signal.

6. The method according to claim 1, characterized in that, The method further includes: Calculate the deviation between the final target air pressure and the current actual air pressure for each airbag; Within the same control cycle, inflate all airbags with positive deviations first, and deflate all airbags with negative deviations after the inflation is completed.

7. The method according to claim 1, characterized in that, The method further includes: In response to an emergency signal, all control logic is interrupted and all venting pathways are opened simultaneously; Continuously monitor the actual air pressure of each airbag, and trigger an alarm when the actual air pressure exceeds the preset safety range; The system will automatically stop working when the running time exceeds the preset working time.

8. The method according to claim 1, characterized in that, The method further includes: Calculate the remaining margin between the combined air pressure of each airbag and the preset upper limit of air pressure; When the remaining margin is less than the peak amplitude of the periodic air pressure fluctuation signal, dynamic amplitude compression is performed on the periodic air pressure fluctuation signal so that the peak value of the compressed fluctuation signal does not exceed the remaining margin. Hard limiting is applied to the compressed superposition result to truncate values ​​that exceed the preset upper and lower pressure limits to the corresponding limits.

9. A medical electric turning and pressure ulcer prevention mattress, characterized in that, include: An airbag array, the airbag array comprising multiple airbags, the multiple airbags being divided into multiple functional zones; An air pump and an array of solenoid valves are used to inflate or deflate each airbag in the airbag array. Pressure sensors are used to detect the actual air pressure values ​​of each functional zone; A controller for performing the method according to any one of claims 1 to 8.

10. The medical electric turning and pressure ulcer prevention mattress according to claim 9, characterized in that, The airbag array is arranged in a matrix, and each airbag belongs to at least two logical partitions through a partition mapping table. The two dimensions include left and right dimension partitions for the turning function and row alternation dimension partitions for the undulating function.

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