CN114509723B - Method for detecting the obstructed part of an electric bed capable of retreating when encountering an obstruction - Google Patents
Method for detecting the obstructed part of an electric bed capable of retreating when encountering an obstruction Download PDFInfo
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- CN114509723B CN114509723B CN202210049319.8A CN202210049319A CN114509723B CN 114509723 B CN114509723 B CN 114509723B CN 202210049319 A CN202210049319 A CN 202210049319A CN 114509723 B CN114509723 B CN 114509723B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/183—Emergency, distress or locator beacons
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- Invalid Beds And Related Equipment (AREA)
Abstract
The invention discloses a method for detecting a blocking part of a blocking-back electric bed, which belongs to the field of lifting beds and can remind a user of the specific blocking position of the electric bed so that the user can quickly clear obstacles, and the blocking part detection method of the blocking-back electric bed comprises a bed frame, a lifting mechanism, a control mechanism and a control mechanism, wherein the lifting mechanism is connected with the bed frame and used for driving the bed frame to lift; the method for detecting the blocking position comprises the steps of detecting the vibration of the bedstead through the sensors, calculating the difference value of the distance between each sensor and the blocking position, and calculating the position of the blocking position on the bedstead through the difference value of the distance.
Description
Technical Field
The invention relates to the field of lifting beds, in particular to a method for detecting a blocking part of a blocking-retroversion electric bed.
Background
The bed frame of the lifting bed has a lifting function and is widely applied to home and medical treatment. In the use, the bedstead can influence normal lift if meet the barrier, consequently the bedstead can carry out the rollback when meeting the hindrance in-process of going up and down to prevent that the bedstead from continuing to remove and causing the harmful effect.
When the user finds that the bedstead encounters an obstacle in the lifting process, the user needs to move out of the obstacle to ensure that the bedstead continues to move without occurrence of an obstacle alarm, and if the obstacle is not obvious enough or the light is weak, the user cannot easily find the obstacle, so that the user experience can be influenced. If the lifting bed is used in the medical industry, the obstacles can not be removed in time, the medical activity can be influenced, and the medical accidents can occur seriously, so that the efficiency of removing the obstacles is important.
Disclosure of Invention
The invention aims to solve the technical problem that the defect of the prior art is overcome, and the method for detecting the blocking part of the blocking retroversion electric bed is provided, so that a user can be reminded of the specific blocking position of the electric bed, and the user can quickly clear the obstacle.
In order to solve the technical problems, the invention adopts the following technical scheme:
The method for detecting the blocking part of the blocking-back electric bed comprises the following steps:
The device comprises a bedstead, three sensors and a control unit, wherein the bedstead is connected with a lifting mechanism for driving the bedstead to lift;
The method for detecting the blocking position comprises the steps of detecting the vibration of the bed frame through the sensors, calculating the difference value of the distance between each sensor and the blocking position, and calculating the position of the blocking position on the bed frame through the difference value of the distance.
On the basis of the scheme, the calculation of the difference value of the distance between each sensor and the blocking part comprises the steps of respectively determining A, B, C of the three sensors, recording the time point T A、TB、TC of each sensor for detecting vibration, and calculating the time difference of the vibration sensed by the sensors、Calculating the difference between the distance between A and the blocking part and the distance between B and the blocking partDifference between the distance between B and the part where the block is encountered and the distance between C and the part where the block is encounteredWherein V is the propagation speed of vibration in the bed frame.
On the basis of the scheme, the calculation of the position of the blocking part on the bedstead by the difference value of the passing distance comprises the steps of setting three sensors and position information of the blocking part on the bedstead, and establishing a calculation formula according to the position information of the sensors, the position information of the blocking part, the difference value a and the difference value b to calculate the actual position of the blocking part on the bedstead.
On the basis of the scheme, setting the position information of the three sensors and the blocking part on the bedstead comprises the steps of establishing an X-Y coordinate system by taking one corner of the bedstead as an origin, wherein the coordinates of the three sensors on the bedstead are respectively A (X 1,Y1)、B：(X2,Y2)、C：(X3,Y3), the coordinates of the blocking part are M (X 4,Y4), X 1、Y1、X2、Y2、X3、Y3 is a known number, and X 4 and Y 4 are unknown numbers.
On the basis of the scheme, the calculation formula comprises a formula 1 and a formula 2, and the numerical values of X 4 and Y 4 are calculated through the formula 1 and the formula 2 to obtain the coordinates of the resistance-meeting part on the bed frame;
Equation 1: ;
Equation 2: 。
On the basis of the scheme, the three sensors are acceleration sensors or angular velocity sensors.
On the basis of the scheme, each sensor is fixedly arranged on the bedstead.
On the basis of the scheme, the bed frame is provided with the plurality of sensors, and the information data of three sensors with the largest signal change among the plurality of sensors are selected to calculate the specific position of the blocking part.
On the basis of the scheme, the electric bed capable of being retracted when encountering blockage further comprises a display unit used for displaying state information of the electric bed, an operation unit used for operating lifting movement of the bed frame, and a control unit used for controlling a motor driving the bed frame to lift, wherein the control unit is in signal connection with the sensor and the operation unit and controls lifting of the bed frame according to signals of the sensor and the operation unit.
On the basis of the scheme, the lifting of the bedstead is controlled according to signals of the sensor and the operation unit, and the lifting device comprises:
S10, reading a signal of an operation unit, and controlling the bed frame to ascend or descend according to the signal of the operation unit;
s20, reading signals of the sensor, and judging whether the signals of the sensor are blocking signals or not;
S30, if the bedstead is blocked, the control unit drives the control unit to reversely drive the motor according to the movement direction before the blocking, and if the bedstead is not blocked, the step S20 is repeated.
The invention has the beneficial effects that:
The invention discloses a method for detecting a blocking part of a blocking-capable-back electric bed, wherein a bed frame of the blocking-capable-back electric bed can be lifted to meet the use requirement of a user, when a foreign matter is encountered in the lifting process of the bed frame, the bed frame can be driven to back to avoid the damage of the bed frame caused by the continued movement of the bed frame, and the electric bed is provided with a system capable of detecting the specific position of the blocking part. For the bed body with the outer cover closed, more accurate information can be provided for maintenance personnel to be used for troubleshooting. When the electric bed is applied to the medical industry, the electric bed is more convenient for medical staff to process in time so as to avoid medical accidents caused by delay in the medical process;
The sensor arranged on the electric bed can detect vibration of the bed frame after the bed frame is blocked, the position of each sensor on the bed frame is different, therefore, the distance between each sensor and the blocking position is also different, according to the detection information of the sensors, the difference value of the distance between the two sensors and the blocking position can be calculated, after a plurality of difference values are calculated, the specific position information of the blocking position can be calculated according to the difference value, thereby prompting a user to block the position, and finding an obstacle according to the blocking position of the bed frame.
Further, the calculating of the difference between the distance between each sensor and the blocking part comprises the steps of respectively determining A, B, C of the three sensors, recording the time point T A、TB、TC when each sensor detects vibration, and calculating the time difference between the sensors for sensing vibration、Calculating the difference between the distance between A and the blocking part and the distance between B and the blocking partDifference between the distance between B and the part where the block is encountered and the distance between C and the part where the block is encounteredWherein V is the propagation speed of vibration in the bed frame. The specific position of the blocking part is unknown, so that the time point of vibration cannot be obtained by the sensors, but the propagation speed of vibration in a determined object is fixed, so that the time required for the vibration to reach each sensor is determined, and the difference of the distances between the two sensors and the blocking part can be obtained by the product of the difference of time and the propagation speed of vibration. In particular, even if the time for the collision point on the frame to reach each sensor is the same, the collision point position can be obtained by calculation when a and/or b is 0.
Further, the calculating of the position of the blocking part on the bedstead through the difference value of the distance comprises setting three sensors and position information of the blocking part on the bedstead, and establishing a calculation formula according to the position information of the sensors, the position information of the blocking part, the difference value a and the difference value b to calculate the actual position of the blocking part on the bedstead. The bed frame is used as a reference object, the positions of the three sensors on the bed frame are fixed, so that the position information data of the three sensors on the bed frame are specific numerical values which can be determined, the difference value a and the difference value b are specific numerical values which can be calculated, only the position information of the blocking part is ambiguous, and the information numerical value of the blocking part can be obtained by substituting each data into a calculation formula, so that the specific position of the blocking part on the bed frame is found.
Further, setting the position information of the three sensors and the blocking part on the bedstead comprises the steps of setting up an X-Y coordinate system by taking one corner of the bedstead as an origin, wherein the coordinates of the three sensors on the bedstead are respectively A (X 1,Y1)、B：(X2,Y2)、C：(X3,Y3), the coordinates of the blocking part are M (X 4,Y4), X 1、Y1、X2、Y2、X3、Y3 is a known number, and X 4 and Y 4 are unknown numbers. After the coordinate system is established by taking the bedstead as a reference, the position information of each sensor and the blocking part on the bedstead is a coordinate, namely two numerical values, and the coordinate of the blocking part is ambiguous, so that only two unknowns are available, the rest are known, and the coordinate of the blocking part can be obtained easily by calculation through a formula.
Further, the three sensors are acceleration sensors or angular velocity sensors. When the bedstead vibrates, the vibration can lead to the bedstead to float in the vertical direction, so that the bedstead moves, for example, acceleration changes and angular velocity changes are generated, the acceleration sensor and the angular velocity sensor can detect the movement changes of the mounting positions of the acceleration sensor and the angular velocity sensor, and when the sensor detects that the movement changes of the bedstead exceed a certain threshold value, the sensor can know that the bedstead is blocked.
Further, each sensor is fixedly mounted on the bed frame. The sensor can move along with the bedstead, so that abnormal data can not be caused by relative displacement or angular velocity change between the sensor and the bedstead, and the situation of misinformation when encountering a blockage is avoided.
Further, a plurality of sensors are arranged on the bedstead, and the specific positions of the blocking parts are calculated by selecting information data of three sensors with the largest signal change among the plurality of sensors. The at least three sensors can detect vibration to generate signals after the bedstead is blocked, more data can be selected when the specific position of the blocking part is calculated, the result obtained in calculation can be more accurate, the detection capability of the bedstead in the motion state can be improved after the plurality of sensors are arranged, and even if the smaller obstacle blocks the bedstead, the at least three sensors can detect vibration and calculate the specific position of the blocking part.
Further, the electric bed capable of being retracted when encountering resistance further comprises a display unit for displaying state information of the electric bed, particularly information of a region when encountering resistance, an operation unit for operating lifting movement of the bed frame, and a control unit for controlling a motor for driving the bed frame to lift, wherein the control unit is in signal connection with the sensor and the operation unit and controls lifting of the bed frame according to signals of the sensor and the operation unit. The control unit can read signals of the operation unit and the sensor, can obtain state information of the current electric bed and adjustment requirements on the position of the bed frame to control lifting of the bed frame, and can timely respond once the situation of meeting blockage occurs, so that the bed frame is far away from an obstacle.
These features and advantages of the present invention will be disclosed in detail in the following detailed description and the accompanying drawings.
Drawings
The invention is further described with reference to the accompanying drawings:
FIG. 1 is a schematic view of an electric bed according to an embodiment of the present invention;
Fig. 2 is a schematic view of a bed frame according to an embodiment of the present invention;
FIG. 3 is a schematic diagram showing the coordinates of the sensor and the blocking portion on the frame according to the embodiment of the present invention;
FIG. 4 is a schematic diagram of an operating system of an electric bed according to an embodiment of the present invention.
Reference numerals:
a bed frame 100, and a sensor 200.
Detailed Description
The technical solutions of the embodiments of the present invention will be explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the examples in the implementation manner, other examples obtained by a person skilled in the art without making creative efforts fall within the protection scope of the present invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more, unless otherwise clearly defined.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
Referring to fig. 1 to 3, an embodiment of the present invention discloses a method for detecting a blocking position of a blocking retractable electric bed, the blocking retractable electric bed comprising:
A bed frame 100 connected with a lifting mechanism for driving the bed frame 100 to lift and fall, and
Three sensors 200 provided on the frame 100;
The method for detecting the blocking part comprises the following steps:
detecting the vibration of the bed frame 100 by the sensor 200;
Calculating the difference value of the distance between each sensor 200 and the blocking part;
the position of the blocking part on the frame 100 is calculated by the difference in distance.
The bedstead 100 of the electric bed capable of backing when meeting with resistance disclosed by the invention can be lifted to meet the use requirement of a user, when the bedstead 100 meets foreign matters in the lifting process, the bedstead 100 can be driven to backing to avoid the bedstead 100 from being damaged due to the foreign matters caused by the continuous motion of the bedstead 100, and in order to facilitate the use of the user, a system capable of measuring the specific position of a meeting-resistance part is also arranged for the electric bed, so that the user can quickly find the foreign matters which enable the bedstead 100 to meet with resistance according to the system prompt when the situation of meeting with resistance occurs, and when the electric bed is applied to the medical industry, the electric bed can be convenient for medical staff to timely process so as to avoid medical accidents caused by delay in the medical process.
In the invention, the sensors 200 arranged on the electric bed can detect the vibration of the bed frame 100 after encountering resistance, and the positions of the sensors 200 on the bed frame 100 are different, so that the distance between the sensors 200 and the position of the bed frame 100 is different, the difference between the two sensors 200 and the position of the bed frame 100 can be calculated according to the detection information of the sensors 200, and the specific position information of the position of the bed frame 100 can be calculated according to the difference after a plurality of differences are calculated, so that the position of the bed frame 100 can be prompted to encounter resistance, and the obstacle can be found according to the position of the bed frame 100.
In the above-mentioned method for measuring and calculating the specific position of the blocking portion, the difference between the distance between each sensor 200 and the blocking position is calculated, and because the specific position of the blocking portion is unknown, the time point of vibration occurrence and the specific position information of the blocking portion cannot be obtained by the sensors, and the distance between each sensor 200 and the blocking portion cannot be directly measured, but when the frame 100 encounters an obstacle in the lifting process, the collision between the frame 100 and the obstacle can cause vibration to occur on the frame 100, the vibration is transmitted on the frame 100 in the form of mechanical waves, the propagation speed of the vibration in a determined object is fixed, the sensor 200 can sense the vibration on the frame 100 and obtain the time point of sensing the vibration, so that the difference between the distances between the two sensors and the blocking portion can be obtained by the product of the difference of time and the propagation speed of the vibration. And each sensor 200 is disposed at a different location of the frame 100, the time required for vibration to be transferred to each sensor 200 may be different.
According to the principle described above, three sensors 200 are respectively designated A, B, C, the time points at which the three sensors 200 record vibration are respectively T A、TB、TC, and the time difference between the sensors 200 for sensing vibration、、The difference between the distance between the sensor 200A and the blocking portion and the distance between the sensor 200B and the blocking portionDifference between the distance between sensor 200B and the resistive portion and the distance between sensor 200C and the resistive portionThen the difference between the distance between the sensor 200A and the blocking portion and the distance between the sensor 200C and the blocking portionWhere V is the propagation velocity of the vibration in the frame 100, and T A、TB、TC is the measured real number, so that the differences a, b, and c are all known real numbers. In fig. 3, the length of the dash-dot line between M and a is the distance between M and a, the length of the dash-dot line between M and B is the distance between M and B, and the length of the dash-dot line between M and C is the distance between M and C, and the lengths of the three dash-dot lines are all unknowns, but the difference between the lengths of the three dash-dot lines can be calculated to obtain a specific value. In particular, even if the time for the collision point on the bed frame to reach each sensor is the same, the position of the collision point can be obtained through calculation.
If the difference between the distance between the resistance-meeting part and the two sensors 200 is a constant value, an equation can be listed according to the constant value to obtain a curve, the resistance-meeting part can be located at any point of the curve, and three curves with intersection points can be obtained through the three sensors 200, and the position of the intersection point is the specific position of the resistance-meeting part.
Calculating the position of the blocking portion on the frame 100 from the difference in distances includes:
setting position information of three sensors 200 and blocking parts on the bed frame 100;
according to the position information of the sensor 200, the position information of the blocking part, the difference value a, the difference value b and the difference value c, a calculation formula is established, and the actual position of the blocking part on the bed frame 100 is calculated.
The frame 100 is used as a reference, and the positions of the three sensors 200 on the frame 100 are fixed, so that the position information data of the three sensors 200 on the frame 100 are specific values which can be determined, and the difference a, the difference b and the difference c are also obtained through measurement in the above manner, so that only the position information of the blocking part is ambiguous, and the information value of the blocking part can be obtained by substituting each data into a calculation formula, thereby finding the specific position of the blocking part on the frame 100.
Specifically, setting the position information of the three sensors 200 and the blocking part on the bed frame 100 includes setting an X-Y coordinate system with one corner of the bed frame 100 as an origin, wherein the coordinates of the sensor 200A, the sensor 200B and the sensor 200C on the bed frame 100 are respectively A (X 1,Y1)、B：(X2,Y2)、C：(X3,Y3) and the coordinate of the blocking part M (X 4,Y4), wherein X 1、Y1、X2、Y2、X3、Y3 is a known number, and X 4 and Y 4 are unknown numbers.
After the coordinate system is established based on the bed frame 100, the position information of each sensor 200 and the resistance meeting position on the bed frame 100 is a coordinate, namely two values, and the coordinate of the resistance meeting position is ambiguous, so that only two unknowns are known, the rest is known, and the coordinate of the resistance meeting position can be obtained easily by calculating through a formula.
In the above description, the calculation formula includes formula 1 and formula 2, where formula 1 and formula 2 correspond to a curve respectively, and the values of X 4 and Y 4 can be calculated by formula 1 and formula 2 to obtain the coordinates of the blocking portion on the bed frame 100.
Equation 1:;
Equation 2: 。
The calculated values of X 4 and Y 4 have a plurality of solutions, and the solution with X 4≥0、Y4 more than or equal to 0 is selected as the coordinate of the blocking part M. Since the solutions of X 4 and Y 4 can be obtained by only two formulas, only two values are selected from a, b and c for calculation, and the formulas are modified correspondingly when the value c is selected:
;
The principles of the above formulas are the same, the distance between each sensor 200 and the blocking position is calculated, and the difference between the distances between the two sensors 200 and the blocking position is a fixed value, so that the two calculation formulas can be obtained, software with a calculation function can be implanted in a system of the electric bed, and a measurement result can be easily obtained.
Referring to fig. 2, based on the above embodiment, in another embodiment of the present invention, specifically, three sensors 200 are each an acceleration sensor or an angular velocity sensor.
The acceleration sensor and the angular velocity sensor can detect the motion change of the mounting position of the acceleration sensor and the angular velocity sensor, when the bed frame 100 vibrates, the vibration can lead to the floating of the bed frame 100 in the vertical direction, so that the bed frame 100 changes in motion, such as the acceleration change and the angular velocity change, and when the acceleration sensor and the angular velocity sensor detect the motion change of the bed frame 100, the bed frame 100 can be known to be blocked.
The acceleration sensor and the angular velocity sensor detect the blocking condition of the bed frame 100 by detecting the movement state of the bed frame 100, so that the light is not required, and the method can be applied to various occasions.
Preferably, each sensor 200 is disposed at an edge of the frame 100, and when the frame 100 is blocked during lifting, the edge position of the frame 100 has the greatest movement variation, and the sensor 200 is disposed at the edge of the frame 100, so as to improve the detection sensitivity. Meanwhile, the connection mode between the sensor 200 and the bedstead 100 is fixed connection, so that abnormal data can not be generated due to relative displacement or angular velocity change between the sensor 200 and the bedstead 100 through the fixed connection, and the situation of misinformation when encountering a blockage is avoided. Of course, the sensor 200 may be disposed at other locations of the frame 100.
In addition, among the three sensors 200, two sensors 200 are disposed on the center line of the frame 100 in the length direction or on the side of the center line, and another sensor 200 is disposed on the center line of the frame 100 in the width direction or on the side of the center line, and thus, after the three sensors 200 are disposed, each sensor 200 is spaced apart from each other by a certain interval, so that the amount of signal variation of each sensor 200 and the conditions thereof are reduced, and the accuracy of the measurement result can be improved.
Based on the above embodiment, in another embodiment of the present invention, after the electric bed is used for a long time, the internal parts of the electric bed are aged, so that the bed frame 100 may shake during the normal lifting process, but this is not the case when the bed frame 100 encounters obstruction, but the shake of the bed frame still causes inconsistent detection data between the plurality of sensors 200, so that there is a difference range when the detection data of the sensors 200 differ less, and the detection data of the sensors are not considered as the occurrence of obstruction of the bed frame 100.
And when the bed frame 100 starts at the moment of lifting action, the sensor 200 also detects the acceleration change, but the acceleration change does not belong to the situation that the bed frame 100 encounters obstruction, so that the signal change detected by the sensor can be ignored by the obstruction detection system of the electric bed in the time T1 after the motor is started so as to avoid the false start. Similarly, in the stopping process, the acceleration is greatly changed, so that the sensor signal change can be ignored by the resistance detection system of the electric bed within the time T2 after the motor starts to stop. Wherein T1 and T2 are preset times, which can be set according to the use condition.
The material with poor rigidity can absorb certain vibration, so that the detection of the vibration by the sensor can be influenced, the condition that the bedstead is blocked but does not give an alarm is caused, and based on the embodiment, in another embodiment of the invention, a plurality of sensors are arranged on the bedstead.
The plurality of sensors are also arranged at the edge position of the bedstead, at least more than three sensors in the plurality of sensors can detect vibration when the bedstead is blocked in the lifting process, signals are generated, the signal values of the three sensors with the largest signal variation are selected to calculate the specific position of the blocking position when the blocking position is calculated, so that more data can be selected when the specific position of the blocking position is calculated, the result obtained in calculation can be more accurate, the detection capability of the movement state of the bedstead can be improved after the plurality of sensors are arranged, and even if a smaller obstacle blocks the bedstead, at least three sensors can detect vibration and the specific position of the blocking position is calculated.
Referring to fig. 4, in another embodiment of the present invention, based on the above embodiment, the following is specific:
The control system of the electric bed capable of backing when encountering resistance comprises:
the display unit is used for displaying state information of the electric bed, in particular to information of a blocking area;
an operation unit for operating the lifting movement of the bed frame;
and the control unit is used for controlling a motor for driving the bedstead to lift.
The display unit can display the ascending and descending movement state and position information of the bed frame 100, the blocking alarm of the bed frame 100 and the blocking position of the bed frame 100.
The operation unit is a hand controller for inputting ascending or descending control signals, and the electric bed can control the motor in the electric bed to operate after receiving the signals, so as to control the bed frame 100 to operate.
The control unit is a control chip or a control program which is built in the electric bed and is connected with the sensor 200 and the operation unit in a signal manner, can read signals of the sensor 200 and the operation unit, controls the motor according to the signals, and controls the motion state of the bed frame 100 so as to timely respond when the bed frame 100 encounters a resistance condition, so that the bed frame 100 is far away from an obstacle. The device also comprises a resistance measuring and calculating unit used for calculating the resistance position.
The control unit may control the lifting of the bed frame 100 according to the signals of the sensor 200 and the operation unit, and the specific operation steps include:
S10, reading a signal of an operation unit, and controlling the bed frame to ascend or descend according to the signal of the operation unit;
s20, reading signals of the sensor, and judging whether the signals of the sensor are blocking signals or not;
S30, if the bedstead is blocked, the control unit judges that the control unit is driven to reversely drive the motor in the movement direction before the bedstead is blocked, and if the bedstead is not blocked, the step S20 is repeated.
When the electric bed is used, an operator inputs ascending or descending operation demands by using the operation unit, the control unit obtains signals of the operation unit and then drives the motor to operate, the sensor 200 starts to detect the movement of the bed frame 100, the control unit continuously reads the signals of the sensor 200, after the bed frame 100 encounters an obstacle in the movement process, the sensor 200 outputs abnormal signals, the control unit immediately drives the motor to reversely rotate after obtaining the signals, the bed frame 100 is far away from the obstacle, in the process, the control unit also transmits signal data measured by the sensor 200 to the resistance measuring and calculating unit to calculate the specific position of the resistance part, and the measured and calculated data are converted into the position of the area on the bed frame 100 to be displayed on the display unit.
While the invention has been described in terms of embodiments, it will be appreciated by those skilled in the art that the invention is not limited thereto but rather includes the drawings and the description of the embodiments above. Any modifications which do not depart from the functional and structural principles of the present invention are intended to be included within the scope of the appended claims.
Claims (7)
1. The method for detecting the blocking part of the blocking-capable-back electric bed is characterized by comprising the following steps of:
A bedstead connected with a lifting mechanism for driving the bedstead to lift and a control device for controlling the lifting mechanism to lift
Three sensors arranged on the bed frame;
the method for detecting the blocking part comprises the following steps:
Detecting the vibration of the bed frame through a sensor;
calculating the difference value of the distance between each sensor and the blocking part;
Calculating the distance difference between each sensor and the blocking part, wherein the calculating comprises the following steps:
The three sensors are A, B, C respectively, and the time point T A、TB、TC when each sensor detects vibration is recorded;
Calculating a time difference T ΔAB＝|TA-TB|、TΔBC＝|TB-TC I of sensing vibration between the sensors;
calculating a difference value a=vt ΔAB between the distance between the A and the resistance part and the distance between the B and the resistance part, and a difference value b=vt ΔBC between the distance between the B and the resistance part and the distance between the C and the resistance part;
wherein V is the propagation speed of vibration in the bedstead, the difference value of the passing distance calculates the position of the blocking part on the bedstead,
Comprising the following steps:
setting position information of three sensors and a blocking part on the bedstead;
According to the position information of the sensor, the position information of the blocking part, the difference value a and the difference value b, a calculation formula is established to calculate the actual position of the blocking part on the bed frame, and the setting of the position information of the three sensors and the blocking part on the bed frame comprises the following steps:
an X-Y coordinate system is established by taking one corner of the bedstead as an origin, and the coordinates of the three sensors on the bedstead are respectively A (X 1,Y1) and B:
(X 2,Y2)、C：(X3,Y3) the coordinates M of the blocking part (X 4,Y4);
Where X 1、Y1、X2、Y2、X3、Y3 is a known number and X 4 and Y 4 are unknowns.
2. The method for detecting a blocking position of a blocking-back electric bed according to claim 1, wherein the calculation formula includes formula 1 and formula 2, and the values of X 4 and Y 4 are calculated by formula 1 and formula 2 to obtain the coordinates of the blocking position on the bed frame;
Equation 1:
Equation 2:
3. the method for detecting a resistance meeting position of a resistance meeting backspacing electric bed according to any one of claims 1 to 2, wherein the three sensors are each an acceleration sensor or an angular velocity sensor.
4. The method for detecting a resistance-meeting position of a resistance-meeting retractable electric bed according to any one of claims 1 to 2, wherein each sensor is fixedly mounted on the bed frame.
5. The method for detecting a resistance-meeting position of a back-up electric bed according to any one of claims 1 to 2, wherein a plurality of sensors are provided on the bed frame, and information data of three sensors having the largest signal change among the plurality of sensors is selected to calculate a specific position of the resistance-meeting position.
6. The method of detecting a part of a resistance-meeting electric bed according to any one of claims 1 to 2, characterized in that the resistance-meeting electric bed further comprises:
a display unit for displaying status information of the electric bed, and
An operation unit for operating the lifting movement of the bed frame, and
The control unit is used for controlling a motor for driving the bed frame to lift;
The control unit is in signal connection with the sensor and the operation unit and controls the lifting of the bed frame according to the signals of the sensor and the operation unit.
7. The method for detecting a blocking position of a blocking retractable electric bed according to claim 6, wherein the controlling the lifting of the bed frame according to signals of the sensor and the operation unit comprises:
S10, reading a signal of an operation unit, and controlling the bed frame to ascend or descend according to the signal of the operation unit;
s20, reading signals of the sensor, and judging whether the signals of the sensor are blocking signals or not;
S30, if the bedstead is blocked, the control unit drives the control unit to reversely drive the motor according to the movement direction before the blocking, and if the bedstead is not blocked, the step S20 is repeated.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102032883A (en) * | 2011-01-24 | 2011-04-27 | 三一重工股份有限公司 | Arm support collision detection system and method for detecting collision between arm support and obstacle |
| CN207115083U (en) * | 2017-06-09 | 2018-03-16 | 浙江捷昌线性驱动科技股份有限公司 | A kind of electric lifting platform that can be retracted that is hampered |
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| JP4635176B2 (en) * | 2004-02-06 | 2011-02-16 | 株式会社いうら | Wheelchair lift device and wheelchair lift equipped with the same |
| KR20080017503A (en) * | 2006-08-21 | 2008-02-27 | (주)더게이트테크놀러지스 | Moving object location data extraction system using sound waves |
| KR102053015B1 (en) * | 2015-04-23 | 2020-01-08 | 티모션 테크놀로지 코., 엘티디. | Electrical Adjustable Table and Control Method for Electrical Adjustable Table |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102032883A (en) * | 2011-01-24 | 2011-04-27 | 三一重工股份有限公司 | Arm support collision detection system and method for detecting collision between arm support and obstacle |
| CN207115083U (en) * | 2017-06-09 | 2018-03-16 | 浙江捷昌线性驱动科技股份有限公司 | A kind of electric lifting platform that can be retracted that is hampered |
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