CN107432789A - Booster type stretcher - Google Patents
Booster type stretcher Download PDFInfo
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- CN107432789A CN107432789A CN201710593530.5A CN201710593530A CN107432789A CN 107432789 A CN107432789 A CN 107432789A CN 201710593530 A CN201710593530 A CN 201710593530A CN 107432789 A CN107432789 A CN 107432789A
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- stretcher
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- upward slope
- wheel
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/02—Stretchers with wheels
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/04—Parts, details or accessories, e.g. head-, foot-, or like rests specially adapted for stretchers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/46—General characteristics of devices characterised by sensor means for temperature
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Measuring And Recording Apparatus For Diagnosis (AREA)
Abstract
The present invention relates to a kind of booster type stretcher, including：Length adjustment equipment, it is connected with the front bar of stretcher and the rear bar of stretcher, for adjusting the distance between the front bar of stretcher and the rear bar of stretcher to control the length of stretcher；Width adjusting equipment, it is connected with the left side bar of stretcher and the right-hand rod of stretcher, for adjusting the distance between the left side bar of stretcher and the right-hand rod of stretcher to control the width of stretcher；Wheel combination, including universal wheel, left rear wheel and off hind wheel, universal wheel construct the front-wheel of stretcher, and left rear wheel and off hind wheel are set up in parallel to construct the two of stretcher trailing wheels；Obstacle detecting apparatus, the front bar of stretcher is arranged on, for detecting with the presence or absence of barrier in front of stretcher and determining barrier to the real-time range of the front bar of stretcher when barrier be present.By means of the invention it is possible to improve the climbing capacity of the stretcher in Hospital in Mountain Area.
Description
Technical field
The present invention relates to field of medical device, more particularly to a kind of booster type stretcher.
Background technology
Following item is should be noted when transporting stretcher or push stretcher：
1st, the vital sign and injury of the wounded will be checked before by carrying the wounded, emphasis check the head of the wounded, backbone,
Chest whether there is whether wound, particularly cervical vertebra sustain damage.
2nd, the wounded must be properly handled, first have to keep the wounded respiratory tract it is unobstructed, then to the wounded by traumatic part
Position will be stopped blooding according to technical operation specification, be wrapped up, be fixed.Handle it is proper after, can just move.
3rd, when personnel, stretcher etc. are not ready to appropriate, never carry.When carrying overweight and the clouded in mind wounded,
Consider comprehensively.Prevent from carrying fallen in way, the accident such as tumble injury.
4th, the change of illness state of the wounded is observed at any time in the handling process.Primary part observation breathing, mind etc., pay attention to it is warming,
But should not be too tight by Head And Face clad, in order to avoid influence breathing.Once emergency on the way occurs, such as asphyxia, breathing stops, taking out
When jerking, it should stop carrying, carry out first aid process immediately.
5th, at special scene, should be carried by special method.Scene of fire, the wounded are carried in dense smoke, should be curved
Waist is crept；At the scene for having toxic gas leakage, bearer first should be covered your mouth and nose or using breathing mask with wet towel, in order to avoid
It is smoked by poison gas.
6th, backbone, the wounded of spinal cord injury are carried：After being placed on hard-board stretcher, it is necessary to reinstate its body and stretcher one
Triangle bandage or other dry goods band fixations, especially cervical spine injury person, incidence both sides must place sandbag, pillow, clothing
Etc. being fixed, the activity of cervical vertebra all directions is limited, is then fixed forehead together with stretcher with triangle bandage etc., then by whole body
Enclosed with triangle bandage etc. with stretcher together with being scheduled on.
Uphill gradient in front of stretcher None- identified of the prior art, thus can not also exceed certainly in front uphill gradient
Corresponding power-assisted measure is taken during body ability, causes stretcher to be easily trapped into awkward situation in Hospital in Mountain Area difficulty in walking.
The content of the invention
In order to solve the above problems, the invention provides a kind of booster type stretcher, obstacle detecting apparatus pair is introduced
Front obstacle is detected in real time, more it is essential that taking targetedly front upward slope information analyzing equipment, to identify simultaneously
Judge front uphill gradient whether exceed stretcher maximum ramp angle, and beyond when, use jet-propelled power assistive device with
Jet-propelled mode provides power-assisted for the climbing of stretcher.
According to an aspect of the present invention, there is provided a kind of booster type stretcher, the stretcher include：Length adjustment is set
It is standby, it is connected with the front bar of stretcher and the rear bar of stretcher, for adjusting between the front bar of stretcher and the rear bar of stretcher
Distance is to control the length of stretcher；Width adjusting equipment, it is connected, is used for the left side bar of stretcher and the right-hand rod of stretcher
The distance between the left side bar of stretcher and the right-hand rod of stretcher are adjusted to control the width of stretcher.
More specifically, in the booster type stretcher, the stretcher also includes：Wheel combination, including universal wheel, a left side
Trailing wheel and off hind wheel, universal wheel construct the front-wheel of stretcher, and left rear wheel and off hind wheel are set up in parallel to construct the two of stretcher
Trailing wheel.
More specifically, in the booster type stretcher, the stretcher also includes：Obstacle detecting apparatus, it is arranged on
The front bar of stretcher, for detecting with the presence or absence of barrier in front of stretcher and determining barrier to stretcher when barrier be present
The real-time range of front bar；Wherein, the obstacle detecting apparatus is when the real-time range is more than or equal to pre-determined distance threshold value, hair
Go out barrier alarm signal, otherwise, send barrier normal information.
More specifically, in the booster type stretcher, the stretcher also includes：
Motor, including AC induction motor and electric machine controller；
Wherein, the AC induction motor is connected with the left rear wheel and the off hind wheel, for for the left rear wheel and
The off hind wheel provides power；The electric machine controller is connected with the AC induction motor, for controlling the alternating current impression
The operation of motor；
Upward slope detection device, including upward slope analyzer, temperature sensor and multiple ultrasonic sensors, the multiple ultrasound
Wave sensor vertical direction spaced set, each ultrasonic sensor includes ultrasonic wave receiving unit and ultrasonic wave sends list
Member, the temperature sensor is used to detect and export real time environment temperature, in each ultrasonic sensor：Ultrasonic wave is sent
Unit is used to send ultrasonic signal forwards, and ultrasonic wave receiving unit is used to receive the ultrasonic signal reflected and will surpassed
Between the time of sound wave transmitting element transmission ultrasonic signal and the time for oneself receiving the ultrasonic signal reflected
Time difference is exported to the upward slope analyzer；
Wherein, the upward slope analyzer is connected with the temperature sensor and the multiple ultrasonic sensor respectively, base
The time difference and the temperature sensor sent in the ultrasonic wave receiving unit of each ultrasonic sensor sends real-time
Environment temperature determines the target range immediately ahead of each ultrasonic sensor, each when in the multiple ultrasonic sensor
Individual ultrasonic sensor vertical direction set location is higher, when corresponding target range is more remote, determines that the multiple ultrasonic wave passes
Occur going up a slope and export upward slope identification signal in front of sensor, otherwise, export no upward slope signal；
CCD sensing equipments, for carrying out high-definition image data acquisition to stretcher frontal scene, to obtain frontal scene figure
Picture；
Noise complexity detection device, it is connected with the CCD sensing equipments, it is right for receiving the frontal scene image
The frontal scene image carries out the detection of noise complexity to determine simultaneously output image noise complexity；
Image block equipment, it is connected with the noise complexity detection device, for receiving described image noise complexity
With the frontal scene image, and piecemeal processing is carried out to the frontal scene image to obtain based on described image noise complexity
Obtain multiple image blocks；
Adaptive-filtering equipment, it is connected with described image piecemeal equipment, for receiving the multiple image block, to each
Image block performs following handle：Noise type analysis is carried out to each image block to obtain main noise type, based on main
Noise type determines that corresponding types wave filter is filtered processing to image block to obtain filter block；The adaptive-filtering equipment
Also all filter blocks are combined to obtain and export combined filter image；
Slope measuring equipment, it is connected with the adaptive-filtering equipment, for receiving the combined filter image, based on institute
Each target in combined filter image is stated to identify upward slope target in the depth of field distribution situation of vertical direction and filter from the combination
Upward slope subgraph, multiple references are set in vertical direction at equal intervals in the upward slope subgraph corresponding to being partitioned into ripple image
Point, the gradient between two neighboring reference points is determined based on each two neighboring reference point vertical range and depth of field difference, to obtain
Obtain multiple gradients and exported maximum slope as ruling grade；
Jet-propelled power assistive device, positioned at the lower section of stretcher vehicle seats, it is connected with the slope measuring equipment, in maximum
When the gradient is more than or equal to maximum ramp angle, jet-propelled mode is used to provide power-assisted for the climbing of stretcher；
Wherein, upward slope target is in the depth of field distribution situation of vertical direction：Upward slope target vertical direction pixel away from
Higher from the ground, the depth of field corresponding to the pixel is more remote；
Wherein, described image noise complexity is higher, and the figure that piecemeal processing is obtained is carried out to the frontal scene image
As the quantity of block is more.
More specifically, in the booster type stretcher：The CCD sensing equipments are with the upward slope detection device with level
Mode is set up in parallel.
More specifically, in the booster type stretcher, the stretcher also includes：SD storage devices, with the jet
Formula power assistive device connects, for prestoring the maximum ramp angle.
More specifically, in the booster type stretcher, the stretcher also includes：Main control device, respectively with it is described on
It is slope detection device, the CCD sensing equipments, the noise complexity detection device, described image piecemeal equipment, described adaptive
Filter apparatus connects with the slope measuring equipment.
More specifically, in the booster type stretcher：The main control device is used to receive the identification letter that goes up a slope
Number when, start the CCD sensing equipments, the noise complexity detection device, described image piecemeal equipment, the adaptive filter
Wave device and the slope measuring equipment.
More specifically, in the booster type stretcher：The main control device be additionally operable to receive it is described without go up a slope believe
Number when, close the CCD sensing equipments, the noise complexity detection device, described image piecemeal equipment, the adaptive filter
Wave device and the slope measuring equipment.
Brief description of the drawings
Embodiment of the present invention is described below with reference to accompanying drawing, wherein：
Fig. 1 is the block diagram of the booster type stretcher according to embodiment of the present invention.
Reference：1 length adjustment equipment；2 width adjusting equipment；3 main control devices；4 obstacle detecting apparatus
Embodiment
The embodiment of the booster type stretcher of the present invention is described in detail below with reference to accompanying drawings.
Stretcher, it is the apparatus commonly used for current medical institutions, to meet state of an illness needs, is easy to patient to be couched with the wounded.Cause
Stretcher own wt is heavier, laborious during carrying, therefore, a part of stretcher can be increased into in-wheel driving equipment, improved as stretcher
Car, carried with facilitating, while carry more multi-load.
However, during current stretcher travels in mountain area, such as when Hospital in Mountain Area or mountain area medical centre travel, due to
Lack front slope detection mechanism, it is difficult to easily cause climbing.In order to overcome above-mentioned deficiency, the present invention has built a kind of booster type
Stretcher, for solving above-mentioned technical problem.
Fig. 1 is the block diagram of the booster type stretcher according to embodiment of the present invention, and the stretcher includes：
Length adjustment equipment, it is connected with the front bar of stretcher and the rear bar of stretcher, for adjusting the front bar and stretcher of stretcher
The distance between rear bar is to control the length of stretcher；Width adjusting equipment, with the left side bar of stretcher and the right side of stretcher
Bar connects, for adjusting the distance between the left side bar of stretcher and the right-hand rod of stretcher to control the width of stretcher.
Then, continue that the concrete structure of the booster type stretcher of the present invention is further detailed.
It can also include in the booster type stretcher：
Wheel combination, including universal wheel, left rear wheel and off hind wheel, universal wheel construct the front-wheel of stretcher, left rear wheel and the right side
Trailing wheel is set up in parallel to construct the two of stretcher trailing wheels.
It can also include in the booster type stretcher：
Obstacle detecting apparatus, be arranged on the front bar of stretcher, for detect in front of stretcher with the presence or absence of barrier and
Determine barrier to the real-time range of the front bar of stretcher when barrier be present；Wherein, the obstacle detecting apparatus is in the reality
When distance when being more than or equal to pre-determined distance threshold value, send barrier alarm signal, otherwise, send barrier normal information.
Wherein, main control device can also be included in the booster type stretcher, the length adjustment equipment, the width are adjusted
Section equipment and the obstacle detecting apparatus can be connected with main control device.
It can also include in the booster type stretcher：
Motor, including AC induction motor and electric machine controller；
Wherein, the AC induction motor is connected with the left rear wheel and the off hind wheel, for for the left rear wheel and
The off hind wheel provides power；The electric machine controller is connected with the AC induction motor, for controlling the alternating current impression
The operation of motor；
Upward slope detection device, including upward slope analyzer, temperature sensor and multiple ultrasonic sensors, the multiple ultrasound
Wave sensor vertical direction spaced set, each ultrasonic sensor includes ultrasonic wave receiving unit and ultrasonic wave sends list
Member, the temperature sensor is used to detect and export real time environment temperature, in each ultrasonic sensor：Ultrasonic wave is sent
Unit is used to send ultrasonic signal forwards, and ultrasonic wave receiving unit is used to receive the ultrasonic signal reflected and will surpassed
Between the time of sound wave transmitting element transmission ultrasonic signal and the time for oneself receiving the ultrasonic signal reflected
Time difference is exported to the upward slope analyzer；
Wherein, the upward slope analyzer is connected with the temperature sensor and the multiple ultrasonic sensor respectively, base
The time difference and the temperature sensor sent in the ultrasonic wave receiving unit of each ultrasonic sensor sends real-time
Environment temperature determines the target range immediately ahead of each ultrasonic sensor, each when in the multiple ultrasonic sensor
Individual ultrasonic sensor vertical direction set location is higher, when corresponding target range is more remote, determines that the multiple ultrasonic wave passes
Occur going up a slope and export upward slope identification signal in front of sensor, otherwise, export no upward slope signal；
CCD sensing equipments, for carrying out high-definition image data acquisition to stretcher frontal scene, to obtain frontal scene figure
Picture；
Noise complexity detection device, it is connected with the CCD sensing equipments, it is right for receiving the frontal scene image
The frontal scene image carries out the detection of noise complexity to determine simultaneously output image noise complexity；
Image block equipment, it is connected with the noise complexity detection device, for receiving described image noise complexity
With the frontal scene image, and piecemeal processing is carried out to the frontal scene image to obtain based on described image noise complexity
Obtain multiple image blocks；
Adaptive-filtering equipment, it is connected with described image piecemeal equipment, for receiving the multiple image block, to each
Image block performs following handle：Noise type analysis is carried out to each image block to obtain main noise type, based on main
Noise type determines that corresponding types wave filter is filtered processing to image block to obtain filter block；The adaptive-filtering equipment
Also all filter blocks are combined to obtain and export combined filter image；
Slope measuring equipment, it is connected with the adaptive-filtering equipment, for receiving the combined filter image, based on institute
Each target in combined filter image is stated to identify upward slope target in the depth of field distribution situation of vertical direction and filter from the combination
Upward slope subgraph, multiple references are set in vertical direction at equal intervals in the upward slope subgraph corresponding to being partitioned into ripple image
Point, the gradient between two neighboring reference points is determined based on each two neighboring reference point vertical range and depth of field difference, to obtain
Obtain multiple gradients and exported maximum slope as ruling grade；
Jet-propelled power assistive device, positioned at the lower section of stretcher vehicle seats, it is connected with the slope measuring equipment, in maximum
When the gradient is more than or equal to maximum ramp angle, jet-propelled mode is used to provide power-assisted for the climbing of stretcher；
Wherein, upward slope target is in the depth of field distribution situation of vertical direction：Upward slope target vertical direction pixel away from
Higher from the ground, the depth of field corresponding to the pixel is more remote；
Wherein, described image noise complexity is higher, and the figure that piecemeal processing is obtained is carried out to the frontal scene image
As the quantity of block is more.
In the booster type stretcher：The CCD sensing equipments are set side by side in a horizontal manner with the upward slope detection device
Put.
The booster type stretcher can also include：SD storage devices, it is connected with the jet-propelled power assistive device, for pre-
First store the maximum ramp angle.
The booster type stretcher can also include：Main control device, passed respectively with the upward slope detection device, the CCD
Feel equipment, the noise complexity detection device, described image piecemeal equipment, the adaptive-filtering equipment and the gradient to survey
Measure equipment connection.
In the booster type stretcher：The main control device is used for when receiving the upward slope identification signal, starts institute
State CCD sensing equipments, the noise complexity detection device, described image piecemeal equipment, the adaptive-filtering equipment and institute
State slope measuring equipment.
In the booster type stretcher：The main control device is additionally operable to when receiving the no upward slope signal, closes institute
State CCD sensing equipments, the noise complexity detection device, described image piecemeal equipment, the adaptive-filtering equipment and institute
State slope measuring equipment.
In addition, the booster type stretcher can also include ZIGBEE communication equipments, it is connected with the slope measuring equipment
For receiving and transmitting wirelessly ruling grade.
ZigBee is the low-power consumption LAN protocol based on IEEE802.15.4 standards.Provided according to international standard,
ZigBee technology is the wireless communication technology of a kind of short distance, low-power consumption.This title (also known as ZigBee protocol) derives from honeybee
Eight words dance, due to honeybee (bee) be by circle in the air and " drone " (zig) shake wing " dancing " come and companion transmission pollen
Place azimuth information, that is to say, that mode as honeybee dependence constitutes the communication network in colony.Be characterized in closely,
Low complex degree, self-organizing, low-power consumption, low data rate.It is mainly suitable for being used to automatically control and remote control field, can be embedded in
Various equipment.In brief, ZigBee is exactly a kind of cheap, the near radio networking mechanics of communication of low-power consumption.ZigBee
It is a kind of wireless network protocol of low speed short-distance transmission.Zigbee protocol is respectively physical layer (PHY), media visit from top to bottom
Ask key-course (MAC), transport layer (TL), Internet (NWK), application layer (APL) etc..Wherein physical layer and MAC layer
Follow the regulation of IEEE802.15.4 standards.
Using the booster type stretcher of the present invention, travel difficult technology in mountain area for stretcher in the prior art and ask
Topic, by transforming the structure of existing booster type stretcher, introduce high-precision gradient detecting device with determine front the gradient be
The no driveability beyond booster type stretcher, and beyond when take auxiliary equipment help booster type stretcher carry out continuing to go
Sail, meanwhile, front obstacle detection device is also introduced, so as to improve the security that booster type stretcher travels in mountain area.
It is understood that although the present invention is disclosed as above with preferred embodiment, but above-described embodiment and it is not used to
Limit the present invention.For any those skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible changes and modifications are all made to technical solution of the present invention using the technology contents of the disclosure above, or are revised as
With the equivalent embodiment of change.Therefore, every content without departing from technical solution of the present invention, the technical spirit pair according to the present invention
Any simple modifications, equivalents, and modifications made for any of the above embodiments, still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (9)
1. a kind of booster type stretcher, the stretcher include：
Length adjustment equipment, it is connected with the front bar of stretcher and the rear bar of stretcher, for adjusting the front bar and stretcher of stretcher
The distance between rear bar of car is to control the length of stretcher；
Width adjusting equipment, it is connected with the left side bar of stretcher and the right-hand rod of stretcher, for adjusting the left side bar of stretcher
The distance between right-hand rod of stretcher is to control the width of stretcher.
2. booster type stretcher as claimed in claim 1, it is characterised in that the stretcher also includes：
Wheel combination, including universal wheel, left rear wheel and off hind wheel, universal wheel construct the front-wheel of stretcher, left rear wheel and off hind wheel
It is set up in parallel to construct the two of stretcher trailing wheels.
3. booster type stretcher as claimed in claim 2, it is characterised in that the stretcher also includes：
Obstacle detecting apparatus, the front bar of stretcher is arranged on, for detecting stretcher front with the presence or absence of barrier and existing
Determine barrier to the real-time range of the front bar of stretcher during barrier；
Wherein, the obstacle detecting apparatus sends barrier report when the real-time range is more than or equal to pre-determined distance threshold value
Alert signal, otherwise, sends barrier normal information.
4. booster type stretcher as claimed in claim 3, it is characterised in that the stretcher also includes：
Motor, including AC induction motor and electric machine controller；
Wherein, the AC induction motor is connected with the left rear wheel and the off hind wheel, for for the left rear wheel and described
Off hind wheel provides power；
Wherein, the electric machine controller is connected with the AC induction motor, for controlling the operation of the AC induction motor；
Upward slope detection device, including upward slope analyzer, temperature sensor and multiple ultrasonic sensors, the multiple ultrasonic wave pass
Sensor vertical direction spaced set, each ultrasonic sensor include ultrasonic wave receiving unit and ultrasonic wave transmitting element,
The temperature sensor is used to detect and export real time environment temperature, in each ultrasonic sensor：Ultrasonic wave sends single
Member is used to send ultrasonic signal forwards, and ultrasonic wave receiving unit is used to receiving the ultrasonic signal that reflects and by ultrasound
Ripple transmitting element send the time of ultrasonic signal and oneself receive between the time of ultrasonic signal reflected when
Between difference export to the upward slope analyzer；
Wherein, the upward slope analyzer is connected with the temperature sensor and the multiple ultrasonic sensor respectively, based on every
The real time environment that the time difference and the temperature sensor that the ultrasonic wave receiving unit of one ultrasonic sensor is sent send
Temperature determines the target range immediately ahead of each ultrasonic sensor, when in the multiple ultrasonic sensor, each is super
Sonic sensor vertical direction set location is higher, when corresponding target range is more remote, determines the multiple ultrasonic sensor
Front occurs going up a slope and exports upward slope identification signal, otherwise, exports no upward slope signal；
CCD sensing equipments, for carrying out high-definition image data acquisition to stretcher frontal scene, to obtain frontal scene image；
Noise complexity detection device, it is connected with the CCD sensing equipments, for receiving the frontal scene image, to described
Frontal scene image carries out the detection of noise complexity to determine simultaneously output image noise complexity；
Image block equipment, it is connected with the noise complexity detection device, for receiving described image noise complexity and institute
Frontal scene image is stated, and it is more to obtain to frontal scene image progress piecemeal processing based on described image noise complexity
Individual image block；
Adaptive-filtering equipment, it is connected with described image piecemeal equipment, for receiving the multiple image block, to each image
Block performs following handle：Noise type analysis is carried out to each image block to obtain main noise type, based on main noise
Type determines that corresponding types wave filter is filtered processing to image block to obtain filter block；The adaptive-filtering equipment will also
All filter blocks are combined to obtain and export combined filter image；
Slope measuring equipment, it is connected with the adaptive-filtering equipment, for receiving the combined filter image, based on described group
Close each target in filtering image and identify upward slope target and from the combined filter figure in the depth of field distribution situation of vertical direction
Upward slope subgraph, multiple reference points are set in vertical direction at equal intervals in the upward slope subgraph corresponding to being partitioned into as in,
Gradient between two neighboring reference points is determined based on each two neighboring reference point vertical range and depth of field difference, it is more to obtain
Individual gradient simultaneously exports maximum slope as ruling grade；
Jet-propelled power assistive device, positioned at the lower section of stretcher vehicle seats, it is connected with the slope measuring equipment, in ruling grade
During more than or equal to maximum ramp angle, jet-propelled mode is used to provide power-assisted for the climbing of stretcher；
Wherein, upward slope target is in the depth of field distribution situation of vertical direction：Upward slope target is on the pixel distance ground of vertical direction
Face is higher, and the depth of field corresponding to the pixel is more remote；
Wherein, described image noise complexity is higher, and the image block that piecemeal processing is obtained is carried out to the frontal scene image
Quantity it is more.
5. booster type stretcher as claimed in claim 4, it is characterised in that：
The CCD sensing equipments are set up in parallel in a horizontal manner with the upward slope detection device.
6. booster type stretcher as claimed in claim 5, it is characterised in that the stretcher also includes：
SD storage devices, it is connected with the jet-propelled power assistive device, for prestoring the maximum ramp angle.
7. booster type stretcher as claimed in claim 6, it is characterised in that the stretcher also includes：
Main control device, respectively with the upward slope detection device, the CCD sensing equipments, the noise complexity detection device, institute
State image block equipment, the adaptive-filtering equipment connects with the slope measuring equipment.
8. booster type stretcher as claimed in claim 7, it is characterised in that：
The main control device is used for when receiving the upward slope identification signal, starts the CCD sensing equipments, the noise is answered
Miscellaneous degree detection device, described image piecemeal equipment, the adaptive-filtering equipment and the slope measuring equipment.
9. booster type stretcher as claimed in claim 8, it is characterised in that：
The main control device is additionally operable to when receiving the no upward slope signal, closes the CCD sensing equipments, the noise is answered
Miscellaneous degree detection device, described image piecemeal equipment, the adaptive-filtering equipment and the slope measuring equipment.
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|---|---|---|---|
| CN201710593530.5A CN107432789A (en) | 2017-07-20 | 2017-07-20 | Booster type stretcher |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710593530.5A CN107432789A (en) | 2017-07-20 | 2017-07-20 | Booster type stretcher |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549424A (en) * | 2018-04-24 | 2018-09-18 | 上海联影医疗科技有限公司 | Medical Devices revolution speed control device and method, portable medical and C-arm X-ray machine |
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| CN103908385A (en) * | 2014-03-11 | 2014-07-09 | 宁波康麦隆医疗器械有限公司 | Extendable hospital bed |
| CN104765366A (en) * | 2014-11-27 | 2015-07-08 | 祝爱莲 | Service robot achieving intelligent obstacle surmounting |
| CN205586166U (en) * | 2015-12-31 | 2016-09-21 | 广东科技学院 | Folding stretcher |
| CN105954753A (en) * | 2016-04-20 | 2016-09-21 | 北京九星智元科技有限公司 | Ranging and positioning system based on ultrasonic sensor |
| CN105952169A (en) * | 2016-05-24 | 2016-09-21 | 扬州市东宇环保设备有限公司 | Anti-falling device of building well hole |
| CN106726209A (en) * | 2016-11-24 | 2017-05-31 | 中国医学科学院生物医学工程研究所 | A kind of method for controlling intelligent wheelchair based on brain-computer interface Yu artificial intelligence |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108549424A (en) * | 2018-04-24 | 2018-09-18 | 上海联影医疗科技有限公司 | Medical Devices revolution speed control device and method, portable medical and C-arm X-ray machine |
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