CN105919744B - Pediatric Nursing Bed - Google Patents

Abstract

The invention relates to a pediatric nursing bed which comprises a hospital bed and an alarm platform, wherein the platform comprises a position sensor, a Freescale MC9S12 chip and a wireless communication device, the position sensor is used for detecting and outputting the real-time height of a bed board, the Freescale MC9S12 chip is respectively connected with the position sensor and the wireless communication device, and alarm information sent to the wireless communication device is determined based on the real-time height. By the invention, the pediatric bed board can be accurately kept at the preset height.

Description

Pediatric Nursing Bed

technical field

The invention relates to the field of alarm equipment, in particular to a pediatric nursing bed.

Background technique

Bed board, usually refers to the hard and thin wide wooden board laid between the spring drawer and straw mattress of the bed. For the hospital bed used by the patient, due to the particularity of the patient group, new requirements are put forward for the bed board of the hospital bed.

During the use of the patient, on the one hand, it is not desirable that the bed boards of the hospital bed are of different heights, and it is hoped that the bed boards of the hospital bed can be on the same level, that is, maintain the same height, so as to give the patient a comfortable lying environment. On the other hand, due to The patient's own behavior remains unchanged, and he has special requirements for the height of the bed board. He does not want it to be too high or too low, and hopes to maintain a reasonable height that is convenient for the patient to get on and off the bed.

However, there is no real-time detection mechanism for the height of the hospital bed in the prior art, let alone a real-time calibration mechanism for the height of the hospital bed. In the prior art, the height of the hospital bed is usually initially calibrated when the bed leaves the factory. Manual calibration is arranged only when the height of the hospital bed deviates so much that it can be detected by the naked eye. Obviously, such a calibration mechanism brings a lot of inconvenience to the use of patients.

Therefore, a new bed board control scheme is needed, which uses the existing hospital bed board to carry out structural transformation and upgrading, and adds various detection equipment and early warning equipment to accurately identify the height of the patient's bed board. An effective bed board height calibration mechanism is added to facilitate the use of the patient and improve the comfort of the patient.

Contents of the invention

In order to solve the above problems, the present invention provides a pediatric nursing bed. By transforming the existing bed board of the hospital bed, two detection devices with different detection mechanisms are introduced into the existing hospital bed board to accurately detect the height of the bed board. It also introduces the weight calculation mode to accurately analyze the height of the bed board of the hospital bed. At the same time, it also introduces a targeted real-time height warning mechanism and a real-time height calibration mechanism to improve the calibration accuracy of the equipment.

According to one aspect of the present invention, a kind of pediatric care bed is provided, including hospital bed and alarm platform, said platform includes position sensor, Freescale MC9S12 chip and wireless communication equipment, position sensor is used to detect and output the real-time height of bed board, The Freescale MC9S12 chip is connected with the position sensor and the wireless communication device respectively, and the alarm information sent to the wireless communication device is determined based on the real-time height.

More specifically, in the pediatric nursing bed, it includes: wireless communication equipment, connected with Freescale MC9S12 chip, used to send the bed board too high signal or the bed board too low signal to the remote ward control center; the servo motor, Located near the bed board, connected with Freescale MC9S12 chip to receive the current bed board height, determine the motor drive signal based on the current bed board height and the preset bed board height, and drive the telescopic bracket to the preset bed board height based on the motor drive signal; retractable The bracket, located below the bed board, is connected with the bed board, and is also connected with the servo motor, which is used for telescopic operation under the control of the servo motor to drive the bed board to move vertically; the position sensor, located on the lower side of the bed board, is used to detect the current position of the bed board in real time. position, and determine the height of the bed board based on the current position and the preset ground position to output as the height of the second bed board; solar energy detection equipment, located on the outer wall of the building where the ward is located, is used to detect the current solar intensity in real time; power supply equipment, including solar energy Power supply device, storage battery, switching switch and voltage converter, the switching switch is connected to the solar detection equipment, solar power supply device and storage battery respectively, when the remaining power of the storage battery is insufficient and the current solar intensity is higher than or equal to the preset intensity, switch to solar power supply The device is powered by a solar power supply device, and the voltage converter is connected to the switch to convert the 5V input through the switch to a 3.3V voltage. The solar power supply device is located on the outer wall of the building where the ward is located. The solar power supply device includes solar photovoltaic Board; wireless charging equipment, respectively connected to the solar energy detection equipment and the storage battery, when the remaining power of the storage battery is insufficient and the current solar energy intensity is lower than the preset intensity, establish a connection with the nearby wireless charging terminal to start the wireless charging operation, the wireless charging equipment It is also connected with the voltage converter to realize voltage conversion; the dot matrix camera is located in the center of the lower side of the bed board, and is used to shoot under the bed board to obtain high-definition ground images; the homomorphic filter device is connected with the dot matrix camera to receive high-definition images The ground image includes a gray scale compression sub-device and a linear transformation sub-device. The gray scale compression sub-device is connected with a dot-matrix camera to perform gray-scale compression processing on each pixel value of the high-definition ground image to obtain a compressed image. The linear transformation sub-device The device is connected with the grayscale compression sub-equipment for performing linear transformation processing on the compressed image to obtain a transformed image, wherein the contrast of the transformed image is higher than that of the high-definition ground image; the histogram equalization device is connected with the homomorphic filtering device to receive the transformed image , which is used to perform histogram equalization processing on the transformed image to obtain a balanced image, wherein the histogram equalization processing is used to uniformly distribute the grayscale of the transformed image to the entire grayscale range, so that the obtained balanced image has more variation than the transformed image tone and higher contrast; the adaptive filtering device is connected with the histogram equalization device to obtain an equalized image, and performs adaptive filtering processing on the equalized image to obtain the first filtered image; the improved median filtering device is connected with the adaptive The filtering device is connected to obtain the first filtered image, including a noise detection sub-device, a module selection sub-device And the filtering processing sub-equipment, the noise detection sub-equipment is connected with the adaptive filtering equipment, by analyzing the gray value of the pixels of the first filtered image to determine the distribution radius of each noise distribution area, and the distribution radius of each noise distribution area The maximum value in the distribution radius is output as the maximum distribution radius, and the module selection sub-device is connected with the noise detection sub-device to receive the maximum distribution radius, and based on the maximum distribution radius, the filter module for median filtering is selected, and the filter processing sub-device is connected with The adaptive filtering device is connected to the module selection sub-device, and is used to perform a median filtering process on the first filtered image based on the selected filtering module to obtain a second filtered image, wherein the median filtering process includes for each pixel in the first filtered image Do the following processing as the target pixel point: take the position of the target pixel point in the first filtered image as the centroid of the selected filter module, take out a plurality of pixel points in the first filtered image as a plurality of reference pixel points, and take a plurality of The maximum and minimum values of the pixel values of the reference pixel are used as the maximum and minimum values of the pixel, and the average value of the maximum and minimum values of the pixel is determined as the average value of the pixel. For each reference pixel, if its pixel If the value is less than the pixel average value, replace its pixel value with 0, if its pixel value is greater than or equal to the pixel average value, then keep its pixel value, and finally use the average value of the pixel values of multiple reference pixels as the pixel value of the target pixel point Output; the sign recognition device is connected with the improved median filtering device and the CF card respectively, and all pixels whose pixel gray value in the second filtered image is within the sign gray value range form a sign sub-image, and the sign sub-image The total number of pixels in the image is compared with the total number of pixels of the fiducial mark image to determine and output the height of the first bed plate; CF card is used to store the fiducial mark image in advance, and the fiducial mark image is the original image of the detection graphic mark; Freescale The MC9S12 chip is connected with the sign recognition device, the position sensor, the servo motor and the CF card respectively, and is used to receive the first bed height and the second bed height, based on the first height weight value, the first bed height, the second height weight value and The second bed board height determines the current bed board height, and when the current bed board height is greater than or equal to the preset height upper limit value, a bed board overhigh signal is sent, and when the current bed board height is less than or equal to the preset height lower limit value, a bed board too low signal is sent; Wherein, the detection graphic mark is arranged under the bed board, and the shape of the detection graphic mark is a triangle, a square or a circle; wherein, the mark recognition device compares the total number of pixels in the mark sub-image with the total number of pixels in the reference mark image to determine and The output of the first bed board height includes: the greater the value obtained by dividing the total number of pixels in the logo sub-image by the total number of pixels in the reference logo image, the smaller the value of the first bed board height, and the smaller the number of pixels in the logo sub-image divided by the reference number The smaller the value obtained from the total number of pixels of the logo image, the larger the value of the height of the first bed board; wherein, the optional filter modules in the module selection sub-equipment include 3×3, 5×5, 7×7 and 9×9; Among them, the CF card also pre-stores the preset height of the bed board, the first A height weight value, a second height weight value, a preset height upper limit value and a preset height lower limit value; wherein, the CF card is also connected with the sign identification device, the servo motor and the Freescale MC9S12 chip; wherein the CF card It is also used to pre-store each reference human body image, and each reference human body image is an image obtained by pre-shooting reference human bodies of different shapes; wherein, the module selection sub-equipment selects a filter module for median filtering based on the maximum distribution radius: The larger the maximum distribution radius, the larger the filter module selected for median filtering, and the smaller the maximum distribution radius, the smaller the filter module selected for median filtering.

More specifically, in the pediatric nursing bed: the module selection sub-device is implemented using a CPLD chip.

More specifically, in the pediatric nursing bed: the wireless communication device is a time division duplex communication interface.

More specifically, in the pediatric nursing bed: the wireless communication device is a frequency division duplex communication interface.

More specifically, in the pediatric nursing bed: the wireless communication device is a GPRS communication interface.

Description of drawings

Embodiments of the present invention will be described below in conjunction with the accompanying drawings, wherein:

Fig. 1 is a structural block diagram of a pediatric nursing bed according to an embodiment of the present invention.

Reference signs: 1 position sensor; 2 Freescale MC9S12 chip; 3 wireless communication device

Detailed ways

The implementation of the pediatric nursing bed of the present invention will be described in detail below with reference to the accompanying drawings.

Modern nursing beds are developing towards electric, automation and intelligence. In order to improve the self-care ability of the care recipient, the number of bed postures and special postures that can be realized by the nursing bed are also increasing. At the same time, according to the needs of most nursing bed users (such as elderly bedridden patients, patients in the recovery period after surgery, etc.), they often need to monitor their physical status while nursing. Thereby, existing various intelligent hospital beds emerge in an endless stream.

However, people often ignore a basic requirement of patients for hospital beds, that is, firstly, the bed board of the hospital bed should maintain a reasonable height suitable for patients to get on and off the bed, so as to facilitate the use of patients and avoid various accidents related to the hospital bed. In the prior art, only the height of the bed board of the hospital bed is initialized and calibrated when the bed leaves the factory, and is set at a preset height, which is a reasonable height suitable for patients to get on and off the bed.

However, in fact, during the use of the hospital bed, the bed board often deviates from the preset height due to various reasons. In this way, due to the lack of a detection mechanism for the height of the bed board and a real-time calibration mechanism for the height of the bed board, the bed board of the hospital bed will always deviate from the reasonable height And be used by the patient, be easy to cause various accidents to take place, has brought inconvenience even to bring certain potential safety hazard to sick bed patient.

In order to overcome the above shortcomings, the present invention builds a pediatric nursing bed, which can detect the current height of the bed in real time during the use of the bed, and compare the current height of the bed with the preset height to determine whether to perform real-time calibration. The height of the hospital bed is maintained at a reasonable height suitable for patients getting on and off the bed.

Fig. 1 is the structural block diagram of the pediatric nursing bed shown according to the embodiment of the present invention, comprises hospital bed and alarm platform, and described platform comprises position sensor, Freescale MC9S12 chip and wireless communication equipment, and position sensor is used for detecting and outputting the position of bed board For real-time height, Freescale MC9S12 chip is connected with position sensor and wireless communication device respectively, and the alarm information sent to wireless communication device is determined based on real-time height.

Next, the specific structure of the pediatric nursing bed of the present invention will be further described.

The platform includes: wireless communication equipment, connected with the Freescale MC9S12 chip, used to send the high signal of the bed board or the low signal of the bed board to the remote ward control center; the servo motor, located near the bed board, connected with the Freescale MC9S12 The chip connection is used to receive the current height of the bed board, determine the motor drive signal based on the current bed board height and the preset bed board height, and drive the telescopic support to the preset bed board height based on the motor drive signal.

The platform includes: a telescopic support, located below the bed board, connected with the bed board, and also connected with the servo motor, used for telescopic operation under the control of the servo motor to drive the bed board to move vertically.

The platform includes: a position sensor, located on the lower side of the bed board, used to detect the current position of the bed board in real time, and determine the height of the bed board based on the current position and the preset ground position to output as the second bed board height.

The platform includes: solar energy detection equipment, located on the outer wall of the building where the ward is located, for real-time detection of current solar energy intensity; power supply equipment, including solar power supply devices, batteries, switching switches and voltage converters. The equipment, the solar power supply device and the storage battery are connected. When the remaining power of the battery is insufficient and the current solar intensity is higher than or equal to the preset intensity, switch to the solar power supply device to be powered by the solar power supply device, and the voltage converter is connected with the switch to convert the The 5V voltage input through the switch is converted into 3.3V voltage, wherein the solar power supply device is located on the outer wall of the building where the ward is located, and the solar power supply device includes a solar photovoltaic panel.

The platform includes: a wireless charging device, which is respectively connected to the solar energy detection device and the storage battery. When the remaining power of the storage battery is insufficient and the current solar energy intensity is lower than the preset intensity, a connection is established with a nearby wireless charging terminal to start the wireless charging operation. The wireless charging device is also connected with a voltage converter for voltage conversion.

The platform includes: a dot matrix camera, located at the center of the lower side of the bed board, for shooting under the bed board to obtain high-definition ground images; a homomorphic filtering device, connected with the dot matrix camera to receive high-definition ground images, including grayscale The compression sub-equipment and the linear transformation sub-equipment, the grayscale compression sub-equipment are connected with the dot matrix camera, and are used to perform grayscale compression processing on each pixel value of the high-definition ground image to obtain a compressed image, the linear transformation sub-equipment and the grayscale compression sub-equipment The device is connected to linearly transform the compressed image to obtain a transformed image, wherein the transformed image has a higher contrast than the high-definition ground image.

The platform includes: a histogram equalization device, which is connected with a homomorphic filtering device to receive the transformed image, and is used to perform histogram equalization processing on the transformed image to obtain a balanced image, wherein the histogram equalization processing is used to make the grayscale of the transformed image uniform Distributed over the entire gray-scale range, resulting in an equalized image with more varied tones and higher contrast than the transformed image.

The platform includes: an adaptive filtering device connected to the histogram equalization device to obtain an equalized image, and performs adaptive filtering processing on the equalized image to obtain a first filtered image.

The platform includes: an improved median filtering device, connected with an adaptive filtering device to obtain a first filtered image, including a noise detection sub-device, a module selection sub-device and a filter processing sub-device, a noise detection sub-device and an adaptive filtering device Connection, by analyzing the gray value of the pixels of the first filtered image to determine the distribution radius of each noise distribution area, and output the maximum value of the distribution radii of each noise distribution area as the maximum distribution radius, the module selector The device is connected with the noise detection sub-device for receiving the maximum distribution radius and selecting a filter module for median filtering based on the maximum distribution radius, and the filter processing sub-device is respectively connected with the adaptive filtering device and the module selection sub-device for selecting based on the The filtering module performs a median filtering process on the first filtered image to obtain a second filtered image, wherein the median filtering process includes performing the following processing on each pixel in the first filtered image as a target pixel: taking the target pixel at the second The position in a filtered image is taken as the centroid of the selected filtering module in the first filtered image to take out a plurality of pixel points as a plurality of reference pixel points, and take the maximum and minimum values of the pixel values of the plurality of reference pixel points as Pixel maximum value and pixel minimum value, determine the average value of the pixel maximum value and pixel minimum value as the pixel average value, for each reference pixel point, if its pixel value is less than the pixel average value, then replace its pixel value with 0, if If its pixel value is greater than or equal to the pixel average value, its pixel value is retained, and finally the average value of the pixel values of multiple reference pixel points is output as the pixel value of the target pixel point.

The platform includes: a sign recognition device, which is respectively connected with an improved median filtering device and a CF card, and forms a sign sub-image with all pixels whose gray value of the pixel point in the second filtered image is within the range of the sign gray value, and The total number of pixels in the sign sub-image is compared with the total number of pixels of the reference sign image to determine and output the first bed height; the CF card is used to pre-store the reference sign image, which is the original image of the detected graphic sign.

The platform includes: Freescale MC9S12 chip, respectively connected with sign recognition equipment, position sensor, servo motor and CF card, used to receive the height of the first bed board and the height of the second bed board, based on the weight value of the first height, the first bed board The height, the weight value of the second height and the height of the second bed board determine the current height of the bed board, and when the current bed board height is greater than or equal to the preset height upper limit value, the bed board is too high signal, and when the current bed board height is less than or equal to the preset height lower limit value When the bed board is too low, a signal is issued.

Wherein, the detection graphic mark is arranged under the bed board, and the shape of the detection graphic mark is triangle, square or circle.

Wherein, the sign recognition device compares the total number of pixels in the sign sub-image with the total number of pixels of the reference sign image to determine and output the first floor height comprising: dividing the total number of pixels in the sign sub-image by the pixel points of the reference sign image The larger the value obtained from the total number, the smaller the value of the height of the first bed board, and the smaller the value obtained by dividing the total number of pixels in the logo sub-image by the total number of pixels of the reference mark image, the larger the value of the height of the first bed board.

Wherein, the filter modules for selection in the module selection sub-device include 3×3, 5×5, 7×7 and 9×9.

Wherein, the CF card also pre-stores the preset bed board height, the first height weight value, the second height weight value, the preset height upper limit value and the preset height lower limit value.

Among them, the CF card is also respectively connected with the sign recognition equipment, the servo motor and the Freescale MC9S12 chip.

Wherein, the CF card is also used to pre-store various reference human body images, and each reference human body image is an image obtained by pre-shooting reference human bodies of different shapes.

Among them, the module selection sub-device selects the filter module for median filtering based on the maximum distribution radius, including: the larger the maximum distribution radius, the larger the filter module selected for median filtering, the smaller the maximum distribution radius, and the selected median filter The smaller the filter module is.

Optionally, in the platform: the module selection sub-device is implemented using a CPLD chip; the wireless communication device is a time division duplex communication interface; the wireless communication device is a frequency division duplex communication interface; and the wireless communication device is a GPRS communication interface.

In addition, 4G LTE is a global standard, including two network modes FDD and TDD, which are used for paired spectrum and unpaired spectrum respectively. The operator's initial choice between the two modes was purely due to spectrum availability considerations. Most operators will deploy both networks in order to take full advantage of all the spectrum resources they have. The technical difference between FDD and TDD is actually very small. The main difference lies in the use of different duplex methods. Frequency division duplex (FDD) and time division duplex (TDD) are two different duplex methods.

FDD is to receive and send on two separate symmetrical frequency channels, and use the guard frequency band to separate the receiving and sending channels. FDD must use paired frequencies, depending on the frequency to distinguish the uplink and downlink, and its unidirectional resources are continuous in time. When FDD supports symmetrical services, it can make full use of the uplink and downlink spectrum, but when it supports asymmetric services, the spectrum utilization rate will be greatly reduced.

TDD uses time to separate receive and transmit channels. In the TDD mobile communication system, receiving and sending use different time slots of the same frequency carrier as the bearer of the channel, and the resources in one direction are discontinuous in time, and the time resources are allocated in two directions. The base station sends signals to the mobile station during a certain period of time, and the mobile station sends signals to the base station at other times. The base station and the mobile station must cooperate to work smoothly.

Using the pediatric nursing bed of the present invention, aiming at the technical problem that the existing technology cannot calibrate the height of the bed board in real time, the height of the bed board is detected by adding a radiation-based height detection device and an image processing-based height detection device, and adding weights The computer mechanism conducts a reasonable analysis of the two detection results, so as to give an accurate bed height, and perform corresponding alarm operations and real-time calibration operations.

It can be understood that although the present invention has been disclosed above with preferred embodiments, the above embodiments are not intended to limit the present invention. For any person skilled in the art, without departing from the scope of the technical solution of the present invention, the technical content disclosed above can be used to make many possible changes and modifications to the technical solution of the present invention, or be modified into equivalent changes, etc. effective example. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention, which do not deviate from the technical solution of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims (1)

1. a kind of Pediatric nursing bed, including sick bed and alarm platform, the platform includes position sensor, Freescale MC9S12 Chip and Wireless Telecom Equipment, position sensor are used to detect and export the real-time height of bed board, Freescale MC9S12 chips It is connected respectively with position sensor and Wireless Telecom Equipment, determines to be sent to the alarm signal of Wireless Telecom Equipment based on real-time height Breath；

Characterized in that, the platform also includes：

Wireless Telecom Equipment, it is connected with Freescale MC9S12 chips, for bed board being crossed into high RST or bed board crosses low signal hair Give the ward management and control center of distal end；

Servomotor, near bed board, it is connected to receive current bed board height with Freescale MC9S12 chips, based on working as Preceding bed board height and default bed board highly determine motor drive signal, and are arrived telescoping shoring column driving based on motor drive signal Default bed board height；

Telescoping shoring column, positioned at the lower section of bed board, it is connected with bed board, is also connected with servomotor, for the control in servomotor System is lower to carry out scaling operation to drive bed board to vertically move；

Position sensor, positioned at the downside of bed board, for detecting the current location of bed board in real time, and based on current location and in advance If ground location determines the height of bed board highly to be exported as the second bed board；

Solar energy detection device, on the exterior wall of building where ward, for detecting current solar energy intensity in real time；

Power supply unit, including solar powered device, battery, switching switch and electric pressure converter, switching switch respectively with too Positive energy detection device, solar powered device connect with battery, when the solar energy that the dump energy of battery is insufficient and current When intensity is optionally greater than preset strength, solar powered device is switched to be powered by solar powered device, electric pressure converter Connected with switching switch, using the 5V voltage conversions by input is switched by switching as 3.3V voltages, wherein solar powered device On the exterior wall of building where ward, solar powered device includes solar energy photovoltaic panel；

Wireless charging device, it is connected respectively with solar energy detection device and battery, when the dump energy of battery is insufficient and works as When preceding solar energy intensity is less than preset strength, establishes and connected to start wireless charging operation with neighbouring wireless charging terminal, Wireless charging device is also connected with electric pressure converter to realize voltage conversion；

Point array camera, positioned at the middle position of the downside of bed board, for being shot towards bed board lower section to obtain high definition Ground image；

Homomorphic filtering equipment, it is connected with an array camera to receive high-definition terrestrial image, including the sub- equipment of gray compression and linear Varitron equipment, the sub- equipment of gray compression is connected with point array camera, for entering to each pixel value of high-definition terrestrial image To obtain compression image, the sub- equipment of linear transformation is connected the processing of row gray compression with the sub- equipment of gray compression, for scheming to compression As carrying out linear transformation processing to obtain changing image, wherein, the contrast of changing image is higher than high-definition terrestrial image；

Histogram equalization equipment, it is connected with homomorphic filtering equipment to receive changing image, for performing histogram to changing image To obtain equilibrium figures picture, wherein histogram equalization is handled for the uniform gray level of changing image to be distributed into whole ash equilibrium treatment Spend level scope so that the equilibrium figures picture of acquisition has the contrast of more changeable tone and Geng Gao than changing image；

Adaptive-filtering equipment, it is connected to obtain equilibrium figures picture, and equilibrium figures picture is performed adaptive with histogram equalization equipment Filtering process is to obtain the first filtering image；

Modified medium filtering equipment, it is connected with adaptive-filtering equipment to obtain the first filtering image, including noise measuring Equipment, module select sub- equipment and the sub- equipment of filtering process, and the sub- equipment of noise measuring is connected with adaptive-filtering equipment, by right The gray value of the pixel of first filtering image is analyzed to determine the distribution radius in each noise profile region, and will be each Maximum in the distribution radius in individual noise profile region selects sub- equipment to be examined with noise as maximum distribution radius output, module Sub- equipment connection is surveyed, radius is maximally distributed for receiving, and the filtering mould of medium filtering is carried out based on maximum distribution radius selection Block, the sub- equipment of filtering process selects sub- equipment to be connected with adaptive-filtering equipment and module respectively, for the filtering based on selection Module carries out median filter process to obtain the second filtering image to the first filtering image, wherein median filter process include for Each pixel carries out following handle as target pixel points in first filtering image：With target pixel points in the first filtering figure The centre of form of the filtration module of position alternatively as in takes out multiple pixels as multiple references in the first filtering image Pixel, maximum in the pixel value of multiple reference image vegetarian refreshments and minimum value are taken to be used as pixel maximum and pixel minimum Value, the average value of pixel maximum and pixel minimum is determined using as pixel average, for each reference image vegetarian refreshments, such as Its pixel value of fruit is less than pixel average, then replaces its pixel value with 0, if its pixel value is more than or equal to pixel average, Retain its pixel value, finally exported the average value of the pixel value of multiple reference image vegetarian refreshments as the pixel value of target pixel points；

Landmark identification equipment, connected respectively with modified medium filtering equipment and CF cards, by pixel ash in the second filtering image Angle value mark intensity value ranges in all pixels point composition mark subgraph, by indicate subgraph in pixel sum with The pixel sum of reference mark image is compared to determine and exports the first bed board height；

CF cards, for having prestored reference mark image, reference mark image is the original image of test pattern mark；

Freescale MC9S12 chips, connect, be used for landmark identification equipment, position sensor, servomotor and CF cards respectively The first bed board height and the second bed board height are received, based on the first elevation weight value, the first bed board height, the second elevation weight value Current bed board height is highly determined with the second bed board, and when current bed board is highly more than or equal to preset height higher limit, is sent Bed board crosses high RST, when current bed board is highly less than or equal to preset height lower limit, sends bed board and crosses low signal；

Wherein, for test pattern traffic sign placement below bed board, test pattern mark is shaped as triangle, square or circle；

Wherein, landmark identification equipment carries out the pixel sum of the pixel sum indicated in subgraph and reference mark image Compare highly is included with determining and exporting the first bed board：Indicate the picture of the pixel sum divided by reference mark image in subgraph The numerical value that vegetarian refreshments sum obtains is bigger, and the numerical value of the first bed board height is smaller, indicates pixel sum divided by base in subgraph The numerical value that the pixel sum of quasi- sign image obtains is smaller, and the numerical value of the first bed board height is bigger；

Wherein, module selects filtration module selective in sub- equipment to include 3 × 3,5 × 5,7 × 7 and 9 × 9；

Wherein, CF cards have also prestored default bed board height, the first elevation weight value, the second elevation weight value, preset height Higher limit and preset height lower limit；

Wherein, CF cards are also connected with landmark identification equipment, servomotor and Freescale MC9S12 chips respectively；

Wherein, CF cards are additionally operable to prestore each benchmark human body image, and each benchmark human body image is to the different bodily forms The image that benchmark human body is shot and obtained in advance；

Wherein, module, which selects sub- equipment to carry out the filtration module of medium filtering based on maximum distribution radius selection, includes：Maximum point Cloth radius is bigger, and the filtration module of the progress medium filtering of selection is bigger, and maximum distribution radius is smaller, the carry out intermediate value filter of selection The filtration module of ripple is smaller.