A Docking Control Method for a Split Nursing Bed

Currently, there are two main forms of split nursing beds: lateral docking and central embedding. Lateral docking is easy to realize, but it fails to fundamentally solve the problem of transferring patients' beds and chairs, and part of the nursing functions are restricted, while central embedding can effectively avoid the risk of secondary injuries when transferring patients' beds and chairs, and at the same time, greatly reduce the nursing staff's work intensity, and it will not affect the basic nursing functions, including the multi-posture change. However, the centrally embedded docking method requires high precision, and there are many problems in practical application, so it has not been popularized. This paper mainly focuses on the central embedded split intelligent rehabilitation nursing bed with high precision requirements and poor human-computer interaction comfort as the key issues, analyzes the characteristics of the docking path mainly from the perspective of the patient's experience during the docking process, selects the docking path based on the third-order Bessel curve, and completes the docking path tracking through the front-wheel feedback control algorithm based on the simplified transversal error rate-of-change model, which, based on the transversal error, outputs steering volume directly to match the current path, and complete the tracking of the docking path.