CN110179598A - Monitoring method, intelligent wheelchair of riding instead of walk applied to intelligent wheelchair of riding instead of walk - Google Patents
Monitoring method, intelligent wheelchair of riding instead of walk applied to intelligent wheelchair of riding instead of walk Download PDFInfo
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- CN110179598A CN110179598A CN201910390812.4A CN201910390812A CN110179598A CN 110179598 A CN110179598 A CN 110179598A CN 201910390812 A CN201910390812 A CN 201910390812A CN 110179598 A CN110179598 A CN 110179598A
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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
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
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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
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- 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
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
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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
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/20—Displays or monitors
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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
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
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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
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
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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
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/34—General characteristics of devices characterised by sensor means for pressure
-
- 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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- Remote Sensing (AREA)
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- Radar, Positioning & Navigation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
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- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The application discloses a kind of to ride instead of walk wheelchair applied to ride instead of walk the monitoring method of wheelchair, intelligence of intelligence.The monitoring method includes: that the total electricity of the battery pack is detected by the monitoring sensor；Obtain the first ratio of the initial quantity of electricity of the total electricity and the battery pack；The dough softening of the battery pack is obtained according to first ratio；Judge whether the dough softening of the battery pack is greater than or equal to preset dough softening threshold value；If so, generating warning message.By the above-mentioned means, the application is capable of the dough softening of real-time detection battery pack, battery pack is avoided to be in blind area in the monitoring of the dough softening, improve battery life, intelligent level is high, improves user experience effect.
Description
Technical field
This application involves intelligent wheelchair technical fields of riding instead of walk, more particularly to a kind of monitoring applied to intelligent wheelchair of riding instead of walk
Method, intelligent wheelchair of riding instead of walk.
Background technique
With social development, accessible facilities are more and more perfect, so that handicapped personage can realize by wheelchair
Independent activities, such as the elderly or physical disabilities can go out alone by wheelchair.
But present inventor has found in long-term R&D process, and existing electric wheelchair can not real-time monitoring battery
The dough softening of group, intelligent level is low, causes user's trip very inconvenient.
Summary of the invention
The application be designed to provide it is a kind of ride instead of walk wheelchair applied to ride instead of walk the monitoring method of wheelchair, intelligence of intelligence, energy
Enough solve the above problems.
To achieve the above object, the technical solution that the application uses is: providing a kind of applied to intelligent wheelchair of riding instead of walk
Monitoring method, wheelchair of intelligently riding instead of walk includes the shell of half packaged type, monitoring sensor and battery pack, the monitoring sensor with
The battery pack is arranged in the shell, and the monitoring method includes:
The total electricity of the battery pack is detected by the monitoring sensor；
Obtain the first ratio of the initial quantity of electricity of the total electricity and the battery pack；
The dough softening of the battery pack is obtained according to first ratio；
Judge whether the dough softening of the battery pack is greater than or equal to preset dough softening threshold value；
If so, generating warning message.
Wherein, the monitoring method further comprises:
The remaining capacity of the battery pack is detected by the monitoring sensor；
The first course continuation mileage of the stored battery pack is obtained, and obtains the remaining capacity and the total electricity
Second ratio；
By first course continuation mileage multiplied by second ratio, obtains the intelligence and ride instead of walk the course continuation mileage of wheelchair.
Wherein, intelligence wheelchair and server foundation of riding instead of walk communicates, and the monitoring method further comprises:
The intelligence ride instead of walk wheelchair open station-keeping mode when, obtain the intelligence and ride instead of walk the current location information of wheelchair；
The accessible map is obtained from the service terminal, according to the current location information in the accessible map
Upper label current location；
Destination locations information is received, the first accessible facilities between current location and destination locations are obtained；
Plan that at least one leads on the accessible map according to first accessible facilities and the course continuation mileage
Air route line.
Wherein, after described the step of receiving destination locations information, the monitoring method further comprises:
Judge whether the service terminal has historical navigation road according to the destination locations information and the current location
Line；
If it is not, then obtaining the first accessible facilities between the current location and the destination locations.
Wherein, the monitoring method further comprises:
The intelligence, which is detected, by the monitoring sensor rides wheelchair instead of walk in the corresponding consumption electricity of default mileage；
The course continuation mileage is adjusted according to the consumption electricity and the default mileage.
Wherein, the monitoring method further comprises:
User ride in the intelligence ride instead of walk wheelchair when, the sign of the user is monitored by intelligence wheelchair of riding instead of walk
Information；
When determining the sign information exception, prompting message is generated.
Wherein, described to include: by intelligence the step of wheelchair monitors the sign information of the user of riding instead of walk
Detect the intelligence ride instead of walk wheelchair cushion temperature and humidity information；
The temperature and humidity information is compared with preset Threshold of Temperature And Humidity；
It is described when determining the sign information exception, generate prompting message the step of include:
If the temperature and humidity information is more than the Threshold of Temperature And Humidity, the prompting message is generated.
Wherein, described to include: by intelligence the step of wheelchair monitors the sign information of the user of riding instead of walk
Detect the user and the intelligence ride instead of walk wheelchair back cushion contact area；
The sitting posture of the user is identified according to the contact area；
Detect the pressure value of the user Yu the back cushion；
Judge whether the sitting posture is healthy according to the pressure value and the contact area；
If it is not, then generating the correction information of the sitting posture.
Wherein, the monitoring method further comprises:
It detects electric signal, and the electric signal is handled；
According to treated, the electric signal obtains electrocardiogram (ECG) data；
When determining the electrocardiogram (ECG) data exception, and receiving distress signals, notice service terminal calls first-aid centre,
And planned on the accessible map current location to Entrucking Point the second navigation routine.
To achieve the above object, another technical solution that the application uses is: a kind of intelligence is provided and is ridden instead of walk wheelchair, until
Shell including half packaged type, monitoring sensor and battery pack less, the monitoring sensor and the battery pack are arranged described
In shell, the processor is connect by the monitoring sensor with the battery pack, and processor is to realize above-mentioned monitoring side
Method.
The beneficial effect of the application is: being in contrast to the prior art, the application is detected by the monitoring sensor
The total electricity of the battery pack；Obtain the first ratio of the initial quantity of electricity of the total electricity and the battery pack；According to described
One ratio obtains the dough softening of the battery pack；Judge whether the dough softening of the battery pack is greater than or equal to the preset dough softening
Threshold value；If so, generating warning message；The intelligence of the application wheelchair of riding instead of walk is capable of the dough softening of real-time detection battery pack, avoids
Battery pack is in blind area in the monitoring of the dough softening, improves battery life, and intelligent level is high, improves user experience effect.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, without creative efforts, it may further obtain according to these attached drawings
Other attached drawings.Wherein:
Fig. 1 is that the intelligence of the application first embodiment is ridden instead of walk the structural schematic diagram of wheelchair；
Fig. 2 is the flow chart of the monitoring method of the application first embodiment；
Fig. 3 is the flow chart of the monitoring method of the application second embodiment；
Fig. 4 is the communication schematic diagram of wheelchair and service terminal of intelligently riding instead of walk in Fig. 3；
Fig. 5 is the flow chart of step S104 in Fig. 3；
Fig. 6 is the flow chart of the monitoring method of the application 3rd embodiment；
Fig. 7 is the flow chart of the monitoring method of the application fourth embodiment；
Fig. 8 is the flow chart of the monitoring method of the 5th embodiment of the application；
Fig. 9 is the flow chart of step S501 in Fig. 8；
Figure 10 is the flow chart of the monitoring method of the application sixth embodiment；
Figure 11 is the flow chart of the monitoring method of the 7th embodiment of the application；
Figure 12 be intelligently ride instead of walk in Fig. 1 wheelchair processor structural schematic diagram；
Figure 13 is that intelligence in Fig. 1 with independent suspension system is ridden instead of walk the schematic perspective view of wheelchair.
Specific embodiment
With reference to the accompanying drawings and examples, the application is described in further detail.It is emphasized that following implement
Example is merely to illustrate the application, but is not defined to scope of the present application.Likewise, following embodiment is only the portion of the application
Point embodiment and not all embodiments, institute obtained by those of ordinary skill in the art without making creative efforts
There are other embodiments, shall fall in the protection scope of this application.
The description and claims of this application and term " first ", " second ", " third ", " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that embodiments herein described herein for example can be to remove
Sequence other than those of illustrating or describe herein is implemented.In addition, term " includes " and " having " and theirs is any
Deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, production
Product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for this
A little process, methods, the other step or units of product or equipment inherently.
Referring to Figure 1, Fig. 1 is that the intelligence of the application first embodiment is ridden instead of walk the structural schematic diagram of wheelchair.The intelligence is ridden instead of walk
Wheelchair 10 includes manned portion 11, traveling portion 12 and shell 13.Wherein, manned portion 11 is arranged in traveling portion 12, traveling portion 12
For driving intelligent wheelchair 10 of riding instead of walk to move.
Manned portion 11 includes pedestal 111, the seat system 112 being arranged on pedestal 111 and is divided into seat system 112
The handrail 113 of two sides.Shell 13 covers traveling portion 12 and handrail 113, encapsulates, i.e., should for carrying out half to intelligent wheelchair 10 of riding instead of walk
Shell 13 is half encapsulation sandwich type element.
As shown in Figure 1, shell 13 is not covered with the pedestal 111 in manned portion 11, seat system 112, so that manned portion 11
Most of region is in open state, and user can be directly entered intelligent wheelchair 10 of riding instead of walk, consequently facilitating user is in any situation
It can be quickly and easily into intelligent wheelchair 10 of riding instead of walk.
The components such as driving circuit or battery pack are internally provided with by traveling portion 12 that shell 13 covers and handrail 113,
For example, be provided on handrail 113 various control function button and corresponding control circuit, be provided in traveling portion 12
The driving assemblies such as driving motor and battery pack.Foregoing circuit and component belong to sensing assembly, when circuit and component directly connect
External environment is touched, the influence by external environment is easy for, circuit is caused situations such as short circuit, component damage occur, so that
Intelligence is ridden instead of walk 10 cisco unity malfunction of wheelchair, and the usage experience and safety of user are influenced.
Half encapsulating structure of the present embodiment can protect the circuit and component of traveling portion 12 and handrail 113 well, simultaneously
It is also possible that manned portion 11 is in open state, enter intelligent wheelchair 10 of riding instead of walk convenient for user.
Shown in Figure 2, Fig. 2 is the flow chart of the monitoring method of the application first embodiment.The monitoring method is used for
Above-mentioned battery pack is monitored, wheelchair 10 of intelligently riding instead of walk further comprises monitoring sensor (not shown), and wheelchair 10 of intelligently riding instead of walk passes through
It monitors sensor and detects battery pack.The monitoring method the following steps are included:
S161: the total electricity of battery pack is detected by monitoring sensor.
Wheelchair 10 of intelligently riding instead of walk detects the total electricity of battery pack in battery pack charging complete by monitoring sensor.Intelligence
Wheelchair 10 of riding instead of walk is previously stored with the initial quantity of electricity of battery pack, and the initial quantity of electricity of the battery pack is total electricity when battery pack is dispatched from the factory
Amount.
S162: the first ratio of the initial quantity of electricity of total electricity and battery pack is obtained.
Wheelchair 10 of intelligently riding instead of walk obtains the first ratio of the initial quantity of electricity of total electricity and battery pack, i.e., intelligent wheelchair 10 of riding instead of walk
Obtaining the ratio between total electricity and battery pack is the first ratio.
S163: the dough softening of battery pack is obtained according to the first ratio.
It is 80% that wheelchair 10 of intelligently riding instead of walk, which obtains the dough softening of battery pack, such as the first ratio according to the first ratio, intelligence
Wheelchair 10 of riding instead of walk subtracts 80% for 1 and is equal to 20%, therefore it is 20% that the dough softening of battery pack, which is calculated, in intelligent wheelchair 10 of riding instead of walk.
S164: judge whether the dough softening of battery pack is greater than or equal to preset dough softening threshold value.
Wheelchair 10 of intelligently riding instead of walk judges whether the dough softening of battery pack is greater than or equal to preset dough softening threshold value；If so,
Then enter step S165；If it is not, then intelligent wheelchair 10 of riding instead of walk shows the dough softening of battery pack, so that user's timely learning battery pack
The dough softening.Such as preset dough softening threshold value be 10% when, wheelchair 10 of intelligently riding instead of walk obtain battery pack the dough softening be 20%,
Then intelligent wheelchair 10 of riding instead of walk judges that the dough softening of battery pack is greater than preset dough softening threshold value, enters step S165.
S165: warning message is generated.
Wheelchair 10 of intelligently riding instead of walk generates warning message, to remind user to maintain battery pack or replace in time battery
Group.The warning message may include text information, voice messaging etc..
The intelligence of the present embodiment wheelchair 10 of riding instead of walk is capable of the dough softening of real-time detection battery pack, avoids battery pack in the dough softening
Monitoring be in blind area, improve battery life, intelligent level is high, improves user experience effect.
The intelligence of the application ride instead of walk wheelchair 10 be further able to by survey sensor detect battery pack remaining capacity, obtain
First course continuation mileage of stored battery pack, and the second ratio of remaining capacity and total electricity is obtained, the stored battery
First course continuation mileage of group can be course continuation mileage of the last battery pack in the case where fully charged.Intelligence rides wheelchair 10 instead of walk for the
One course continuation mileage obtains the course continuation mileage of intelligent wheelchair 10 of riding instead of walk multiplied by the second ratio, and wheelchair 10 of intelligently riding instead of walk can show this
Course continuation mileage.
Optionally, intelligently wheelchair 10 is being ridden instead of walk when driving, wheelchair 10 of intelligently riding instead of walk detects intelligence and rides wheelchair 10 instead of walk default
The corresponding consumption electricity of mileage.Intelligence rides wheelchair 10 instead of walk according to consumption electricity and default mileage adjustment course continuation mileage, so that electric
The course continuation mileage of pond group is more accurate.
It is please the flow chart of the monitoring method of the application second embodiment with further reference to Fig. 3-4, Fig. 3；Fig. 4 is in Fig. 3
Intelligence is ridden instead of walk the communication schematic diagram of wheelchair and service terminal.Ride instead of walk wheelchair 10 and service terminal 20 of the intelligence is established and is communicated.
The monitoring method of the present embodiment is described on the basis of first embodiment revealed monitoring method, the monitoring
Method may comprise steps of:
S101: the current location information of intelligent wheelchair 10 of riding instead of walk is obtained.
Positioning device has can be set in wheelchair 10 of intelligently riding instead of walk, which can be GPS (Global
Positioning System, global positioning system) device or other can be positioned by the Big Dipper navigation system etc.
The device that is positioned of system.When user opens the station-keeping mode of intelligent wheelchair 10 of riding instead of walk, wheelchair 10 of intelligently riding instead of walk passes through
Positioning device obtains the current location information of intelligent wheelchair 10 of riding instead of walk.
In other embodiments, wheelchair 10 of intelligently riding instead of walk can be not provided with positioning device；Intelligently ride instead of walk wheelchair 10 and user
The intelligent terminal of carrying establishes communication, and wheelchair 10 of intelligently riding instead of walk can be by the short distance communications such as bluetooth or hot spot mode and intelligence
It can terminal foundation communication.When user opens the station-keeping mode of intelligent wheelchair 10 of riding instead of walk, wheelchair 10 of intelligently riding instead of walk can send fixed
Position request is to intelligent terminal, so that intelligent terminal opens positioning function, intelligent terminal obtains current location information, and by present bit
Confidence breath is sent to intelligent wheelchair 10 of riding instead of walk, to obtain the current location information of intelligent wheelchair 10 of riding instead of walk.Wherein, the intelligent terminal
It can be the intelligent terminals such as mobile phone, tablet computer, wearable device.
S102: obtaining accessible map from service terminal 20, is worked as according to current location information in accessible map subscript note
Front position.
When obtaining the current location information of intelligent wheelchair 10 of riding instead of walk, wheelchair 10 of intelligently riding instead of walk can send present bit confidence
It ceasing to service terminal 20, service terminal 20 sends accessible map to intelligent wheelchair 10 of riding instead of walk according to current location information, so that
Intelligence wheelchair 10 of riding instead of walk from service terminal 20 obtains accessible map.
Service terminal 20 can extract corresponding accessible when receiving current location information according to current location information
Map, such as the current location information of intelligent wheelchair 10 of riding instead of walk are located at Nanshan District, Shenzhen City, then service terminal 20 extracts Shenzhen
The accessible map of Nanshan District is sent to intelligent wheelchair 10 of riding instead of walk, to reduce data transmission period.
In other embodiments, accessible map can be stored in advance in wheelchair 10 of intelligently riding instead of walk.Obtaining intelligent scooter wheel
When the current location information of chair 10, wheelchair 10 of intelligently riding instead of walk can be sent schemes version number to service terminal 20 without barrier；It is taking
When business terminal 20 determines accessible map rejuvenation, updated accessible map is sent to intelligent scooter wheel by service terminal 20
Chair 10.
Ride instead of walk the display screen of wheelchair 10 of intelligence can show accessible map, and according to current location information without barrier
Current location is marked on figure.The display screen can be set in handrail 113, and when user uses display screen, user is from handrail 113
Interior taking-up display screen；In other embodiments, display screen can be on handrail 113, so that user directly uses display screen.
S103: receiving destination locations information, obtains first between current location and destination locations and accessible sets
It applies.
Wheelchair 10 of intelligently riding instead of walk receives destination locations information, i.e. user can pass through the display screen of intelligent wheelchair 10 of riding instead of walk
It inputs destination locations information or destination locations information is inputted by smart machine.
Optionally, wheelchair 10 is intelligently ridden instead of walk when receiving destination locations information, according to destination locations information and present bit
It sets and judges whether service terminal 20 has historical navigation route；I.e. intelligent wheelchair 10 of riding instead of walk sends destination locations information and present bit
Confidence is ceased to service terminal 20, and service terminal 20 judges whether to lead with history according to destination locations information and current location information
Air route line.If so, intelligence is ridden instead of walk, wheelchair 10 obtains historical navigation route, and recommends historical navigation route to user；If it is not, then
Wheelchair 10 of intelligently riding instead of walk obtains the first accessible facilities between current location and destination locations.
Wheelchair 10 of intelligently riding instead of walk obtains the first accessible facilities between current location and destination locations, wherein intelligence
Search range can be arranged on accessible map according to current location information and destination locations information in wheelchair 10 of riding instead of walk, the search
Range can be diameter with the distance between current location and destination locations, be with the midpoint between current location and destination locations
The center of circle forms a circle search range.Wheelchair 10 of intelligently riding instead of walk obtains all accessible facilities in search range, to obtain in place
The first accessible facilities between current location and destination locations.The accessible facilities may include Wheelchair Accessible, without barrier
Hinder elevator, accessible platform, accessible rooms or accessible toilet etc..
S104: at least one navigation routine is planned on accessible map according to the first accessible facilities and course continuation mileage.
Intelligence wheelchair 10 of riding instead of walk according to the first accessible facilities and course continuation mileage plans at least one on accessible map
Navigation routine.Wherein, wheelchair 10 of intelligently riding instead of walk can be obtained from current location to destination locations according to the first accessible facilities
A plurality of route obtains the distance of every route；Intelligence rides route of 10 selected distance of wheelchair within the scope of course continuation mileage instead of walk to lead
Air route line, for selection by the user.
Intelligence wheelchair 10 of riding instead of walk is further provided with preset rules, preset rules may include that distance is most short and the time most
Short, it is navigation road that wheelchair 10 of intelligently riding instead of walk is obtained from a plurality of route apart from minimal path and shortest time path line according to preset rules
Line, for selection by the user.
The intelligence of the present embodiment rides wheelchair 10 instead of walk can be according to the first accessible facilities and course continuation mileage in accessible map
At least one navigation routine of upper planning realizes automatic programme path, and intelligent level is high, improves user experience effect.
As shown in figure 5, step S104 is further included steps of
S201: the second accessible facilities being located on navigation routine are obtained from the first accessible facilities.
Select navigation routine in wheelchair 10 of intelligently riding instead of walk, i.e., when user selects navigation routine from least one navigation routine,
Intelligence wheelchair 10 of riding instead of walk obtains the second accessible facilities being located on navigation routine from the first accessible facilities, this is second accessible
Facility is located on selected navigation routine.
S202: obtaining the facility information of the second accessible facilities, searches figure corresponding with facility information from service terminal 20
Piece.
Intelligence is ridden instead of walk the facility informations of available second accessible facilities of wheelchair 10, and wheelchair 10 of intelligently riding instead of walk can be preparatory
Facility information is set to the upper all accessible facilities of figure without barrier are located at, facility information may include the ground of accessible facilities
Location information, number information etc., each accessible facilities correspond to unique facility information.Wheelchair 10 of intelligently riding instead of walk is accessible by second
The facility information of facility is sent to service terminal 20, so that service terminal 20 is searched according to the facility information of the second accessible facilities
Picture corresponding with the second accessible facilities, i.e., intelligent wheelchair 10 of riding instead of walk search figure corresponding with facility information from service terminal 20
Piece, wherein picture corresponding with facility information can be stored in advance in service terminal 20.
S203: being converted to thumbnail for picture, and contracting corresponding with the second accessible facilities is shown on accessible map
Sketch map.
Picture is converted to thumbnail by intelligence wheelchair 10 of riding instead of walk, and display and the second accessible facilities on accessible map
Corresponding thumbnail, so that user more intuitively identifies the accessible facilities being located on selected navigation routine.
In addition, user can choose the second accessible facilities by modes such as voice or touch-controls, wheelchair 10 of intelligently riding instead of walk
The selection instruction of the second accessible facilities is received, and chooses the second accessible facilities according to choosing to instruct；Intelligence is ridden instead of walk wheelchair
10 show picture corresponding with the second accessible facilities on accessible map.For example, user's input " wash one's hands by recently accessible
Between " voice, then intelligence wheelchair 10 of riding instead of walk extracts keyword " nearest " and " accessible toilet " from voice, from accessible
The nearest accessible toilet of detection range is the second accessible facilities on map, and accessible is set in accessible map with second
Apply the picture that the accessible toilet is shown on corresponding position.Alternatively, user selects nothing on accessible map by touch-control
Obstacle channel is the second accessible facilities, then intelligence rides wheelchair 10 instead of walk in accessible map position corresponding with the second accessible facilities
Set the picture for showing the Wheelchair Accessible.
The application further provides for the monitoring method of 3rd embodiment, the basis of the monitoring method based on second embodiment
On be described.As shown in fig. 6, the monitoring method the following steps are included:
S301: working according to navigation routine, and shows navigation routine in the display screen for wheelchair 10 of intelligently riding instead of walk.
Wheelchair 10 of intelligently riding instead of walk works according to selected navigation routine, and in the display screen for wheelchair 10 of intelligently riding instead of walk
Show the navigation routine；Intelligently riding wheelchair 10 instead of walk can be according to navigation routine automatic Pilot, and shows lead on a display screen
Air route line allows the user to know location information in real time.
S302: the facility information of the intelligent current third accessible facilities of wheelchair 10 of riding instead of walk is obtained from navigation routine, is obtained
The first picture corresponding with third accessible facilities and voice messaging.
The equipment that wheelchair 10 of intelligently riding instead of walk obtains the intelligent current third accessible facilities of wheelchair 10 of riding instead of walk from navigation routine
Information obtains the first picture corresponding with third accessible facilities and voice messaging.I.e. in 10 automatic Pilot of wheelchair of intelligently riding instead of walk
It is accessible to second from the first Wheelchair Accessible automatic Pilot to current third accessible facilities, such as intelligent wheelchair 10 of riding instead of walk
When channel, the second Wheelchair Accessible is third accessible facilities, then intelligent wheelchair 10 of riding instead of walk obtains and the second Wheelchair Accessible pair
The second picture and voice messaging answered.
S303: the first picture is suspended into display on navigation routine, and plays voice messaging.
Wheelchair 10 of intelligently riding instead of walk, which suspends the first picture, to be shown on navigation routine, so that user knows current no barrier
The picture for hindering facility improves the usage experience of user.Wheelchair 10 of intelligently riding instead of walk plays voice messaging, to remind user intelligently to ride instead of walk
10 automatic Pilot of wheelchair is to new accessible facilities and related prompt message.
The intelligence of the present embodiment rides wheelchair 10 instead of walk can be according to navigation routine realization automatic Pilot, and intelligent level is high, mentions
High user experience effect.
The application further provides for the monitoring method of fourth embodiment, the basis of the monitoring method based on second embodiment
On be described.As shown in fig. 7, the monitoring method the following steps are included:
S401: receiving second picture, obtains the corresponding location information of second picture.
Wheelchair 10 of intelligently riding instead of walk receives second picture, obtains the corresponding location information of second picture, such as user passes through
The picture that intelligent terminal shoots current accessible facilities is second picture, and second picture is sent to intelligent scooter wheel by intelligent terminal
Chair 10, wheelchair 10 of intelligently riding instead of walk obtain current location information by positioning device when receiving second picture, can obtain the
The corresponding location information of two pictures.
S402: judge whether location information matches with the facility information of third accessible facilities.
Wheelchair 10 of intelligently riding instead of walk judges whether location information matches with the facility information of third accessible facilities；If matching,
Then enter step S403；If mismatching, intelligent wheelchair 10 of riding instead of walk deletes second picture.
S403: being sent to service terminal 20 for second picture, so that after service terminal 20 verifies second picture, it will
First picture is updated to second picture.
Second picture is sent to service terminal 20 by intelligence wheelchair 10 of riding instead of walk, and service terminal 20 verifies second picture
Afterwards, the first picture is updated to second picture, to update the picture of third accessible facilities.Wherein, service terminal 20 can lead to
The phase recency of comparison the first picture and second picture is crossed, if phase recency is more than preset value, service terminal 20 is completed to the second figure
The verifying of piece.
The intelligence of the present embodiment rides wheelchair 10 instead of walk in the location information of second picture and the equipment letter of third accessible facilities
Second picture is sent to service terminal 20 when breath matching, so that the first picture is updated to second picture by service terminal 20,
It is capable of the picture of real-time update accessibility, improves the experience of user.
The application further provides for the monitoring method of the 5th embodiment, the basis of the monitoring method based on first embodiment
On be described.As shown in figure 8, the monitoring method further includes steps of
S501: when user rides in and intelligently rides wheelchair 10 instead of walk, pass through the sign that intelligent wheelchair 10 of riding instead of walk monitors user and believe
Breath.
Intelligent wheelchair 10 of riding instead of walk is rided in user, or intelligence rides wheelchair 10 instead of walk according to navigation routine realization automatic Pilot
When, wheelchair 10 of intelligently riding instead of walk monitors the sign information of user；I.e. intelligent wheelchair 10 of riding instead of walk is provided with sign monitoring sensor, intelligence
Wheelchair 10 of riding instead of walk monitors the sign information of sensor monitoring user by sign.The sign information may include blood pressure, pulse, body
The information such as temperature or heart rate.
S502: when determining sign information exception, prompting message is generated.
Intelligence rides wheelchair 10 instead of walk when getting sign information, judges whether sign information is abnormal；If it is not, then terminating；If
It is that then intelligent wheelchair 10 of riding instead of walk generates prompting message, to remind user.The prompting message can mention for voice reminder or text
It wakes up.
Above-mentioned sign monitoring sensor can be set on the cushion for intelligently riding wheelchair 10 instead of walk, then sign information can be seat
The temperature and humidity information of pad.As shown in figure 9, step S501 may comprise steps of:
S601: the temperature and humidity information of the cushion of the intelligent wheelchair 10 of riding instead of walk of detection.
Ride instead of walk the seat system 112 of wheelchair 10 of intelligence is provided with cushion, and cushion is provided with sign monitoring sensor, uses
In the sign information of monitoring user.Specifically, wheelchair 10 of intelligently riding instead of walk passes through the intelligent wheelchair 10 of riding instead of walk of Temperature Humidity Sensor detection
Cushion temperature and humidity information.
S602: temperature and humidity information is compared with preset Threshold of Temperature And Humidity.
Wheelchair 10 of intelligently riding instead of walk is previously provided with Threshold of Temperature And Humidity, and temperature and humidity information and preset Threshold of Temperature And Humidity are carried out
Compare.When wheelchair 10 determines temperature and humidity information more than Threshold of Temperature And Humidity if intelligence is ridden instead of walk, 6503 are entered step；If intelligence is ridden instead of walk
When wheelchair 10 determines temperature and humidity information and is less than Threshold of Temperature And Humidity, terminate.
S603: prompting message is generated.
When if intelligence is ridden instead of walk, wheelchair 10 determines temperature and humidity information more than Threshold of Temperature And Humidity, wheelchair 10 of intelligently riding instead of walk is determined
User is sitting on cushion too long, prompting message is generated, to remind user.
Optionally, wheelchair 10 of intelligently riding instead of walk may remind the user that whether need to go to toilet, the wheelchair 10 if so, intelligence is ridden instead of walk
The accessible lavatory nearest with current location distance is further obtained from obstacle map, and planning first is led on accessible map
Air route line so that intelligence ride instead of walk wheelchair 10 according to the first navigation routine automatic Pilot to nearest accessible lavatory so that intelligence
Can ride instead of walk wheelchair 10 intelligent level it is high.
The application further provides for the monitoring method of sixth embodiment, the basis of the monitoring method based on the 5th embodiment
On be described.As shown in Figure 10, the monitoring method the following steps are included:
S701: the contact area of the back cushion of detection user and intelligent wheelchair of riding instead of walk.
Intelligence rides wheelchair 10 instead of walk further by the back cushion of sign monitoring sensor monitoring user and intelligent wheelchair 10 of riding instead of walk
Contact area.
S702: the sitting posture of user is identified according to contact area.
Wheelchair 10 of intelligently riding instead of walk identifies that the sitting posture of user, such as intelligent wheelchair 10 of riding instead of walk are detected and connect according to contact area
Contacting surface product is the 5% of the area of back cushion, then intelligent wheelchair 10 of riding instead of walk may determine that the sitting posture of user is to sit straight.
S703: the pressure value of detection user and back cushion.
Intelligence rides wheelchair 10 instead of walk further by the pressure value of sign monitoring sensor senses user and back cushion.
S704: judge whether sitting posture is healthy according to pressure value and contact area.
Pressure value can be compared by intelligence wheelchair 10 of riding instead of walk with preset pressure threshold, and by contact area and back cushion
Between ratio be compared with preset ratio；If intelligence is ridden instead of walk, wheelchair 10 determines pressure value greater than preset pressure threshold
Value, and the ratio between contact area and back cushion is greater than preset ratio, then and intelligent wheelchair 10 of riding instead of walk judges that sitting posture is unhealthy,
And enter step S705.
S705: the correction information of sitting posture is generated.
Intelligence rides wheelchair 10 instead of walk according to the correction information of sitting posture generation sitting posture, enables a user to replace sitting posture in time,
It avoids having an impact the health of user.
The application further provides for the monitoring method of the 7th embodiment, the basis of the monitoring method based on the 5th embodiment
On be described.As shown in figure 11, the monitoring method the following steps are included:
S801: it detects electric signal, and electric signal is handled.
Intelligence ride instead of walk wheelchair 10 sign monitoring sensor can be set at handrail 113, user is helping hand placement
When at hand 113, wheelchair 10 of intelligently riding instead of walk can detecte electric signal, and handle electric signal, such as intelligent wheelchair of riding instead of walk
10 convert electrical signals to electromagnetic wave signal.
S802: according to treated, electric signal obtains electrocardiogram (ECG) data.
Intelligence rides wheelchair 10 instead of walk according to treated electric signal obtains electrocardiogram (ECG) data, and by electrocardiogram (ECG) data and preset electrocardio
Data are compared, to judge whether user's body is abnormal；If intelligence is ridden instead of walk, wheelchair 10 determines electrocardiogram (ECG) data exception, enters
Step S803；If it is normal that intelligent wheelchair 10 of riding instead of walk determines electrocardiogram (ECG) data, terminate.
S803: when determining electrocardiogram (ECG) data exception, and receiving distress signals, notice service terminal 20 is called in first aid
The heart, and second navigation routine of the planning current location to Entrucking Point on accessible map.
When determining electrocardiogram (ECG) data exception in wheelchair 10 of intelligently riding instead of walk, and receiving distress signals, wheelchair 10 of intelligently riding instead of walk
It notifies service terminal 20 to call first-aid centre, and plans current location to the second navigation road of Entrucking Point on accessible map
Line, wheelchair 10 of intelligently riding instead of walk can prevent user uncomfortable suddenly according to the second navigation routine automatic Pilot to Entrucking Point,
It links in time with first-aid centre, improves the intelligent level of intelligent wheelchair 10 of riding instead of walk.
As shown in figure 12, the revealed intelligence of the present embodiment wheelchair 10 of riding instead of walk further comprises the place being arranged in shell 13
Device 109 is managed, processor 109 is for realizing above-mentioned monitoring method, and details are not described herein.The processor 109 can be set in handrail
113 inside, connect with driving circuit.
Further, please continue to refer to the intelligent scooter wheel that Fig. 1 and Figure 13, Figure 13 are in Fig. 1 with independent suspension system
The schematic perspective view of chair.Specifically, traveling portion 12 includes chair frame 21, driving assembly (being not marked in figure) and elastic parts
(being not marked in figure)；Driving assembly includes actuator 221 and the driving wheel connecting with actuator 221 222；Driving assembly passes through
Elastic parts is connect with chair frame 21, and the elasticity of compression component in weight bearing of chair frame 21, driving assembly elastic parts when hanging drives
Driving assembly moves in the vertical direction.
Specifically, for chair frame 21 for carrying cushion, wheelchair 10 of intelligently riding instead of walk further includes directive wheel (being not marked in figure), guiding
Wheel is fixed in chair frame 21.Driving assembly is directly connected to constitute by actuator 221 and driving wheel 222, the intelligence of wheel independent suspension
The wheelchair 10 that can ride instead of walk includes two driving assemblies, and two driving assemblies are connected in chair frame 21 by independent elastic parts,
When the intelligence that user is sitting in wheel independent suspension is ridden instead of walk on wheelchair 10, in the effect of user and the gravity of intelligent wheelchair 10 of riding instead of walk
Under, elasticity of compression component, so that elastic parts is in the state of compression.To which the intelligence in wheel independent suspension is ridden instead of walk wheelchair 10
During traveling, when driving wheel 222 encounters hollow or protrusion, so that driving assembly is in hanging state, elastic parts exists
Restore prototype under the action of own resilient, to drive driving assembly to move in the vertical direction, so that driving wheel 222 and ground
Crimping, and then the intelligence of wheel independent suspension wheelchair 10 of riding instead of walk is avoided to occur the phenomenon that hanging, skidding in the process of moving, thus
Improve the comfortableness and security of intelligent wheelchair 10 of riding instead of walk.
In technical scheme, by the way that the driving assembly being connect with actuator 221 by driving wheel 222 and elasticity is arranged
Component, when driving assembly is hanging, elastic parts drives driving assembly to move in the vertical direction under the action of own resilient,
So that it is guaranteed that driving wheel 222 is crimped with ground, power is normally provided convenient for driving wheel 222, meanwhile, by the way that elastic group is arranged
Part, during wheelchair 10 of intelligently riding instead of walk travels, when wheelchair 10 of intelligently riding instead of walk is shaken, vibrating effect passes through elastic parts
Conduction has cut down the amplitude of vibration in the presence of elastic parts, has improved the damping effect of intelligent wheelchair 10 of riding instead of walk to chair frame 21
Fruit, and improve safety and the comfort of intelligent wheelchair 10 of riding instead of walk.
Further, elastic parts includes the adjustable shelf 231 being rotatablely connected with chair frame 21 and connect adjustable shelf 231 and chair frame
21 elastic component 232.Driving assembly is installed on adjustable shelf 231, the phase under the action of elastic force of elastic component 232 of adjustable shelf 231
Chair frame 21 is rotated.It intelligently rides instead of walk in the fixed installing chair frame 21 of directive wheel of wheelchair 10, adjustable shelf 231 and the rotation of chair frame 21 company
It connects, while the free end of adjustable shelf 231 is connected by elastic component 232 with chair frame 21.Driving assembly is installed on adjustable shelf 231,
User is when being located at intelligent ride instead of walk on wheelchair 10, by 21 compression elastic piece 232 of chair frame, so that elastic component 232 is in compression shape
State.Intelligence rides the traveling of wheelchair 10 instead of walk during the ground of hollow or protrusion, and when driving wheel 222 is hanging, elastic component 232 is certainly
Restore prototype under the action of the elastic force of body, so that adjustable shelf 231 be driven to rotate relative to chair frame 21, drives driving wheel 222 vertical
It is moved on direction, so that driving wheel 222 is crimped with ground, convenient for providing power for intelligent wheelchair 10 of riding instead of walk, avoids wheel independent
There is the phenomenon that hanging, to skid in the intelligence of suspension wheelchair 10 of riding instead of walk.
It is understood that elastic parts can also be made of support plate and elastic rod, one end of elastic rod and chair frame
21 are connected, and the other end of elastic rod is connected with support plate, and driving assembly is mounted directly on the supporting plate.Driving assembly is directly by bullet
Property bar drives driving assembly to move in the vertical direction under the action of the elastic force of itself, to guarantee driving wheel 222 and ground
Crimping.In the embodiment of the present application, driving assembly is rotatablely connected by independent adjustable shelf 231 with chair frame 21, and adjustable shelf 231 is logical
It crosses and is rotatablely connected with chair frame 21, structure is simple, and it is easily designed, convenient for driving assembly in vertical side under the drive of adjustable shelf 231
It moves up.
Wherein, the specific structure of chair frame 21 can be butterfly structure or other shapes of structure, and details are not described herein.
Further, adjustable shelf 231 has opposite both ends, and wherein one end and chair frame 21 are rotatablely connected, the other end and bullet
Property part 232 be connected, driving assembly is installed in the side of the close elastic component 232 of adjustable shelf 231.The end of adjustable shelf 231 and chair
Frame 21 and elastic component 232 connect, and drive adjustable shelf 231 to rotate relative to chair frame 21 convenient for elastic component 232.It is understood that living
The mode that moving frame 231 and chair frame 21 are rotatablely connected can also be other forms, for example, the intermediate position of adjustable shelf 231 and chair frame
21 rotation connections, elastic component 232 is connect with driving assembly is installed in the opposite both ends of adjustable shelf 231.It is living in the embodiment of the present application
The end of moving frame 231 and chair frame 21 are rotatablely connected, and elastic component 232 pushes adjustable shelf 231 to rotate relative to chair frame 21, and driving assembly is remote
The one end rotated from adjustable shelf 231 and chair frame 21 is installed on adjustable shelf 231, to rotate in adjustable shelf 231 relative to chair frame 21
When, the distance that driving assembly moves in the vertical direction is increased, crimps the intelligent scooter wheel of offer with ground convenient for driving wheel 222
The forward power of chair 10, structure is simple, easily designed, drives driving assembly to move in the vertical direction convenient for elastic parts, from
And improve the comfort of intelligent wheelchair 10 of riding instead of walk.
Further, the intelligence of wheel independent suspension wheelchair 10 of riding instead of walk further includes anti-tip wheel 24 and front-wheel 25, anti-tip wheel 24
The same end of adjustable shelf 231 is connected to elastic component 232.When driving wheel 222 and front-wheel 25 are in same plane, anti-tip wheel 24
Hanging setting.Anti-tip wheel 24 is used to that the intelligence of wheel independent suspension to be avoided to ride instead of walk the phenomenon that turning over after wheelchair 10 occurs, to improve
Intelligence is ridden instead of walk the safety of wheelchair 10.Anti-tip wheel 24 is connected on adjustable shelf 231 and is arranged far from front-wheel 25.The embodiment of the present application
In, the wheel footpath of anti-tip wheel 24 is smaller, and convenient for being installed on adjustable shelf 231, front-wheel 25 is the intelligent scooter wheel of wheel independent suspension
The directive wheel of chair 10, during intelligently riding 10 normally travel of wheelchair instead of walk, front-wheel 25 is abutted with ground with driving wheel 222,
Anti-tip wheel 24 is vacantly arranged on adjustable shelf 231 at this time, and there are a certain distance between anti-tip wheel 24 and ground, rides instead of walk intelligently
When by front-wheel 25 is hanging under external influence, driving wheel 222 and anti-tip wheel 24 abut wheelchair 10 with ground, to avoid intelligence
The phenomenon that wheelchair 10 of riding instead of walk overturns after occurring.The for damping is equipped in the embodiment of the present application, between front-wheel 25 and chair frame 21
One damping spring 261.Front-wheel 25 is connected by the first damping spring 261 with chair frame 21, preceding when front-wheel 25 is moved to high spot
Wheel 25 is generated vibration by the active force on ground, and shakes and conduct by the effect of the first damping spring 261 to chair frame 21, thus
The damping effect that intelligent wheelchair 10 of riding instead of walk is improved after the effect of the first damping spring 261 reduces user and is sitting in intelligent ride instead of walk
The vibration experienced on wheelchair 10 improves the comfort of intelligent wheelchair 10 of riding instead of walk.
Further, the both ends of elastic component 232 are rotatablely connected with adjustable shelf 231 and chair frame 21 respectively.Elastic component 232 is bullet
Property telescopic rod, elastic component 232 is during restPosing, the length of elastic component 232, elastic telescopic it is opposite two
End is rotatablely connected with adjustable shelf 231 and chair frame 21 respectively, so that adjustable shelf 231 be driven to rotate relative to chair frame 21, structure is simple, just
In realization.It is understood that there are also other ways for the connection type of elastic component 232, for example, one end of elastic component 232 and chair
Frame 21 is rotatablely connected, and the other end and the adjustable shelf 231 of elastic component 232 are slidably connected.Adjustable shelf 231 is equipped with along adjustable shelf 231
The free end of the sliding slot of extending direction setting, elastic component 232 is equipped with sliding block compatible with sliding slot, extends in elastic component 232
In the process, sliding block moves along the chute, so that adjustable shelf 231 be driven to rotate relative to chair frame 21.In the embodiment of the present application, elastic component
232 be spring (being not marked in figure).Elastic parts further includes the second damping spring 262, and the second damping spring 262 is connected to spring
Opposite both ends.The both ends of spring are rotatablely connected with adjustable shelf 231 and chair frame 21 respectively, are had the advantages of simple structure and easy realization, convenient for logical
Crossing spring drives adjustable shelf 231 to rotate relative to chair frame 21.The second damping spring is set between the opposite both ends of spring simultaneously
262, convenient for improving the damping effect of intelligent wheelchair 10 of riding instead of walk, and then improve the comfort of intelligent wheelchair 10 of riding instead of walk.
Further, the shell 13 of wheelchair 10 of intelligently riding instead of walk is covered on front-wheel 25 and driving wheel 222 close to the of pedestal 111
The horizontal distance of the shell 13 of second area between one region and front-wheel 25 and driving wheel 222 is 0.5cm~3cm, covering
Shell 13 and front-wheel 25 and/or driving wheel 222 in the first area of front-wheel 25 and/or the close pedestal 111 of driving wheel 222
Horizontal distance may be 0.5cm~3cm, that is, be covered on the shell 13 of the second area between front-wheel 25 and driving wheel 222 with
Front-wheel 25 and driving wheel 222 can be with horizontal alignments.
In conclusion the application when battery pack carries out charge and discharge, is believed by the electricity that monitoring sensor detects battery pack
Breath；Information about power is handled, obtains information to be displayed, and store information to be displayed；Wherein, information to be displayed includes at least
The dough softening or course continuation mileage of battery pack；The intelligence of the application wheelchair of riding instead of walk is capable of the information about power of real-time detection battery pack, keeps away
Exempt from battery pack to overcharge or over-discharge, intelligent level is high, improves user experience effect.
The foregoing is merely presently filed embodiments, are not intended to limit the scope of the patents of the application, all to utilize this
Equivalent structure or equivalent flow shift made by application specification and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field similarly includes in the scope of patent protection of the application.
Claims (10)
1. a kind of monitoring method applied to intelligent wheelchair of riding instead of walk, which is characterized in that the intelligence rides wheelchair instead of walk including partly encapsulating
Shell, monitoring sensor and the battery pack of formula, the monitoring sensor and the battery pack are arranged in the shell, the prison
Survey method includes:
The total electricity of the battery pack is detected by the monitoring sensor；
Obtain the first ratio of the initial quantity of electricity of the total electricity and the battery pack；
The dough softening of the battery pack is obtained according to first ratio；
Judge whether the dough softening of the battery pack is greater than or equal to preset dough softening threshold value；
If so, generating warning message.
2. monitoring method according to claim 1, which is characterized in that the monitoring method further comprises:
The remaining capacity of the battery pack is detected by the monitoring sensor；
The first course continuation mileage of the stored battery pack is obtained, and obtains the second of the remaining capacity and the total electricity
Ratio；
By first course continuation mileage multiplied by second ratio, obtains the intelligence and ride instead of walk the course continuation mileage of wheelchair.
3. monitoring method according to claim 2, which is characterized in that the intelligence ride instead of walk wheelchair and service terminal establish it is logical
Letter, the monitoring method further comprises:
The intelligence ride instead of walk wheelchair open station-keeping mode when, obtain the intelligence and ride instead of walk the current location information of wheelchair；
The accessible map is obtained from the service terminal, according to the current location information in the accessible map subscript
Remember current location；
Destination locations information is received, the first accessible facilities between current location and destination locations are obtained；
At least one navigation road is planned on the accessible map according to first accessible facilities and the course continuation mileage
Line.
4. monitoring method according to claim 3, which is characterized in that described the step of receiving destination locations information it
Afterwards, the monitoring method further comprises:
Judge whether the service terminal has historical navigation route according to the destination locations information and the current location；
If it is not, then obtaining the first accessible facilities between the current location and the destination locations.
5. monitoring method according to claim 2, which is characterized in that the monitoring method further comprises:
The intelligence, which is detected, by the monitoring sensor rides wheelchair instead of walk in the corresponding consumption electricity of default mileage；
The course continuation mileage is adjusted according to the consumption electricity and the default mileage.
6. monitoring method according to claim 1, which is characterized in that the monitoring method further comprises:
User ride in the intelligence ride instead of walk wheelchair when, by the intelligence ride instead of walk wheelchair monitor the user sign believe
Breath；
When determining the sign information exception, prompting message is generated.
7. monitoring method according to claim 6, which is characterized in that described to be ridden instead of walk described in wheelchair monitoring by the intelligence
The step of sign information of user includes:
Detect the intelligence ride instead of walk wheelchair cushion temperature and humidity information；
The temperature and humidity information is compared with preset Threshold of Temperature And Humidity；
It is described when determining the sign information exception, generate prompting message the step of include:
If the temperature and humidity information is more than the Threshold of Temperature And Humidity, the prompting message is generated.
8. monitoring method according to claim 7, which is characterized in that described to be ridden instead of walk described in wheelchair monitoring by the intelligence
The step of sign information of user includes:
Detect the user and the intelligence ride instead of walk wheelchair back cushion contact area；
The sitting posture of the user is identified according to the contact area；
Detect the pressure value of the user Yu the back cushion；
Judge whether the sitting posture is healthy according to the pressure value and the contact area；
If it is not, then generating the correction information of the sitting posture.
9. monitoring method according to claim 6, which is characterized in that the monitoring method further comprises:
It detects electric signal, and the electric signal is handled；
According to treated, the electric signal obtains electrocardiogram (ECG) data；
When determining the electrocardiogram (ECG) data exception, and receiving distress signals, notice service terminal calling first-aid centre, and
Planned on the accessible map current location to Entrucking Point the second navigation routine.
The wheelchair 10. a kind of intelligence is ridden instead of walk, which is characterized in that the intelligence ride instead of walk wheelchair including at least half packaged type shell, prison
Sensor and battery pack are surveyed, the monitoring sensor and the battery pack are arranged in the shell, and the processor passes through institute
It states monitoring sensor to connect with the battery pack, the processor is to realize the described in any item monitoring sides claim 1-9
Method.
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| CN201910390812.4A Active CN110179598B (en) | 2018-10-30 | 2019-05-10 | Monitoring method applied to intelligent mobility wheelchair and intelligent mobility wheelchair |
| CN201910390333.2A Active CN110200760B (en) | 2018-10-30 | 2019-05-10 | Intelligent walk-substituting wheelchair and application method based on barrier-free map |
| CN201910390374.1A Active CN110200761B (en) | 2018-10-30 | 2019-05-10 | Intelligent walk-substituting wheelchair and application method based on barrier-free map |
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| CN201910390374.1A Active CN110200761B (en) | 2018-10-30 | 2019-05-10 | Intelligent walk-substituting wheelchair and application method based on barrier-free map |
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Also Published As
| Publication number | Publication date |
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| CN110200760A (en) | 2019-09-06 |
| CN110179598B (en) | 2022-04-01 |
| CN110200760B (en) | 2020-05-22 |
| CN110200761B (en) | 2021-02-09 |
| CN110200761A (en) | 2019-09-06 |
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