CN112172821B

CN112172821B - Welfare vehicle driving system and driving method

Info

Publication number: CN112172821B
Application number: CN202010926339.XA
Authority: CN
Inventors: 王巍; 陈建设
Original assignee: Zhengzhou Zhifeng Electric Technology Co ltd
Current assignee: Zhengzhou Zhifeng Electric Technology Co ltd
Priority date: 2020-09-07
Filing date: 2020-09-07
Publication date: 2022-12-02
Anticipated expiration: 2040-09-07
Also published as: CN112172821A

Abstract

The invention discloses a welfare vehicle driving system and a welfare vehicle driving method, wherein the system comprises a welfare vehicle, a driving fixing device, a welfare vehicle auxiliary driving control system, an artificial intelligent safety control system and a power supply module are arranged in the welfare vehicle, the driving fixing device and the welfare vehicle auxiliary driving control system are electrically connected with the artificial intelligent safety control system, the method comprises the steps of collecting face information and physiological indexes of a driver by the artificial intelligent safety control system, judging that the driver is in an abnormal state according to the face information or the physiological indexes, inquiring whether the driver is switched to an automatic driving state or not, entering an automatic driving protection state if no response exists in preset time, entering an automatic driving state if the driver responds to be switched to the automatic driving state, not switching the automatic driving state if the driver responds to be a manual driving state, and continuously detecting the face information and the physiological indexes of disabled persons, and has the technical effects of high efficiency and safety.

Description

Welfare vehicle driving system and driving method

Technical Field

The invention belongs to the technical field of automobiles, and particularly relates to a welfare automobile driving system and a welfare automobile driving method.

Background

The welfare vehicle owner is a vehicle which is convenient for a wheelchair of a person who is inconvenient to move to get on or off. With the development of technology in recent years, a disabled person sitting on a wheelchair can independently drive a vehicle for remote activities, but an efficient and safe driving system is still lacked for a welfare vehicle to help the disabled person to have safer driving experience.

Disclosure of Invention

To solve the above technical problems, the present invention provides a welfare vehicle driving system and a driving method.

The utility model provides a happiness car driving system, includes the happiness car, be provided with in the happiness car and drive fixing device, the supplementary control system that drives of happiness car, artificial intelligence safety control system and power module, drive fixing device, the supplementary control system that drives of happiness car all is connected with artificial intelligence safety control system electricity, artificial intelligence safety control system, the supplementary control system that drives of happiness car and drive fixing device all and power module electricity are connected.

Drive fixing device includes fixed part and wheelchair, fixed part sets up the driving position department in the welfare car, the wheelchair can be dismantled with fixed part and be connected.

Be provided with at least one electronic lead screw on the fixed part, be provided with at least one mating holes on the wheelchair's the wheelchair seat support, electronic lead screw with the position of mating holes corresponds each other, fixed part adjusts fixed part about for, fixed part both sides parallel arrangement has the guide rail, the guide rail with the spacing cooperation of wheelchair, be provided with electron stop device on the side of guide rail and on being close to the direction of driving position, the wheelchair with electron stop device contradicts and meets, electron stop device with artificial intelligence safety control system electricity is connected, electronic lead screw with artificial intelligence safety control system electricity is connected, electron stop device is electron limit switch or displacement sensor.

The auxiliary driving control system comprises an intelligent controller, a vehicle execution system and an environment perception device, wherein the environment perception device is electrically connected with the input end of the intelligent controller, the output end of the intelligent controller is electrically connected with the vehicle controller, the vehicle controller is electrically connected with the vehicle execution system, the intelligent controller is electrically connected with an artificial intelligent safety control system, the intelligent controller is any one of a single chip microcomputer or a PLC, the environment perception device is electrically connected with the intelligent controller through a CAN (controller area network) bus or an Ethernet, the environment perception device comprises a GPS (global positioning system) module, a camera, a multi-line laser radar, an ultrasonic sensor and a millimeter wave sensor, the multi-line laser radar, the ultrasonic sensor and the millimeter wave sensor are multiple and are arranged on a welfare car, and the vehicle execution system comprises a direction system, a braking system, a driving system, a lighting system and a welfare car door lock.

The artificial intelligence safety control system comprises an AI camera, an HMI human-computer interaction terminal, an intelligent bracelet and a remote monitoring platform, wherein the AI camera is connected with the HMI human-computer interaction terminal through a wired or wireless electric connection, the intelligent bracelet is connected with the HMI human-computer interaction terminal through a wireless or Bluetooth electric connection, and the HMI human-computer interaction terminal is connected with the remote monitoring platform through one or more of 2G, 3G, 4G, 5G or Ethernet.

The HMI human-computer interaction terminal comprises a control unit, a voice input and output unit, a touch display screen, a communication module, a storage module and a state switching button, wherein the state switching button, the storage module, the communication module, the touch display screen and the voice input and output unit are all electrically connected with the control unit, the control unit is any one of a PLC (programmable logic controller) and a MCU (micro controller unit), the voice input and output unit is a microphone and a loudspeaker, the touch display screen is any one of a capacitive screen or a resistive screen, the communication module is an Ethernet transmission module, a wireless transmission module, a Bluetooth module or one or more of the Ethernet transmission module, the wireless transmission module, the Bluetooth module or the SD card, the storage module is one or more of a U disk, a hard disk or an SD card, and the remote monitoring platform is one or more of a mobile terminal, a server cluster or a cloud server.

A method of driving a welfare car, the method comprising the steps of:

the method comprises the following steps: the artificial intelligent safety control system detects that the driver is in place, judges whether the welfare car is in a manual driving state or an automatic driving state, and collects face information and physiological indexes of the driver if the welfare car is in the manual driving state;

step two: the artificial intelligence safety control system judges whether the driving state of the driver is in a dangerous emotion signal or has dangerous driving behaviors according to the collected face information or the physiological indexes of the driver, and if so, the step three is carried out;

step three: the artificial intelligent safety control system sends out an instruction to inquire a driver whether to switch to an automatic driving state or not;

step four: the artificial intelligence safety control system waits for the response of the driver, if the response of the driver is not received within the preset time, the artificial intelligence safety control system sends out an alarm signal and switches to an automatic driving protection state, and if the response of the driver is received within the preset time, the step five is carried out;

step five: and the artificial intelligence safety control system receives the response of the driver, and if the response is the switching automatic driving state, the welfare car enters the automatic driving state, and if the response is the non-switching automatic driving state, the artificial intelligence safety control system receives the response of the driver, and if the response is the non-switching automatic driving state, the step two is carried out.

In the first step, the method for detecting that the welfare car is in place is that an artificial intelligent safety control system detects a switch signal sent by an electronic limit switch or a displacement signal sent by a displacement sensor, and the switch signal or the displacement signal is kept stable; the face information is facial expression information, and the physiological indexes of the driver comprise heart rate, blood pressure and blood oxygen saturation; in step two, the dangerous emotion signals comprise anger, sadness and horror, and the dangerous driving behaviors comprise fatigue, distraction and yawning.

In the fourth step, predetermined time be twenty seconds, automatic driving protection state is the deceleration value that vehicle control unit output set for to lean on the limit braking, with wheelchair and fixed part separation simultaneously, unblock welfare car door lock, artificial intelligence safety control system sends alarm signal and includes artificial intelligence safety control system and save vehicle and driver information, and with vehicle and driver information transmission to remote monitoring platform, welfare car sends warning signal and gives other vehicles simultaneously, warning signal is including whistling or opening two flashovers.

In step four, the automatic driving state includes the steps of:

s1: the intelligent controller receives the position information and the first speed information of the welfare cars sent by the GPS module, compares the position information of the welfare cars with map information prestored in the intelligent controller, and if the position information and the first speed information are not consistent, the intelligent controller shifts to S2; if the two are consistent, the step S3 is carried out;

s2: the intelligent controller obtains average position information according to the ambient environment information of the welfare cars collected by the camera, the multi-line laser radar, the ultrasonic sensor and the millimeter wave sensor, the position information of the welfare cars sent by the GPS module and prestored map information, and the average position information is used as the position information of the welfare cars;

s3: the intelligent controller obtains average speed information of the welfare cars according to the second speed information of the vehicles collected by the multi-line laser radar, the ultrasonic sensor and the millimeter wave sensor;

s4: the intelligent control ware generates the expected action signal of welfare car according to welfare car positional information and the average speed information of welfare car, and with expect that action information transmits to the whole vehicle control unit in, whole vehicle control unit expects that action information converts welfare car control command into and sends to vehicle actuating system, and vehicle actuating system expects the action and carries out, expects that the action is including expecting speed and expectation corner.

The invention discloses a welfare vehicle driving system and a welfare vehicle driving method, wherein the welfare vehicle driving system comprises a driving fixing device, a welfare vehicle auxiliary driving control system and an artificial intelligent safety control system, the driving fixing device can enable a disabled person to independently drive a vehicle on a wheelchair to realize long-distance driving, and the welfare vehicle driving system has the characteristics of simple structure, safety and reliability.

Drawings

Fig. 1 is a block diagram of a welfare car driving system.

Fig. 2 is a block diagram of the artificial intelligence safety control system and the welfare car driving assistance control system.

Figure 3 is a side view of the interior of the welfare car.

Figure 4 is a top view of the interior of a welfare car.

Fig. 5 is a top view of the interior of a welfare car with a shorter rail length.

Fig. 6 is a schematic view of the fixing member and the electric screw.

FIG. 7 is a schematic view of the structure of the fixing member being adjustable back and forth and up and down.

Figure 8 is a diagram of sensor mounting locations at the front of the welfare car.

Figure 9 is a diagram of a sensor mounting location behind a welfare car.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It is understood that the described embodiments are merely some implementations, rather than all implementations, and that all other embodiments that can be derived by one of ordinary skill in the art based on the described embodiments are intended to be within the scope of the present invention.

As shown in fig. 1, a happiness car driving system, including the happiness car, be provided with in the happiness car and drive fixing device 1, the welfare car auxiliary driving control system 2, artificial intelligence safety control system 3 and power module 4, drive fixing device 1, the welfare car auxiliary driving control system 2 and all be connected with artificial intelligence safety control system 3 electricity, artificial intelligence safety control system 3, the welfare car auxiliary driving control system 2 and drive fixing device 1 and all be connected with power module 4 electricity. Power module 4 includes vehicle mounted power and power conversion unit, vehicle mounted power provides the electric energy for normally traveling of welfare car, power conversion unit is with vehicle mounted power transform extremely suitable voltage value do fixing device 1, the welfare car is assisted and is driven control system 2, artificial intelligence safety control system 3 and provide operating voltage, still be provided with earth-leakage protection device among the power module to the circular telegram safety of each consumer in the protection welfare car.

As shown in fig. 3 to 6, the driving securing device 1 includes a securing member 19 and a wheelchair 18, the securing member 19 is disposed at a driving position within a welfare vehicle, and the wheelchair 18 is detachably connected to the securing member 19. The height of the wheelchair chassis is greater than the height of the fixing member 19 so that the wheelchair can pass over the fixing member 19 smoothly.

Be provided with at least one electronic lead screw 17 on the fixed part 19, be provided with at least one mating holes on the wheelchair seat support of wheelchair 18, the mating holes is located under the bottom surface of wheelchair seat support of wheelchair 18, when wheelchair 18 is located the fixed part 19 top, electronic lead screw 17 with the position of mating holes corresponds each other, in this embodiment electronic lead screw 17's quantity is preferred four, mating holes quantity is preferred four, the position of four mating holes with four electronic lead screw's position is corresponding, can guarantee like this that firm connection between wheelchair 18 and the fixed part 19, electronic lead screw 17 is also known as electric putter, push rod motor or electronic jar, electronic lead screw 17 with artifical intelligent safety control system 3 electricity is connected, electronic lead screw 17 can divide into DC motor formula electronic lead screw, AC motor formula electronic lead screw and step motor formula electronic lead screw, in this embodiment electronic lead screw 17 is preferred DC motor formula electronic lead screw, chooses for use the DC motor formula electronic lead screw as long as to provide direct current electric energy and can work for electronic lead screw 17. The electric lead screw receives a motor driving signal sent by the artificial intelligent safety control system 3, and a direct current motor in the direct current electric lead screw rotates forwards or backwards, so that the lead screw is driven to ascend or descend, and the wheelchair 18 above the fixing part 19 is fixed or released.

The fixed part 19 is a front-back up-down adjusting fixed part, the front-back up-down adjusting fixed part is the same as a front-back up-down seat adjusting seat structure on the existing automobile, the patent number "2017215270638", the patent name "a novel automobile shock absorption seat" discloses a front-back up-down adjusting seat, in this embodiment, the internal structure of the up-down adjusting fixed part is similar to the front-back up-down adjusting structure in the seat disclosed by the patent number "2017270638", as shown in fig. 7, the fixed part 19 includes a base 28, a lifting part 29, a supporting part 30 and a sliding part 34, wherein the base 28 is provided with the lifting part 29, the lifting part 29 is fixedly connected with the supporting part 30, the supporting part 30 is slidably connected with the sliding part 34, a groove 32 is arranged under the bottom of the sliding part 34, moving wheels 33 are arranged on two sides of the groove 32, a telescopic mechanism 31 is arranged in the groove 32, the telescopic mechanism 31 is fixed on the supporting part 30, and the telescopic mechanism 31 is fixedly connected with one end of the groove 32. The electric screw 17 is connected with the fixed part 19 through the sliding part 34, the lifting part and the telescopic mechanism are both electrically connected with the artificial intelligence safety control system 3, and the lifting part and the telescopic mechanism are preferably electric push rods. The vertical adjustment of the fixing component 19 is realized by driving the lifting component 29 by the artificial intelligence safety control system 3, the vertical adjustment of the fixing component 19 is realized by driving the telescopic mechanism 31 by the artificial intelligence safety control system 3, the vertical adjustment of the fixing component 19 meets different requirements of a driver on space, the visual field of the driver is improved, the vertical adjustment or the vertical adjustment of the fixing component 19 drives the wheelchair 18 through the electric screw 17 on the fixing component 19 to realize the vertical adjustment or the vertical adjustment of the wheelchair, and the vertical adjustment is realized by the wheelchair along the direction of the guide rail 21.

Guide rails 21 are arranged in parallel on two sides of the fixing part 19, the guide rails 21 are in limit fit with the wheelchair 18, the limit fit can enable the wheelchair 18 to be positioned right above the fixing part 19 when the wheelchair 18 moves to the position of the fixing part 19 on the guide rails, an electronic limit device 26 is arranged on the side edges of the guide rails 21 and in the direction close to the driving position, the wheelchair 18 is abutted against and connected with the electronic limit device 26, and the electronic limit device 26 is electrically connected with the artificial intelligent safety control system 3; the length of the guide rail 21 is greater than the length of the fixing member 19, and the guide rail 21 may be laid from the rear of the welfare car compartment up to the position of the fixing member 19, or the guide rail 21 may be laid only at the position of the fixing member 19, that is, the length of the guide rail 21 is slightly greater than the length of the fixing member 19, as shown in fig. 5.

The electronic limit device 26 is used for limiting whether the wheelchair 18 is stably limited at a driving position, when the wheelchair 18 contacts the electronic limit device 26, a matching hole on the wheelchair 18 corresponds to the position of the electric screw 17 on the fixing component 19, the limit device 26 is an electronic limit switch or a displacement sensor, the electronic limit switch is an electrical switch for limiting the mechanical equipment to move to a limit position, the limit switch is provided with a contact electronic limit switch and a non-contact electronic limit switch, the displacement sensor is a resistance value change in the displacement sensor caused by the change of the displacement of an object, the change amount of the resistance value reflects the magnitude of the displacement, and the increase or decrease of the resistance value indicates the direction of the displacement.

As shown in fig. 2, the driving assistance control system includes an intelligent controller 15, a vehicle controller 16, a vehicle execution system 14 and an environment sensing device 13, the environment sensing device 13 is electrically connected to an input end of the intelligent controller 15, an output end of the intelligent controller 15 is electrically connected to the vehicle controller 16, the vehicle controller 16 is electrically connected to the vehicle execution system 14, the intelligent controller 15 is electrically connected to the artificial intelligent safety control system 3, the intelligent controller 15 is any one of a single chip microcomputer or a PLC, preferably a single chip microcomputer, and preferably a model of the single chip microcomputer is STM32; the environment sensing device 13 is electrically connected with the intelligent controller 15 through a CAN bus or an ethernet. In the implementation, a CAN bus is preferably selected to realize the electric connection between the environment sensing device 13 and the intelligent controller 15, the CAN bus is a short for controller area network and is one of the most widely used field buses internationally, a CAN bus protocol becomes a standard bus of an automobile computer control system and an embedded industrial control area network, and the CAN bus is a serial communication network which effectively supports distributed control or real-time control and has the characteristics of strong communication real-time performance and high reliability.

As shown in fig. 8 to 9, the environment sensing device 13 includes a GPS module, a camera 22, a multiline laser radar 23, an ultrasonic sensor 24, and a millimeter wave sensor 25; the GPS module is an integrated circuit formed by integrating an RF (radio frequency) chip, a baseband chip and a core CPU (central processing unit) and adding related peripheral circuits, the GPS chipset of the GPS module can adopt an MTK (maximum Transmission keying) chipset, an MSTAR (maximum satellite radio frequency) chipset or an SIRF (hybrid fiber radio frequency) chipset, the GPS chipset in the embodiment is preferably the SIRF chipset, and the SIRF chipset has the advantages of high sensitivity and strong performance and has the beneficial effect of shortening the positioning time.

The multi-line laser radar 23 has the characteristic of establishing the picture in step, can obtain the global map in real time, through with the contrast of feature object in the high accuracy map, realize the navigation and strengthen the positioning accuracy of vehicle, in addition, multi-line laser radar 23 passes through laser scanning can obtain the environment 3D model around the car, can explore vehicle and pedestrian around the welfare car.

The multi-line laser radar 23, the ultrasonic sensor 24 and the millimeter wave sensor 25 are all multiple and are arranged on the welfare car, the camera 22 is arranged at the middle position behind a front windshield of the welfare car, the multi-line laser radar 23 comprises two eight-line laser radars and a sixteen-line laser radar, the two eight-line laser radars are fixed at the middle upper positions of two sides in front of the welfare car, and the sixteen-line laser radar is fixed at the roof position behind the welfare car; the number of the ultrasonic sensors 24 is preferably four, the four ultrasonic sensors 24 are uniformly arranged at the front part of the head of the welfare vehicle, the four ultrasonic sensors 24 are embedded into the vehicle body, and the orientation of the ultrasonic sensors 24 can be manually adjusted according to the driving requirement; the millimeter wave sensor 25 is preferably 77GHZ millimeter wave sensor, and the quantity of millimeter wave sensor 25 is preferably two, and a millimeter wave sensor sets up the middle part position department at the welfare car locomotive, and another millimeter wave sensor sets up the position department in the middle part of the rear of a vehicle.

As shown in fig. 3, the welfare car afterbody has still handed over the board of boarding 20, board of boarding 20 is preferably the steel sheet, set up the decorative pattern in order to increase the frictional force between wheelchair 18 and the steel sheet on the steel sheet in an interlaced manner, when disabled driver steps on the car, with board of boarding 20 from the carriage rotate to with ground contact, form an inclined plane between board of boarding 20 and the welfare car this moment, disabled person passes through on wheelchair 18 the inclined plane gets into in the welfare car, accomplish the step on the car, after the step on the car is accomplished, artifical board of boarding 20 of rotating once more makes board of boarding 20 whole and welfare car carriage release the contact.

The vehicle actuation system 14 includes a directional system, a braking system, a travel system, a lighting system, and a welfare door lock.

As shown in fig. 2, the artificial intelligence safety control system 3 includes an AI camera 10, an HMI human-machine interaction terminal, an intelligent bracelet 11 and a remote monitoring platform 12, the AI camera 10 is connected with the HMI human-machine interaction terminal through a wired or wireless connection, the intelligent bracelet 11 is connected with the HMI human-machine interaction terminal through a wireless or bluetooth connection, and the HMI human-machine interaction terminal is connected with the remote monitoring platform 12 through one or more of 2G, 3G, 4G, 5G or ethernet.

The AI camera has a camera with a machine learning function, can extract face information, identifies that the face expression is sad, angry or panic from the face information, and outputs an identification result to the HMI human-computer interaction terminal, wherein the type number of the AI camera is preferably fluorite C5SI;

the HMI human-computer interaction terminal comprises a control unit 7, a voice input and output unit 8, a touch display screen 6, a communication module 9, a storage module 5 and a state switching button 27, wherein the state switching button 27, the storage module 5, the communication module 9, the touch display screen 6 and the voice input and output unit 8 are all electrically connected with the control unit 7, the control unit 7 is any one of a PLC (programmable logic controller) MCU, the control unit 7 is preferably an MCU, the MCU is preferably a processing chip of an ARM (advanced RISC machine) framework, the voice input and output unit 8 is a microphone and a loudspeaker, the touch display screen 6 is any one of a capacitive screen or a resistive screen, preferably a capacitive screen, the communication module 9 is an Ethernet transmission module, a wireless transmission module, a Bluetooth module or one or more, the storage module 5 is one or more of a USB flash disk, a hard disk or an SD card,

the intelligent bracelet is 11 and carries out the intelligent bracelet of wearing at the driver at the driving in-process, the intelligent bracelet is the bracelet of selling, intelligent bracelet 11 includes rhythm of the heart, blood pressure and oxyhemoglobin saturation detect.

The remote monitoring platform 12 is one or more of a mobile terminal, a server cluster or a cloud server.

A welfare vehicle driving method, comprising the steps of:

step three: the artificial intelligent safety control system sends out an instruction to inquire a driver whether to switch to an automatic driving state;

step four: the artificial intelligence safety control system waits for the response of the driver, if the response of the driver is not received within the preset time, the artificial intelligence safety control system sends an alarm signal and switches to an automatic driving protection state, and if the response of the driver is received within the preset time, the step five is carried out;

In the first step, the method for detecting that the welfare car is in place is that an artificial intelligent safety control system detects a switch signal sent by an electronic limit switch or a displacement signal sent by a displacement sensor, and the switch signal or the displacement signal is kept stable; the face information is facial expression information, and the physiological indexes of the driver comprise heart rate, blood pressure and blood oxygen saturation;

in the second step, the dangerous emotion signals comprise anger, sadness and horror, and the dangerous driving behaviors comprise fatigue, distraction and yawning.

In step four, the automatic driving state includes the steps of:

s1: the intelligent controller receives the position information of the welfare cars and the first speed information sent by the GPS module, compares the position information of the welfare cars with map information prestored in the intelligent controller, and if the comparison is inconsistent, the intelligent controller switches to S2; if the two are consistent, the step S3 is carried out;

s4: the intelligent control ware generates the welfare car and expects the action signal according to welfare car position information and welfare car average speed information, and will expect that the action signal transmits to the vehicle control unit in, and the vehicle control unit expects that the action signal is converted into welfare car control command and is sent to vehicle execution system, and vehicle execution system expects the action and carries out, expect the action including expecting speed and expectation corner.

The specific implementation process is as follows:

when the intelligent controller judges that the vehicle needs to be accelerated or decelerated according to the environment sensing device, the intelligent controller outputs an expected speed value and an acceleration requirement to the vehicle control unit, the vehicle control unit receives the signals and then transcodes the signals into signals for controlling a vehicle motion system, the signals are output as the opening degree of an accelerator of a running system or the rotating speed of a motor, and the running system is controlled to reach a target value.

When the intelligent controller judges that the vehicle needs to turn according to the environment sensing device, the intelligent controller outputs an expected turning route to the vehicle controller, the vehicle translates and transcodes the route into a wheel deflection angle, and controls the steering system to turn according to the route, so that a turning target output by the intelligent controller is finished.

When the intelligent controller judges that the vehicle needs to be braked according to the environment sensing device, the intelligent controller outputs an expected deceleration value to the vehicle control unit, and then the vehicle control unit converts the deceleration value into the braking degree, so that the vehicle is braked and stops running.

The working process of the welfare car driving system is as follows:

disabled person's seat is pushed away to the welfare car in by the manual work from welfare car vehicle afterbody through boarding 20 on wheelchair 18, and the interior guide rail 21 of welfare car is followed to wheelchair 18 and slides, and walking wheel on up to wheelchair 18 contacts with electron stop device 26, and at this moment, wheelchair 18 is located fixed part 19 directly over, promptly the cooperation hole position on electric lead screw 17's position and the wheelchair seat is corresponding, and electronic stop device's the spacing signal that triggers sends to artificial intelligence safety control system 3 simultaneously, and artificial intelligence safety control system 3 receives behind the spacing signal, sends drive signal to the electric lead screw 17 of fixed part 19 tops for electric lead screw 17 rises and makes electric lead screw 17 insert completely to the cooperation hole under the wheelchair seat in, accomplishes the fixed of wheelchair so far.

The connection between the wheelchair 18 and the fixed part 19 can be removed by the driver by sending a release command to the artificial intelligence safety control system 3 through the HMI man-machine interaction terminal by voice or touch screen.

Automatic driving or manual driving are selected to the fixed back disabled person's of wheelchair accessible state switch button, brake, throttle and separation and reunion in the welfare car are the hand-pulling type, can satisfy the disabled person and carry out manual driving, if for manual driving, then disabled person's face information and physiological indicator are gathered in real time to artificial intelligence safety control system 3, if judge according to face information or physiological indicator that disabled person is in abnormal state, whether inquire the disabled person and switch to the automatic driving state, if no response in twenty seconds, then get into automatic driving protection state, if disabled person responds to switch to automatic driving state, then get into the automatic driving state, if disabled person responds to for manual driving, then do not carry out the switching of automatic driving state, artificial intelligence safety control system continues carrying out the detection of disabled person's face information and physiological indicator.

The technical means disclosed in the scheme of the invention are not limited to the technical means disclosed in the above embodiments, but also include the technical means formed by any combination of the above technical features. It should be noted that modifications and adaptations can be made by those skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.

Claims

1. A welfare vehicle driving method, comprising a welfare vehicle, characterized in that: the welfare car safety control system is characterized in that a driving fixing device (1), a welfare car auxiliary driving control system (2), an artificial intelligent safety control system (3) and a power module (4) are arranged in the welfare car, the driving fixing device (1) and the welfare car auxiliary driving control system (2) are electrically connected with the artificial intelligent safety control system (3), and the artificial intelligent safety control system (3), the welfare car auxiliary driving control system (2) and the driving fixing device (1) are electrically connected with the power module (4);

the wheelchair comprises a fixing part (19), wherein at least one electric screw rod (17) is arranged on the fixing part (19), at least one matching hole is formed in a wheelchair seat of the wheelchair (18), the electric screw rod (17) corresponds to the matching hole in position, the fixing part (19) is a fixing part capable of being adjusted front and back and up and down, guide rails (21) are arranged on two sides of the fixing part (19) in parallel, the guide rails (21) are in limit fit with the wheelchair (18), an electronic limiting device (26) is arranged on the side edge of each guide rail (21) and close to the driving position, the wheelchair (18) is abutted and connected with the electronic limiting device (26), the electronic limiting device (26) is electrically connected with an artificial intelligent safety control system (3), the electric screw rod (17) is electrically connected with the artificial intelligent safety control system (3), and the electronic limiting device (26) is an electronic limiting switch or a displacement sensor;

the auxiliary driving control system comprises an intelligent controller (15), a vehicle controller (16), a vehicle execution system (14) and an environment sensing device (13), wherein the environment sensing device (13) is electrically connected with an input end of the intelligent controller (15), an output end of the intelligent controller (15) is electrically connected with the vehicle controller (16), the vehicle controller (16) is electrically connected with the vehicle execution system (14), the intelligent controller (15) is electrically connected with the artificial intelligent safety control system (3), the intelligent controller (15) is any one of a single chip microcomputer or a PLC, the environment sensing device (13) is electrically connected with the intelligent controller (15) through a CAN bus or an Ethernet, the environment sensing device (13) comprises a GPS module, a camera (22), a multi-line laser radar (23), an ultrasonic sensor (24) and a millimeter wave sensor (25), the multi-line laser radar (23), the ultrasonic sensor (24) and the millimeter wave sensor (25) are all arranged on the welfare car, and the vehicle execution system (14) comprises a direction system, a braking system, a good running system, a welfare system and a welfare system;

the artificial intelligence safety control system (3) comprises an AI camera (10), an HMI human-computer interaction terminal, an intelligent bracelet (11) and a remote monitoring platform (12), wherein the AI camera (10) is electrically connected with the HMI human-computer interaction terminal through a wire or a radio, the intelligent bracelet (11) is electrically connected with the HMI human-computer interaction terminal through a wireless or a Bluetooth, and the HMI human-computer interaction terminal is electrically connected with the remote monitoring platform (12) through one or more of 2G, 3G, 4G, 5G or Ethernet;

the HMI human-computer interaction terminal comprises a control unit (7), a voice input and output unit (8), a touch display screen (6), a communication module (9), a storage module (5) and a state switching button (27), wherein the state switching button (27), the storage module (5), the communication module (9), the touch display screen (6) and the voice input and output unit (8) are all electrically connected with the control unit (7), the control unit (7) is any one of a PLC (programmable logic controller) and a MCU (microprogrammed control), the voice input and output unit (8) is a microphone and a loudspeaker, the touch display screen (6) is any one of a capacitive screen or a resistive screen, the communication module (9) is one or more of an Ethernet transmission module, a wireless transmission module, a Bluetooth module, a storage module (5) is one or more of a U disk, a hard disk or an SD (SD) card, and the remote monitoring platform (12) is one or more of a mobile terminal, a server cluster of servers or a cloud server;

the method comprises the following steps:

step two: the artificial intelligent safety control system judges whether the driving state of the driver is in a dangerous emotion signal or has dangerous driving behaviors according to the collected face information or the physiological indexes of the driver, and if so, the step three is carried out;

the preset time is twenty seconds, the automatic driving protection state is that the whole vehicle controller outputs a set deceleration value, the automatic driving protection state is subjected to side braking, the wheelchair is separated from the fixed part, the welfare vehicle door lock is unlocked, the artificial intelligent safety control system sends out an alarm signal, the artificial intelligent safety control system stores information of the vehicle and the driver, the information of the vehicle and the driver is transmitted to the remote monitoring platform, meanwhile, the welfare vehicle sends out an alarm signal to other vehicles, and the alarm signal comprises whistling or double-flash opening;

step five: the artificial intelligence safety control system receives the response of the driver, the response is the automatic driving state switching state, the welfare car enters the automatic driving state, the artificial intelligence safety control system receives the response of the driver, the response is the automatic driving state non-switching state, and the step two is carried out

In step four, the automatic driving state includes the steps of:

s2: the intelligent controller obtains average position information according to the environment information around the welfare cars collected by the camera, the multi-line laser radar, the ultrasonic sensor and the millimeter wave sensor, the welfare car position information sent by the GPS module and prestored map information, and the average position information is used as the welfare car position information;

2. The welfare car driving method of claim 1, characterized in that: the driving fixing device (1) comprises a fixing component (19) and a wheelchair (18), wherein the fixing component (19) is arranged at a driving position in the welfare vehicle, and the wheelchair (18) is detachably connected with the fixing component (19).

3. The welfare car driving method of claim 1, characterized in that: in the first step, the method for detecting that the welfare car is in place is that an artificial intelligent safety control system detects a switch signal sent by an electronic limit switch or a displacement signal sent by a displacement sensor, and the switch signal or the displacement signal is kept stable; the face information is facial expression information, and the physiological indexes of the driver comprise heart rate, blood pressure and blood oxygen saturation;