KR20210137768A - Electric wheelchair driving monitoring system and electric wheelchair driving monitoring method - Google Patents

Abstract

The present invention provides an electric wheelchair driving monitoring system for preventing or promptly responding to an accident by detecting the state of the wheelchair, the driving route, etc. when driving the electric wheelchair. The electric wheelchair driving monitoring system provided in one aspect of the present invention can monitor the position and condition of the wheelchair more precisely, can transmit a danger signal to the wheelchair driver accordingly, and has the effect of being able to request a quick rescue signal from rescue agencies and guardians. The electric wheelchair driving monitoring system comprises a wheelchair state detection terminal including a sensing unit, a communication unit, and a control unit; and a server.

Description

Electric wheelchair driving monitoring system and electric wheelchair driving monitoring method

It relates to an electric wheelchair driving monitoring system and an electric wheelchair driving monitoring method.

A wheelchair is a medical device mainly used to transport the handicapped due to disease or accident, and at the same time, is a representative walking aid that provides convenience to people with reduced mobility, such as the elderly.

In addition, the demand for wheelchairs is expected to continue to increase in the future due to the nature of our society, where the number of people with disabilities continues to increase, the world's fastest aging rate, and the relatively high rate of traffic accidents among OECD countries.

However, if you look at the cases of wheelchair-related accidents that appeared in the Consumer Risk Monitoring System (CISS), safety accidents such as a consumer falling while using a wheelchair or a wheelchair overturning and receiving a concussion continue to occur.

According to a report by a broadcasting station, 4 out of 10 people in electric wheelchairs have had an accident, raising the need for accident prevention and follow-up treatment.

In particular, electric wheelchairs used by the elderly or people with disabilities are frequently used on roads in various environments such as narrow alleys, roads, and sidewalks. When moving in such an environment, it often falls over or overturns. In this case, the reflex ability is reduced, which frequently leads to a head injury or a serious accident.

In addition, the most inconvenient thing about going out in a wheelchair is that the road and road surface are uneven, which makes driving inconvenient the most, and in case of a wheelchair breakdown, it is inconvenient to receive prompt help.

In the event of a wheelchair fall accident, prompt response is required, but the actual countermeasures are limited to passive situations such as reporting the accident by the person involved in the accident, self-overcoming, and assisting and reporting the accident.

In particular, when an accident such as a rollover occurs at night or in a sparsely populated area, when it is impossible to notify the driver of a danger by the driver's own power, it is necessary to quickly rescue after recognizing the accident by recognizing the overturning of the electric wheelchair.

Therefore, if a wheelchair driver has a fall accident due to the overturning of the wheelchair, etc., it is possible to promptly notify the outside of the occurrence of the fall so that they can receive help, and to maintain and repair the road surface by continuously monitoring the condition of the road surface on which the wheelchair is driven. There is a need for a system that can be used easily.

In addition, by recognizing operation in areas outside the drivable area and operation in hazardous areas, alerts are given through on-site notifications, etc. You need skills.

An object of the present invention is to provide an electric wheelchair driving monitoring system for preventing or promptly responding to an accident by detecting the state of the wheelchair, the driving route, etc. when driving the electric wheelchair.

In order to achieve the above object, in one aspect of the present invention

A sensing unit that includes an acceleration sensing module, an angular velocity sensing module, a magnetic force sensing module and a position sensing module, and receives wheelchair state information, time information, real-time movement positioning information and inertia measurement information;

a communication unit for receiving real-time movement positioning correction information and map data from the server; and

A control unit for calculating location information and speed information based on real-time moving positioning correction information and the real-time moving positioning information

A wheelchair state detection terminal comprising; and

A server that transmits real-time movement positioning correction information and map data to the communication unit of the wheelchair state detection terminal; includes,

The control unit of the wheelchair state detection terminal,

Synchronize the acquisition time of the wheelchair state information and the acquisition time of inertia measurement information, and calculate location information and speed information based on the received real-time movement positioning correction information and the real-time movement positioning information,

The navigation solution of the wheelchair is calculated based on the inertia measurement information, the error of the calculated navigation solution of the wheelchair is corrected based on the wheelchair status information or the real-time movement positioning information, and the corrected navigation solution of the wheelchair is sent to the server transmit,

The server is

Analyze the operation information and abnormal state of the wheelchair based on the received wheelchair state information and the received wheelchair navigation solution,

Analyze the risk section based on the map data,

There is provided an electric wheelchair driving monitoring system for transmitting at least one of information on the operation information of the wheelchair, information on whether the abnormal state, and information on the dangerous section to the wheelchair state detection terminal.

In addition, in another aspect of the present invention

Receiving input of wheelchair state information, time information, real-time movement positioning information and inertia measurement information;

Receiving real-time movement positioning correction information and map data from a server;

synchronizing the acquisition time of the wheelchair state information and the acquisition time of inertia measurement information;

calculating position information and speed information based on the received real-time moving positioning correction information and the real-time moving positioning information;

calculating a navigation solution of the wheelchair based on the inertia measurement information;

correcting an error of the calculated navigation solution of the wheelchair based on the wheelchair state information or the real-time movement positioning information; and

transmitting the wheelchair state information and the corrected navigation solution of the wheelchair to the server;

There is provided a method for monitoring the driving of an electric wheelchair comprising a.

The electric wheelchair driving monitoring system provided in one aspect of the present invention can monitor the position and status of the wheelchair more precisely, and thus can transmit a danger signal to the wheelchair driver, and provide a quick rescue signal to rescue organizations, guardians, etc. It has the effect of being able to request it.

1 is a block diagram showing the configuration of an electric wheelchair driving monitoring system according to an embodiment of the present invention;
2 is a block diagram showing the configuration of a wheelchair state detection terminal according to an embodiment of the present invention;
3 is a block diagram showing the configuration of a server according to an embodiment of the present invention;
4 is a flowchart of a method for monitoring driving of an electric wheelchair according to an embodiment of the present invention.

Hereinafter, various embodiments will be described in more detail with reference to the accompanying drawings. The embodiments described herein may be variously modified. Certain embodiments may be depicted in the drawings and described in detail in the detailed description. However, the specific embodiments disclosed in the accompanying drawings are only provided to facilitate understanding of the various embodiments. Accordingly, the technical spirit is not limited by the specific embodiments disclosed in the accompanying drawings, and it should be understood to include all equivalents or substitutes included in the spirit and scope of the invention.

Terms including an ordinal number such as 1st, 2nd, etc. may be used to describe various components, but these components are not limited by the above-mentioned terms. The above terminology is used only for the purpose of distinguishing one component from another component.

In this specification, terms such as "comprises" or "have" are intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof. When a component is referred to as being “connected” or “connected” to another component, it is understood that the other component may be directly connected or connected to the other component, but other components may exist in between. it should be On the other hand, when it is mentioned that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

Meanwhile, as used herein, a “module” or “unit” for a component performs at least one function or operation.

In addition, a "module" or "unit" may perform a function or operation by hardware, software, or a combination of hardware and software. In addition, a plurality of “modules” or a plurality of “units” other than a “module” or “unit” to be performed in specific hardware or performed by at least one control unit may be integrated into at least one module. The singular expression includes the plural expression unless the context clearly dictates otherwise.

In addition, in describing the present invention, when it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be abbreviated or omitted. Meanwhile, each embodiment may be implemented or operated independently, but each embodiment may be implemented or operated in combination.

In one aspect of the invention

A sensing unit that includes an acceleration sensing module, an angular velocity sensing module, a magnetic force sensing module and a position sensing module, and receives wheelchair state information, time information, real-time movement positioning information and inertia measurement information;

a communication unit for receiving real-time movement positioning correction information and map data from the server; and

A control unit for calculating location information and speed information based on real-time moving positioning correction information and the real-time moving positioning information

A wheelchair state detection terminal comprising; and

A server that transmits real-time movement positioning correction information and map data to the communication unit of the wheelchair state detection terminal; includes,

The control unit of the wheelchair state detection terminal,

Synchronize the acquisition time of the wheelchair state information and the acquisition time of inertia measurement information, and calculate location information and speed information based on the received real-time movement positioning correction information and the real-time movement positioning information,

The navigation solution of the wheelchair is calculated based on the inertia measurement information, the error of the calculated navigation solution of the wheelchair is corrected based on the wheelchair status information or the real-time movement positioning information, and the corrected navigation solution of the wheelchair is sent to the server transmit,

The server is

Analyze the operation information and abnormal state of the wheelchair based on the received wheelchair state information and the received wheelchair navigation solution,

Analyze the risk section based on the map data,

There is provided an electric wheelchair driving monitoring system for transmitting at least one of information on the operation information of the wheelchair, information on whether the abnormal state, and information on the dangerous section to the wheelchair state detection terminal.

1 is a view for explaining an electric wheelchair driving monitoring system according to an embodiment of the present invention.

Referring to FIG. 1 , the wheelchair driving monitoring system 1000 includes a wheelchair state detection terminal 100 and a server 200 . The wheelchair state detection terminal 100 may be included in a wheelchair. The wheelchair state detection terminal 100 receives various data and information and calculates a precise navigation solution (position, speed, and posture information) regardless of the wheelchair driving environment. And, the wheelchair state detection terminal 100 informs the driver of the dangerous state related to the wheelchair based on the information received from the server 200, and the wheelchair state information, location and speed degree so that the server 200 can monitor the wheelchair , and transmits the risk information to the server 200 .

The server 200 is implemented as an integrated wheelchair control platform. The server 200 analyzes the received information so as to perform integrated control and precise navigation, and transmits it to the wheelchair state detection terminal 100, an administrator, or an authorized user. The detailed configuration and operation of the wheelchair state detection terminal 100 and the server 200 will be described below.

Referring to FIG. 2 , the wheelchair state detection terminal 100 includes a sensing unit 110 , a control unit 120 , and a communication unit 130 . The sensing unit 110 receives wheelchair state information, time information, real time kinematic (RTK) information, inertia measurement information, or a wheelchair operation image through various sensing modules.

For example, the sensing unit 110 may include an acceleration sensing module 111 , an angular velocity sensing module 112 , a magnetic force sensing module 113 , and a position sensing module 114 . The sensing unit may further include a camera module 115 . By including such a configuration, the sensing unit can calculate the moving position of a certain part even in the shaded area, and also know the direction of the wheelchair in the stationary state. The acceleration sensing module 111 and the angular velocity sensing module 112 may be IMU modules. The location sensing module 114 may be a Global Navigation Satellite System (GNSS) module. The GNSS module may receive time information, real time kinematic information, and the like from a satellite navigation system that calculates the position, altitude, speed, etc. of a moving object using radio waves transmitted from artificial satellites. The time information may be GPS time information. The wheelchair state detection terminal 100 may calculate accurate location information and speed information of the wheelchair based on the real-time movement positioning information received from the GNSS module 112 and the real-time movement positioning correction information received from the server.

The wheelchair state information may include wheel speed, wheelchair speed, steering angle, gear selection information, brake operation information, sensor state information, etc., and time information and real-time movement positioning information may be input through the position sensing module 114. .

When the camera module 115 is further included, a wheelchair operation image may be input through the camera module. The inertia measurement information may include angular velocity, acceleration, and specific force information of the wheelchair. For example, the secret force information means information related to posture information of a wheelchair. That is, the posture information of the wheelchair may be calculated based on the secret force information.

The communication unit 130 receives real-time movement positioning correction information and map data from the server 200 . In addition, the communication unit 130 transmits various information and data of the wheelchair state detection terminal 100 to the server 200 . For example, various information and data transmitted by the communication unit 130 to the server 200 may include wheelchair state information, generated road surface state information, calculated wheelchair direction angle information, or a corrected wheelchair navigation solution. . In addition, the communication unit may transmit at least one of the information on the abnormal state received from the server and the information on the dangerous section to at least one of a terminal of a wheelchair driver, a terminal of a guardian of a wheelchair driver, and a terminal of a rescue organization.

The controller 120 synchronizes the acquisition time of the wheelchair state information and the acquisition time of the pipe measurement information. The controller 120 may synchronize the acquisition time of the information by using the GPS time information received through the sensing unit 110 . Then, the controller 120 calculates location information and speed information based on the received real-time movement positioning correction information and the input real-time movement positioning information.

In addition, when a wheelchair operation image is input, the controller 120 may extract road surface condition information including whether an object is present on the road surface and wheelchair direction angle information including the traveling direction of the wheelchair based on the input. The controller 120 calculates the navigation solution of the wheelchair based on the inertia measurement information and/or the extracted wheelchair direction angle information, and corrects the error of the navigation solution of the wheelchair calculated based on the wheelchair state information or the real-time movement positioning information do.

The control unit 120 may include a pre-processing module 121 , an image processing module 122 , and a navigation solution calculation module 123 .

The preprocessing module 121 may synchronize the time of the internal OS based on the GPS time. In addition, the preprocessing module 121 may synchronize the acquisition time of the sensing information based on the GPS time. The preprocessing module 121 may calculate the location information and speed information of the wheelchair based on the real-time movement positioning correction information received from the server and the real-time movement positioning information input through the GNSS module. Also, the pre-processing module 121 may transmit necessary information among various types of information input through the sensing unit to the image processing module 122 and the navigation solution calculation module 123 , respectively.

When the sensing unit further includes a camera module to receive a wheelchair operation image, the image processing module 122 may extract road surface condition information and wheelchair direction angle information from the wheelchair operation image. The image processing module 122 may extract road surface condition information based on the wheelchair operation image. The terminal may recognize an object existing on the road surface based on the wheelchair state information and notify the user of a dangerous state. In addition, the wheelchair state detection terminal may transmit road surface state information including information on whether an object is present on the road surface to the server, and the server may transmit the dangerous state information to a terminal near the road surface on which the object exists.

Also, the image processing module 122 may extract a lane boundary line based on the wheelchair operation image. The image processing module 122 may calculate information on the direction angle of the wheelchair in which the wheelchair proceeds based on the extracted sidewalk boundary, location information of the wheelchair, and map data received from the server.

The image processing module may pre-process the image. The image processing module can convert the wheelchair operation image from color to black and white. In addition, the image processing module may change the viewpoint, such as viewing the road surface of the wheelchair operation image from the air, so that the road surface condition and the boundary line between the sidewalk and the road are clearly recognized. For example, the image processing module may change the viewpoint of the road surface area by applying an Inverse Perspective Mapping (IPM) algorithm to the road surface area of the wheelchair operation image.

The image processing module may extract road surface condition information. For example, the image processing module may recognize an object existing on a road surface by applying a machine learning-based object detection technique and calculate the coordinates of the object in the image. The image processing module may extract road surface danger state information. For example, the image processing module may calculate a three-dimensional position of an object existing on a road surface based on a collinear condition equation, position information of a wheelchair, posture information, inertia measurement information, and the like. Through this, the wheelchair state detection terminal may inform the dangerous state when an object exists where the wheelchair is to proceed.

The image processing module may extract the boundary line by car. For example, the image processing module may extract a boundary line by applying a Hough transform that transforms a 2D image into a parameter space for a straight line. The image processing module may extract information on the orientation angle of the wheelchair. For example, the image processing module may assume that the wheelchair is located in the center of the image. The image processing module may find the boundary line between the sidewalk and the driveway based on the wheelchair location information and map data if the distance between the boundary line between the sidewalk and the driveway located on the left and right from the center is within a predetermined value. In addition, the image processing module may extract information on the direction angle in which the wheelchair proceeds based on the coordinates of the sidewalk and road boundary lines. Through this, when the wheelchair enters the roadway, the wheelchair state detection terminal may notify the dangerous state.

The navigation solution calculation module 123 may calculate the navigation solution of the wheelchair and correct the navigation solution error based on the wheelchair state information. The navigation solution calculation module may perform an initialization process when the wheelchair starts operating. The initialization process can only be performed when the wheelchair operation starts. The navigation solution calculation module may calculate the initial posture information of the wheelchair by averaging the information acquired for a certain period of time in a stationary state and applying the rough alignment technique. The initial position information and speed information of the wheelchair may be information input into the GNSS module.

The navigation solution calculation module may correct an error of information input to the sensing unit. The navigation solution calculation module may correct the error of information based on the deviation error of the previously calculated angular velocity and specific force.

The navigation solution calculation module may calculate a navigation solution based on the angular velocity and specific force input to the sensing unit. The navigation solution may include location information, speed information, and attitude information. The navigation solution calculation module may calculate a navigation solution based on an Inertial Navigation System (INS) mechanism. For example, the INS Mechanization process may be performed as follows. The navigation solution calculation module updates the attitude information. The navigation solution calculation module converts the secret force on the body coordinate system based on the navigation coordinate system based on the posture information. In addition, the navigation solution calculation module may calculate speed information and position information through numerical integration.

The navigation solution calculation module may correct position information and speed information. The navigation solution calculation module may use the sensing information to correct the position information and the speed information. For example, the navigation solution calculation module may use an extended Kalman filter for fusion of sensing information. The correction of the position information and the speed information may be performed in various ways.

For example, the navigation solution calculation module may correct the navigation solution error calculated in the INS mechanization process based on the position information and speed information input through the GNSS module and update the MEMS-IMU deviation error. Alternatively, the navigation solution calculation module may use wheel speed information. The navigation solution calculation module calculates the wheelchair speed by averaging the left and right wheel speed information, and corrects and updates the navigation solution error calculated in the INS Mechanization process under the non-holonomic constraint that the calculated wheelchair speed matches the wheelchair longitudinal speed. can

Alternatively, the navigation solution calculation module may use wheelchair speed and steering angle information. The navigation solution calculation module can calculate the speed in the north and east directions of the wheelchair using the Kinematic Vehicle Model. In addition, the navigation solution calculation module may correct and update the navigation solution error calculated in the INS Mechanization process. Alternatively, the navigation solution calculation module may use wheelchair speed information. The navigation solution calculation module can perform zero speed correction (ZUPT) and zero turning speed correction (ZIHR) when the wheelchair speed is 0. In addition, the navigation solution calculation module may correct the navigation solution error calculated in the INS Mechanization process. In this case, the navigation solution calculation module may prevent the navigation solution divergence due to the accumulation of errors in the stationary state.

3 is a diagram illustrating a server according to an embodiment of the present invention.

Referring to FIG. 3 , the server 200 includes a positioning correction information calculating unit 210 , a wheelchair state analyzing unit 220 , a dangerous section analyzing unit 230 , and a monitoring unit 240 .

The positioning correction information calculating unit 210 generates real-time moving positioning correction information based on the GNSS data. The wheelchair state analysis unit 220 analyzes whether the wheelchair operation information and the wheelchair state are abnormal based on the wheelchair state information.

In one embodiment, when the wheelchair is tilted more than a specific angle, it may be recognized as an accident.

In another embodiment, when the wheelchair does not move for more than a specific time, it may be recognized as an accident.

In another embodiment, when the wheelchair is expected to enter or has already entered a location stored as a dangerous section such as a roadway or an exclusive road, it may be recognized as a dangerous situation.

In another embodiment, if it leaves the stored area, it may be regarded as a location departure and recognized as a dangerous situation.

The dangerous section analysis unit 230 analyzes the dangerous section of the road based on the location based on traffic communication information, construction information, emergency situation information, map data, and road surface condition information.

The monitoring unit 240 monitors the wheelchair state and road safety state based on map data, wheelchair state information, navigation navigation of the wheelchair, and road surface state information.

Meanwhile, the server 200 may further include a communication unit (not shown) and a storage unit (not shown). The communication unit may receive GNSS data from a GNSS base station, receive traffic traffic information, construction information, and emergency information from the national traffic information center, and receive map data from a map information provider. The communication unit may receive wheelchair state information, road surface state information, or navigation navigation of the wheelchair from the terminal. In addition, the communication unit transmits the real-time movement positioning correction information and map data to the terminal, and transmits at least one of the operation information of the wheelchair, the information on the abnormal state, and the information on the dangerous section to the wheelchair driver's terminal and the wheelchair driver. It can be transmitted to at least one of the terminal of the guardian and the terminal of the rescue organization. Alternatively, it may be transmitted to the wheelchair state detection terminal. In this case, in case of danger, a buzzer may sound or a display device may be activated to directly inform the wheelchair operator of the danger.

The storage unit may store wheelchair operation information, safety information, and risk information.

In another aspect of the invention

Receiving input of wheelchair state information, time information, real-time movement positioning information and inertia measurement information;

Receiving real-time movement positioning correction information and map data from a server;

synchronizing the acquisition time of the wheelchair state information and the acquisition time of inertia measurement information;

calculating position information and speed information based on the received real-time moving positioning correction information and the real-time moving positioning information;

calculating a navigation solution of the wheelchair based on the inertia measurement information;

correcting an error of the calculated navigation solution of the wheelchair based on the wheelchair state information or the real-time movement positioning information; and

transmitting the wheelchair state information and the corrected navigation solution of the wheelchair to the server;

There is provided a method for monitoring the driving of an electric wheelchair comprising a.

4 is a flowchart of a terminal control method according to an embodiment of the present invention.

Referring to FIG. 9 , the wheelchair state detection terminal receives wheelchair state information, time information, real-time movement positioning information, and inertial measurement information (S410). You can receive more video of wheelchair operation.

The wheelchair state detection terminal receives real-time movement positioning correction information and map data from the server (S420).

The wheelchair state detection terminal synchronizes the acquisition time of the wheelchair state information and the acquisition time of the wheelchair measurement information (S430).

The wheelchair state detection terminal calculates location information and speed information based on the received real-time movement positioning correction information and real-time movement positioning information (S440).

When the wheelchair operation image is further input, the wheelchair state detection terminal may extract road surface state information including whether an object is present on the road surface and wheelchair direction angle information including the traveling direction of the wheelchair through the image processing step. The wheelchair state detection terminal may change the view of the road surface from the wheelchair operation image to a viewpoint from the air. The wheelchair state detection terminal recognizes an object existing on the road surface, calculates the coordinates in the image of the recognized object, and generates road surface state information including the three-dimensional position of the object based on the position information and inertia measurement information. have.

In addition, the wheelchair state detection terminal may extract the boundary line of the sidewalk and the roadway from the wheelchair operation image. The terminal may calculate coordinates of the sidewalk and roadway boundary lines based on the sidewalk and roadway boundary lines, location information, and map data, and calculate information on the wheelchair direction angle in which the wheelchair proceeds based on the boundary line coordinates.

The wheelchair state detection terminal calculates a navigation solution of the wheelchair based on the extracted wheelchair inertia measurement information and/or direction angle information (S450). The wheelchair state detection terminal corrects the error of the navigation solution of the wheelchair calculated based on the wheelchair state information or the real-time movement positioning information (S460). The wheelchair state detection terminal includes a first method of correcting an error of a navigation solution of a wheelchair calculated based on location information and speed information, a second method of correcting an error of a navigation solution of a wheelchair calculated based on wheel speed information, a wheelchair The error can be corrected based on the third method of correcting the error of the navigation solution of the wheelchair calculated based on the speed information and the steering angle information or the fourth method of correcting the error of the navigation solution of the wheelchair calculated based on the wheelchair speed information. can

The wheelchair state detection terminal transmits the wheelchair state information, the corrected navigation information of the wheelchair and/or the road surface state information to the server (S470). The server may analyze the operation information of the wheelchair and whether there is an abnormal state based on the received wheelchair state information and the received navigation solution of the wheelchair, and analyze the dangerous section based on the received road surface state information and map data. The server may transmit at least one information of operation information of the wheelchair, information on whether an abnormal state is present, and information on a dangerous section to at least one of a terminal of a wheelchair driver, a terminal of a guardian of a wheelchair driver, and a terminal of a rescue organization. Alternatively, it may be transmitted to the wheelchair state detection terminal. In this case, in case of danger, a buzzer may sound or a display device may be activated to directly inform the wheelchair operator of the danger.

The terminal control method according to the above-described various embodiments may be provided as a computer program product. The computer program product may include the S/W program itself or a non-transitory computer readable medium in which the S/W program is stored.

The non-transitory readable medium refers to a medium that stores data semi-permanently, rather than a medium that stores data for a short moment, such as a register, cache, memory, etc., and can be read by a device. Specifically, the above-described various applications or programs may be provided by being stored in a non-transitory readable medium such as a CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM, and the like.

In addition, although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention belongs without departing from the gist of the present invention as claimed in the claims In addition, various modifications may be made by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

1000 Electric Wheelchair Driving Monitoring System
100 Wheelchair condition detection terminal
110 sensing unit
111 Acceleration Sensing Module
112 Angular Velocity Sensing Module
113 Magnetic Sensing Module
114 position sensing module
115 camera module
120 control
121 preprocessing module
122 image processing module
123 Navigation solution calculation module
130 Department of Communications
200 servers
210 Positioning correction calculator
220 Wheelchair condition analysis unit
230 Hazard Zone Analysis Department
240 monitoring unit

Claims (14)

A sensing unit that includes an acceleration sensing module, an angular velocity sensing module, a magnetic force sensing module and a position sensing module, and receives wheelchair state information, time information, real-time movement positioning information and inertia measurement information;
a communication unit for receiving real-time movement positioning correction information and map data from the server; and
A control unit for calculating location information and speed information based on real-time moving positioning correction information and the real-time moving positioning information
A wheelchair state detection terminal comprising; and
A server that transmits real-time movement positioning correction information and map data to the communication unit of the wheelchair state detection terminal; includes,
The control unit of the wheelchair state detection terminal,
Synchronize the acquisition time of the wheelchair state information and the acquisition time of inertia measurement information, and calculate location information and speed information based on the received real-time movement positioning correction information and the real-time movement positioning information,
The navigation solution of the wheelchair is calculated based on the inertia measurement information, the error of the calculated navigation solution of the wheelchair is corrected based on the wheelchair status information or the real-time movement positioning information, and the corrected navigation solution of the wheelchair is sent to the server transmit,
The server is
Analyze the operation information and abnormal state of the wheelchair based on the received wheelchair state information and the received wheelchair navigation solution,
Analyze the risk section based on the map data,
Electric wheelchair driving monitoring system for transmitting at least one information of the operation information of the wheelchair, information on whether the abnormal state, and information on the dangerous section to the wheelchair state detection terminal.
According to claim 1,
The wheelchair status information is
It includes at least one of wheel speed information, wheelchair speed information, steering angle information, brake operation information, wheelchair tilt information and sensor state information,
The inertia measurement information is
Electric wheelchair driving monitoring system, characterized in that it includes at least one of angular velocity information, acceleration information, and specific force information.
According to claim 1,
the server
A positioning correction information calculator that generates real-time moving positioning correction information;
A wheelchair state analysis unit that analyzes whether the wheelchair operation information and the wheelchair state are abnormal based on the wheelchair state information received from the wheelchair state detection terminal;
A dangerous section analysis unit that analyzes a dangerous section based on traffic communication information, construction information, contingency information, and pre-stored map data;
a monitoring unit that monitors the condition of the wheelchair and the danger zone based on the map data, the wheelchair status information, and the navigation solution of the wheelchair;
Electric wheelchair driving monitoring system comprising a communication unit for receiving the wheelchair state information or the navigation solution of the wheelchair from the wheelchair state detection terminal, and transmitting real-time movement positioning correction information and map data to the wheelchair state detection terminal.
According to claim 1,
At least one of the wheelchair state detection terminal and the server transmits at least one of the wheelchair operation information, the abnormal state information, and the dangerous section information to the wheelchair driver's terminal, the wheelchair driver's terminal, and the rescue organization Electric wheelchair driving monitoring system, characterized in that it is transmitted to at least one of the terminals of the.
According to claim 1,
Electric wheelchair driving monitoring system, characterized in that the sensing unit further comprises a camera module.
6. The method of claim 5,
The sensing unit further receives a wheelchair operation image,
The control unit extracts road surface state information including whether an object is present on the road surface and wheelchair direction angle information including the traveling direction of the wheelchair based on the input wheelchair operation image, and the extracted wheelchair direction angle information when calculating the wheelchair navigation solution use more information,
The control unit further transmits road surface condition information to the server,
The server is an electric wheelchair driving monitoring system, characterized in that it further uses the received road surface condition information when analyzing the dangerous section.
7. The method of claim 6,
the control unit
Change the road surface portion from the wheelchair operation image to a viewpoint viewed from the air, recognize an object existing on the road surface portion, calculate coordinates in the image of the recognized object, and based on the location information and the inertia measurement information Electric wheelchair driving monitoring system, characterized in that to generate the road surface state information including the three-dimensional position of the object.
3. The method of claim 2,
The control unit is
A first method of correcting the error of the calculated navigation solution of the wheelchair based on the location information and the speed information, a second method of correcting the error of the calculated navigation solution of the wheelchair based on the wheel speed information, the wheelchair At least one of a third method of correcting an error of the calculated navigation solution of the wheelchair based on speed information and the steering angle information and a fourth method of correcting an error of the calculated navigation solution of the wheelchair based on the wheelchair speed information Electric wheelchair driving monitoring system, characterized in that correcting the error of the navigation solution in the method of.
Receiving input of wheelchair state information, time information, real-time movement positioning information and inertia measurement information;
Receiving real-time movement positioning correction information and map data from a server;
synchronizing the acquisition time of the wheelchair state information and the acquisition time of inertia measurement information;
calculating position information and speed information based on the received real-time moving positioning correction information and the real-time moving positioning information;
calculating a navigation solution of the wheelchair based on the inertia measurement information;
correcting an error of the calculated navigation solution of the wheelchair based on the wheelchair state information or the real-time movement positioning information; and
transmitting the wheelchair state information and the corrected navigation solution of the wheelchair to the server;
A method for monitoring driving of an electric wheelchair comprising a.
10. The method of claim 9,
In the step of receiving the information, a wheelchair operation image is further input,
Further comprising an image processing step of extracting, based on the inputted wheelchair operation image, road surface state information including whether an object is present on the road surface, and wheelchair direction angle information including the traveling direction of the wheelchair,
Further using the extracted wheelchair direction angle information in the step of calculating the navigation solution of the wheelchair,
In the step of transmitting the wheelchair state information and the corrected navigation solution of the wheelchair to the server, the electric wheelchair driving monitoring method, characterized in that further transmitting the road surface state information to the server.
11. The method of claim 10,
The image processing step is
Extracting the boundary line of the sidewalk and the road from the wheelchair operation image, calculating the coordinates of the boundary line based on the boundary line, the location information, and the map data, and the wheelchair direction angle at which the wheelchair proceeds based on the coordinates of the boundary line Electric wheelchair driving monitoring method, characterized in that calculating the information.
10. The method of claim 9,
The electric wheelchair driving monitoring method is
The server further comprising the step of analyzing the operation information of the wheelchair and the abnormal state based on the received wheelchair state information and the received wheelchair navigation solution, and analyzing the dangerous section based on the map data Electric wheelchair driving monitoring method characterized in that.
13. The method of claim 12,
The electric wheelchair driving monitoring method is
Electric wheelchair driving monitoring method, characterized in that it further comprises the step of transmitting at least one information of the operation information of the wheelchair, information on whether the abnormal state, and information on the dangerous section to a wheelchair state detection terminal.
13. The method of claim 12,
The electric wheelchair driving monitoring method is
The step of transmitting at least one information of the operation information of the wheelchair, the information on whether the abnormal state, and the information on the dangerous section to at least one of a terminal of a wheelchair driver, a terminal of a guardian of a wheelchair driver, and a terminal of a rescue organization further Electric wheelchair driving monitoring method comprising the.

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