CN105455976B - Intelligent rehabilitation wheelchair - Google Patents
Intelligent rehabilitation wheelchair Download PDFInfo
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- CN105455976B CN105455976B CN201510810611.7A CN201510810611A CN105455976B CN 105455976 B CN105455976 B CN 105455976B CN 201510810611 A CN201510810611 A CN 201510810611A CN 105455976 B CN105455976 B CN 105455976B
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- 238000012549 training Methods 0.000 claims abstract description 177
- 238000012545 processing Methods 0.000 claims abstract description 79
- 230000033001 locomotion Effects 0.000 claims description 26
- 230000007246 mechanism Effects 0.000 claims description 24
- 238000000034 method Methods 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 12
- 238000010801 machine learning Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 claims description 5
- 230000037396 body weight Effects 0.000 claims description 5
- 238000007405 data analysis Methods 0.000 claims description 5
- 230000036541 health Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000006399 behavior Effects 0.000 claims description 3
- 238000009472 formulation Methods 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims description 2
- 210000003205 muscle Anatomy 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims 1
- 230000003993 interaction Effects 0.000 abstract description 6
- 230000006870 function Effects 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 6
- 238000011160 research Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 206010008190 Cerebrovascular accident Diseases 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 4
- 230000001769 paralizing effect Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 206010048669 Terminal state Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000012620 biological material Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000005283 ground state Effects 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000001717 pathogenic effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 230000003716 rejuvenation Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000003442 weekly effect Effects 0.000 description 1
Classifications
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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
-
- 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
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/32—General characteristics of devices characterised by sensor means for force
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to an intelligent rehabilitation wheelchair. The intelligent rehabilitation wheelchair at least comprises a wheelchair body, a sensor module, a mobile terminal and a data processing cloud terminal. According to the intelligent rehabilitation wheelchair, the sensor module arranged on the wheelchair body collects training data of a rehabilitation trainee, the mobile terminal transmits the training data to the data processing cloud terminal through a wireless network for data processing, and the data processing cloud terminal provides data information at least comprising the training progress and training advice according to the collected training data of the rehabilitation trainee. The intelligent rehabilitation wheelchair can collect the latest training data of the user constantly and feed back the training progress and the training advice in time to achieve main-machine interaction.
Description
Technical field
The present invention relates to a kind of wheelchair, more particularly to a kind of intelligent rehabilitation wheelchair.
Background technology
Investigation shows that the whole world about produces every year 50000000 paralytics, and only China will increase one newly per 21 seconds
Individual paralytic.According to drug in some provinces part population investigation in 2012, China's apoplexy prevalence was about 1.82%, and apoplexy is suffered from
The Physical rehabilitation that needs that person has 85% is treated.Further, since the reason such as living habit, apoplexy morbidity is tending to rejuvenation,
Crowd has been increasingly becoming principal pathogenetic crowd within 40~50 years old.The whole world with regard to apoplexy research, always in constantly carrying out,
These researchs are intended to go to recover the body constitution of patient's script with maximum probability.Although traditional rehabilitation service can be played
Certain effect, but be not the optimum selection of people because its is expensive, the high dependency to human resourcess.Doctor one
As can advise the rehabilitation training that patient is carried out daily two hours, however, Most patients are only capable of obtaining at present two hours weekly
Training, far can not also meet the requirement of rehabilitation training.
The rehabilitation wheelchair of China, there is nearly ten years very fast development, and in addition to original Industry Foundation, some enterprises have taken conjunction
Money form carrys out improve product quality and increases kind.As a whole, the rehabilitation wheelchair industry of China is still weaker, in mechanism
Complexity with certain gap has been compared with foreign countries in motility.But, China have developed technology and refers to also according to self-character
The rehabilitation training system of the nearly Foreign Advanced Lerel of tag splice, it should say domestic with rehabilitation wheelchair basic fundamental and research strength.
First-class universities and colleges and research unit have had been engaged on the research in terms of rehabilitation engineering for many years, and such as Tsing-Hua University takes the lead in have developed at home
Horizontal lower limb rehabilitation training system, in this achievement virtual reality technology is employed；Additionally, Shanghai Communications University, Xi'an hand over
The colleges and universities such as logical university, Harbin Engineering University, Guangdong University of Technology have also carried out the research of correlation.Analyze domestic and international modern age newly to produce
Product, it is mainly characterized by：(1) traditional product forms electromechanical integration or manual intelligent product in combination with computer technology.
(2) biomaterials art is used for into human body recovery, forms man-machine integration product.(3) according to the plasticity of bodily fuctions, design
Some devices, the recovery and regeneration of promotion functions.
Chinese patent (notification number is CN101190158B) discloses a kind of intelligent wheel chair.The intelligent wheel chair of the patent passes through
Embedded intelligence control system is installed in desktop, side body arrangement multisensor ranging mechanism, body bottom section surrounding is arranged
Anti-collision mechanism and falling-proof mechanism, cloth photographic head is used as vision sensor on car body；Multisensor ranging mechanism, anti-collision collide
Structure, falling-proof mechanism and vision sensor are telecom-connected respectively with embedded intelligence control system, embedded intelligence control system
Also telecom-connect with stick and motor driver so that the intelligent wheel chair of the patent has automatically walk, avoidance, anti-collision, anti-
The function such as tumble and target following, compared with traditional wheelchair, the intelligent wheel chair of the patent is safe and reliable, easily operated, can
Meet the demand of the disadvantaged group such as a part of old people and disabled.
The intelligent wheel chair that the patent is provided only is to realize some common functions of evading danger, can only as old people with
And the walking-replacing tool of disabled, and the intelligent wheel chair for being difficult to be provided by the patent reaches the function of exercise.On the other hand, it is existing
There is the power-assisted apparatus that single training method is based only in technology well to realize the theory of human-computer interaction again, can not lead to
Cross the communication for information with rehabilitation training personnel to understand its training process, so as to timely adjusting training scheme.For different demands
Rehabilitation training personnel, traditional rehabilitation wheelchair is just difficult to coordinate, and rehabilitation training personnel daily the number of times of training and
Intensity varies with each individual, and the process of rehabilitation is also constantly changing, and traditional rehabilitation wheelchair obviously can not meet demand.
The content of the invention
For the deficiency of prior art, the invention provides a kind of intelligent rehabilitation wheelchair, the intelligent rehabilitation wheelchair is at least
Including wheelchair main body, sensor assembly, mobile terminal and data processing cloud terminal, the intelligent rehabilitation wheelchair is by being arranged in
State in wheelchair main body the sensor assembly collection rehabilitation training personnel training data and pass through the mobile terminal via
Wireless network sends to the data processing cloud terminal and carries out data processing, and by the data processing cloud terminal foundation institute is collected
The training data for stating rehabilitation training personnel at least include the data message that training progress is advised with training to provide.The wheelchair master
Body can also be referred to as wheelchair hardware components.The sensor assembly can also be referred to as pressure sensor module.The movement
Terminal can be referred to as mobile communication terminal.The mobile terminal can also be referred to as intelligent mobile terminal.The data processing
Cloud terminal can be referred to as server.The data processing cloud terminal can also be referred to as cloud server.The data processing
Cloud terminal is also referred to as Cloud Server.
According to a preferred implementation, the data processing cloud terminal is connected with the mobile terminal by wireless network
Connect, and the data processing that the data processing cloud terminal is carried out includes：Using expert knowledge library carry out exercise program recommendation,
Carry out the real-time adjustment of motion scheme and/or carry out the renewal of Personalized motion scheme using machine learning method.The expert
Knowledge base can be referred to as experience database.The expert knowledge library can also be referred to as contrasting data storehouse.
According to a preferred implementation, the sensor assembly at least includes the pedal sensing being arranged on pedal
Device, the cushion sensor being installed on medicated cushion, the handrail sensor being installed on handrail and the back sensing being installed on backrest
Device.
According to a preferred implementation, the pedal sensor, the cushion sensor, the handrail sensor and
The back sensor is used to gather the behavior of rehabilitation training personnel and physiological data and by mobile terminal via wireless network
Sending to the data processing cloud terminal carries out data processing.
According to a preferred implementation, the mobile terminal is installed on the terminal bracing frame of the wheelchair main body, and
And the mobile terminal is used to send out the training data of the sensor acquisition to the rehabilitation training personnel via wireless network
The data processing cloud terminal is delivered to, to make the exercise program of suitable rehabilitation training personnel.The exercise program can be with
It is referred to as training plan.The exercise program can also be referred to as exercise plan.
According to a preferred implementation, user can adjust or reformulate the motion by the mobile terminal
Plan, to form the personalized exercise program of suitable rehabilitation training personnel.
According to a preferred implementation, the mobile terminal be additionally operable to monitor the implementation status of the exercise program and
Training each time, and the parameter for monitoring is sent to the data via wireless network by the mobile terminal
Reason cloud terminal, is carried out being given after data analysiss and scores and feed back to institute by the mobile terminal by the data processing cloud terminal
State rehabilitation training personnel.
According to a preferred implementation, the wheelchair main body includes the waist training mechanism of single-degree-of-freedom six-bar mechanism,
The waist training mechanism can simulate the track that Healthy People is sat down and stood up.
According to a preferred implementation, the wheelchair main body also includes the Flexible Connector of connection pedal and vehicle frame,
The Flexible Connector can extend and shrink, so as to the rehabilitation training personnel can stand the institute that also can be sitting on the ground
State and moved ahead on intelligent rehabilitation wheelchair.
According to a preferred implementation, the wheelchair main body also includes wrapping up the rod member mechanism at the backrest
Protection shell, to prevent surrounding people from coming to harm in the operation of drive rod.
According to a preferred implementation, the intelligent rehabilitation wheelchair that the present invention is provided can also be by the training process of user
Data processing cloud terminal is imported to by mobile terminal, and the exercise program for updating is returned by the data processing cloud terminal.
Preferably, embodying the data of the training process of the user has user regularly to train progress and arrive by sensor acquisition
Stressing conditions two kind of the user in training.
According to a preferred implementation, the mobile terminal of the intelligent rehabilitation wheelchair that the present invention is provided can be according to setting in advance
The exercise program put reminds user on time, and after training every time terminates feedback training progress data message.
The present invention provides intelligent rehabilitation wheelchair and at least has following advantage：
(1) intelligent rehabilitation wheelchair of the invention is disposed with four groups of sensors in wheelchair main body, can in time gather rehabilitation instruction
Practice the newest training data of personnel so that data processing cloud terminal log evidence is analyzed after process to provide at least include training
Progress and the data message of training suggestion, realize human-computer interaction function.
(2) intelligent rehabilitation wheelchair of the invention can adjust or reformulate the exercise program, shape by mobile terminal
Into the personalized exercise program of suitable rehabilitation training personnel.
(3) the waist training mechanism that the wheelchair main body of intelligent rehabilitation wheelchair of the invention includes is the bar machine of single-degree-of-freedom six
Structure, only with a Motor drive, it is not required that chip is manipulated；And waist training mechanism can also simulate Healthy People seat
Track that is lower and standing up, user is more preferable using rear training effect；The intelligent rehabilitation wheelchair of the present invention adopts the bar of single-degree-of-freedom six
Mechanism reduces the complexity of power source number and control as core institution, can substantially reduce cost.
Description of the drawings
Fig. 1 is the wheelchair agent structure schematic diagram of the intelligent rehabilitation wheelchair of the present invention；
Fig. 2 is the position view of the battery of the present invention and clutch；
Fig. 3 is the first position schematic diagram of the backrest of the present invention；
Fig. 4 is the second position schematic diagram of the backrest of the present invention；
Fig. 5 is the 3rd position view of the backrest of the present invention；
Fig. 6 is the 4th position view of the backrest of the present invention；With
Fig. 7 is the module diagram of the intelligent rehabilitation wheelchair of the present invention.
Reference numerals list
1：Drivewheel 2：Vehicle frame 3：Driven pulley
4：Pedal 5：Pedal sensor: 6：Flexible Connector
7：Medicated cushion 8：Cushion sensor 9：Clutch button
10：Terminal bracing frame 11：Handrail 12：Handrail sensor
13：Backrest 14：Buckle 15：Back sensor
16：Protection shell 17：Handle 18：Driving chain
19：Drive rod 20：Bracing frame 21：Baffle plate
22：Servomotor 23：Manual pulley 24：Parking brake
25：Battery 26：Clutch
Specific embodiment
It is described in detail with reference to the accompanying drawings and examples.
Fig. 7 shows the module diagram of the intelligent rehabilitation wheelchair of the present invention.As shown in fig. 7, the intelligent rehabilitation of the present invention
Wheelchair at least includes wheelchair main body, sensor assembly, mobile terminal and data processing cloud terminal.The sensor of intelligent rehabilitation wheelchair
Module arrangement is in wheelchair main body.Sensor assembly is used to gather the training data of training rehabilitation personnel.Mobile terminal passes through nothing
Gauze network sends the training data for collecting to data processing cloud terminal.The training data that data processing cloud end-on is received
Carry out data processing.Carry out being provided after data processing by data processing cloud terminal and at least include what training progress and training were advised
Data message.Preferably, data processing cloud terminal carries out providing the data message of exercise program after data processing.It is preferred that
Ground, formulating exercise program needs the attribute for arranging at least to include wheelchair force size, frequency of training, the natural law of training and every
The time of secondary training.The intelligent rehabilitation wheelchair that the present invention is provided can constantly collect the newest training data of user, anti-in time
Feedback training progress and training suggestion, realize human-computer interaction function.
According to a preferred implementation, data processing cloud terminal is connected with mobile terminal by wireless network.At data
The data processing that reason cloud terminal is carried out includes：Carry out the recommendation of exercise program, carry out the reality of motion scheme using expert knowledge library
When adjust and/or carry out the renewal of Personalized motion scheme using machine learning method.Specifically, data processing includes three portions
Point：One is the recommendation that exercise program is carried out using expert knowledge library.Preferably, using expert knowledge library recommend exercise program extremely
Include the time of force size, frequency of training, the natural law of training and each training of wheelchair less.Data processing cloud terminal is included specially
Family's knowledge base, exercise program of the expert knowledge library comprising different phase difference body constitution crowd.Different phase difference body constitution crowd
Its physical signs of division Main Basiss complete with physical function state.Physical signs refer to height, body weight, age etc..Body machine
Can state refer to itself to stand up and can be provided the size of power.For the data for being transferred to data processing cloud terminal, data are carried out first
Pretreatment, by data standard rehabilitation training personnel's basic physiological data and rehabilitation training personnel's physical function data are turned to.Then
The stage of crowd residing for rehabilitation training personnel is calculated based on data.Last retrieval knowledge storehouse, obtains correspondence crowd's correspondence stage
Exercise program, and push it to mobile terminal.Two is the real-time adjustment for carrying out motion scheme.Preferably, according to sensor die
The data that block is detected are to the wheelchair force size in motion scheme, frequency of training, the natural law of training and the time trained every time
In at least one carry out real-time adjustment.The physical condition of the data analysiss user detected according to sensor assembly, if holding
Continuous there is user and firmly increase situation, then can moderate reduction wheelchair force, and the data of wheelchair force are updated to rehabilitation instruction
Practice the motion scheme of personnel.Preferably, the training in the renewable motion scheme of data for detecting also according to sensor assembly
Number of times, the natural law of training or the time trained every time.Three is to carry out Personalized motion scheme more using machine learning method
Newly.Preferably, using machine learning method at least to the wheelchair force size in motion scheme, frequency of training, the natural law trained
Personalized renewal is carried out with least one in the time of each training.Data processing cloud terminal storage has each rehabilitation training people
The rehabilitation training state of member, after the training data for collecting large-scale crowd, is gathered using machine learning algorithm to crowd
Alanysis.Used method for measuring similarity is wherein clustered mainly by the height of user, body weight, age, training burden, every time
The variables such as the percentage ratio that training is exerted oneself are calculated.Data processing cloud terminal carries out essence by the crowd's cluster by similarity
Thin Personalized motion solution formulation.
According to a preferred implementation, sensor assembly at least includes four groups of pressure transducers.As shown in figure 1, four groups
Pressure transducer is respectively the pedal sensor 5 being arranged on pedal 4, the cushion sensor 8 being installed on medicated cushion 7, peace
Loaded on the handrail sensor 12 on handrail 11 and the back sensor 15 being installed on backrest 13.Preferably, four groups of sensors are used
Behavior and physiological data in collection rehabilitation training personnel.It is highly preferred that the measurable rehabilitation training personnel of pedal sensor 5
Stand up time.Cushion sensor 8 can detect rehabilitation training personnel and be seated the firmly size of process.Handrail sensor 12 can detect health
Arm is exerted oneself size when multiple trainer stands up.Back sensor 15 can detect rehabilitation training personnel's standing process muscle and have an effect.
The intelligent rehabilitation wheelchair of the present invention is disposed with four groups of sensors in wheelchair main body, can in time gather rehabilitation training personnel newest
Training data, advises so that data processing cloud terminal log evidence is analyzed after process to be given at least include training progress and train
Data message, provide practicable exercise program for user.
Fig. 1 is referred again to, the terminal bracing frame 10 of intelligent rehabilitation wheelchair is used to install mobile terminal.Preferably, it is mobile whole
End includes the computer equipment with various application functions such as mobile phone, panel computer, notebook computer.Mobile terminal is used to pass
Sensor collects the training data of rehabilitation training personnel and sends to data processing cloud terminal via wireless network.Data processing cloud end
The exercise program of suitable rehabilitation training personnel is made after processing data in end.Preferably, user can be by mobile whole
Exercise program is reformulated in end adjustment, to form the personalized exercise program of suitable rehabilitation training personnel.Preferably, move
Dynamic terminal is additionally operable to the implementation status of monitoring moving plan and training each time.To be monitored by mobile terminal
Parameter is sent to data processing cloud terminal via wireless network, is carried out that scoring is provided after data analysiss simultaneously by data processing cloud terminal
Rehabilitation training personnel are fed back to by mobile terminal.What the mobile terminal of the present invention was connected as intelligent rehabilitation wheelchair with the Internet
One interface, the data that sensor assembly in intelligent rehabilitation wheelchair is collected are by wireless network transmissions to data processing cloud end
Store on end, on the one hand can avoid storing mass data on mobile terminals and taking memory space, on the other hand, by data
Being aggregated in data processing cloud terminal can utilize its powerful operational capability quickly processing data.Using the data collected
And the expert knowledge library of itself storage, through machine learning algorithm analysis, provide that to meet rehabilitation general for rehabilitation training personnel
Consider the exercise program of rehabilitation training personnel's own characteristic simultaneously again all over rule.
According to a preferred implementation, when user is used for the first time, need by mobile terminal login account, and fill in
The information such as sex, age, height, body weight.Additionally, rehabilitation training personnel can select intelligent rehabilitation wheelchair by mobile terminal oneself
The size of power is provided, or detects that its required wheelchair equipment provides the size of power by the test function of mobile terminal.It is mobile whole
The information that rehabilitation training personnel provide is uploaded to data processing cloud terminal by end by wireless network.Data processing cloud terminal is combined
Data that expert knowledge library and sensor assembly are collected and through the analysis of related algorithm, make suitable rehabilitation training people
The exercise program of member.Preferably, rehabilitation training personnel in the training process, mobile terminal not only daily exercise program good at managing
Whether it is performed, and training each time can be monitored, and to train scoring each time.Preferably, every time training terminates
Afterwards, mobile terminal sends message to data processing cloud terminal, and the training data of data processing cloud terminal-pair rehabilitation training personnel enters
Row analysis simultaneously provides overall scoring to training.Mobile terminal is included the result that data processing cloud terminal is returned on screen.It is excellent
Selection of land, for convenience rehabilitation training librarian use, can control the size of wheelchair force, to be more suitable for health by mobile terminal
The mode of multiple trainer carries out rehabilitation training.Preferably, train in order to avoid rehabilitation training personnel forget, mobile terminal can be determined
When remind, help user complete training.
According to a preferred implementation, the mobile terminal of the present invention can also according to sensor acquisition to data carry out
Some simple analyses and process.Preferably, back sensor acquisition to pressure data in the trend that is gradually reduced, explanation makes
The training effect of user is good, can gradually pass through waist and voluntarily firmly realize standing up.If handrail sensor and pedal are passed
The data that sensor is collected exist larger inconsistent, illustrate that user one side limbs have the dyskinesia.
Figures 1 and 2 show that the structural representation of the wheelchair main body of intelligent rehabilitation wheelchair of the present invention.As shown in figure 1, this
Bright wheelchair main body is at least including the waist training mechanism of single-degree-of-freedom six-bar mechanism.Waist training mechanism can simulate Healthy People
The track sat down and stand up.Preferably, wheelchair main body also includes Flexible Connector 6.Flexible Connector 6 is used to connect pedal 4
With vehicle frame 2.Flexible Connector 6 can extend and shrink, and also can be sitting in so as to rehabilitation training personnel can stand on the ground
Move ahead on intelligent rehabilitation wheelchair.Specifically, as rehabilitation training personnel stand up, center of gravity leans forward, and the power for loading on the footrests increases
Greatly, the Flexible Connector 6 can extend, and so as to rehabilitation training personnel can stably step on the ground, be also convenient for pedal
Sensor 5 gathers pressure data.When rehabilitation training personnel sit down, move after center of gravity, the pressure being carried on pedal 4 reduces, bullet
Property connector 6 can shrink, so as to allow rehabilitation training personnel can be sitting on wheelchair advance.Preferably, wheelchair main body is also
Including the protection shell 16 for wrapping up the rod member mechanism at backrest 13.Protection shell 16 can prevent surrounding people from driving
Bar 19 comes to harm when running.As shown in figure 1, the wheelchair main body of the present invention also includes drivewheel 1, vehicle frame 2, driven pulley 3, foot-operated
Plate 4, medicated cushion 7, clutch button 9, terminal bracing frame 10, handrail 11, backrest 13, buckle 14, handle 17, driving chain 18, driving
Bar 19, bracing frame 20, baffle plate 21, servomotor 22, manual pulley 23 and parking brake 24.Preferably, the selection of the height of backrest 13 and health
The height of multiple trainer is relevant with degree of balance.As rehabilitation training personnel's height is shorter or balance to trunk and control it is preferable,
Low backrest is can select, whereas to from high back.As shown in Fig. 2 the wheelchair main body of the present invention also includes battery 25 and clutch
26.The wheelchair main body of the intelligent rehabilitation wheelchair of the present invention includes the waist training mechanism of single-degree-of-freedom six-bar mechanism, only with one
Motor drive, it is not required that chip is manipulated；And waist training mechanism can also simulate Healthy People and sit down and stand up
Track, user is more preferable using rear rehabilitation training effect.On the other hand, intelligent rehabilitation wheelchair of the invention adopts single-degree-of-freedom six
Linkage reduces the complexity of power source number and control as core institution, can substantially reduce cost.
According to a preferred implementation, for the training progress of paralytic is carried out generally according to following manner：First
Stage is to allow patient to practise left and right in bed to stand up, and this is one of most basic trunk functional training；Be then allow trouble exercise from
Strong side or Ipsilateral sit up, and train while carrying out with standing up.Second stage is to start erect-position training after patient can independently occupy stably.
Phase III is after patient can independently stand firm, to start ambulation training.Preferably, the intelligent rehabilitation wheelchair that the present invention is provided can
To aid in patient to complete the training of second stage and phase III.
Embodiment 1
The intelligent rehabilitation wheelchair auxiliary waist exercise of the present invention is illustrated with reference to Fig. 1, Fig. 3, Fig. 4, Fig. 5 and Fig. 6.
When rehabilitation training librarian use intelligent rehabilitation wheelchair auxiliary of the present invention has completed to sit training, rehabilitation training personnel need
Itself will be fixed on backrest 13 by buckle 14.Simultaneously rehabilitation training personnel stop parking brake 24 tightly, maintain static wheelchair,
And press clutch button 9 so that clutch slides to " training " shelves, and servomotor 22 is transmitted drive force to by driving chain 18
Drive rod 19, drive rod 19 drives bracing frame 20 such that it is able to drive backrest 13 along backrest shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6
13 first position to the 4th position moves reciprocatingly.The reciprocating track is to simulate waist movement when Healthy People stands up
Attitude track, therefore, it is possible to help rehabilitation training personnel to realize and the general action of standing up of Healthy People.
Embodiment 2
Illustrate that the intelligent rehabilitation wheelchair auxiliary of the present invention is mobile with reference to Fig. 1 to take exercise.
When needing wheelchair to move, rehabilitation training personnel can open parking brake 24, and press clutch button 9 so that clutch
" movement " shelves are slided to, servomotor 22 drives drivewheel 1 to rotate, so as to make other paraprofessional personnel promote before wheelchair by handle 17
OK, or rehabilitation training personnel manually take turns 23 move ahead.When wheel chair sport, driven pulley 3 can be rotated, and be fixed on
Wheel fork thereon can left and right commutation so that wheelchair according to fixed route move ahead.When needing wheelchair to stop, only parking brake 24 need to being stopped
Tightly.
Embodiment 3
Illustrate that the intelligent rehabilitation wheelchair of the present invention realizes man-machine interaction with reference to Fig. 7.
To realize the human-computer interaction function of the intelligent rehabilitation wheelchair of the present invention, intelligent rehabilitation wheelchair at least includes wheelchair master
Body, sensor assembly, mobile terminal and data processing cloud terminal, as shown in Figure 7.Sensor assembly is used to gather training rehabilitation people
The training data of member.Each sensor acquisition to the amplified circuit of voltage signal amplify after transmit to A/D modular converters, it is then defeated
Enter in single-chip microcomputer.Single-chip microcomputer by sensor acquisition to training data send to mobile terminal, mobile terminal passes through wireless network
Network sends the training data for collecting to data processing cloud terminal.The training data that data processing cloud end-on is received is carried out
Data processing.Specifically, data processing includes：Carry out the recommendation of exercise program, carry out motion scheme using expert knowledge library
Real-time adjustment and/or carry out the renewal of Personalized motion scheme using machine learning method.Data processing cloud terminal is provided
Data message feed back to mobile terminal.Specifically, data processing cloud terminal carries out to be provided after data processing at least include instruction
Practice the data message of progress and training suggestion.
On the other hand, user can also be adjusted by mobile terminal to the plan of system recommendation and/or scheme, with
Just formed and be adapted to the training program of oneself.Whether mobile terminal daily training plan also good at managing is performed, and monitors each
Secondary training.Specifically, after for once training terminates, mobile terminal is sent to the training data for monitoring at data
Reason cloud terminal.Data processing cloud terminal log according to providing to the training of this time overall scoring after being analyzed, and by it is mobile eventually
End is included result on screen.For convenience user uses, and user can also control wheelchair main body by mobile terminal
Force size, so as to select be adapted to user mode be trained.
It should be noted that above-mentioned specific embodiment is exemplary, those skilled in the art can disclose in the present invention
Various solutions are found out under the inspiration of content, and these solutions also belong to disclosure of the invention scope and fall into this
Within bright protection domain.It will be understood by those skilled in the art that description of the invention and its accompanying drawing be it is illustrative and not
Constitute limitations on claims.Protection scope of the present invention is limited by claim and its equivalent.
Claims (5)
1. a kind of intelligent rehabilitation wheelchair, it is characterised in that the intelligent rehabilitation wheelchair includes wheelchair main body, sensor assembly, shifting
Dynamic terminal and data processing cloud terminal, the intelligent rehabilitation wheelchair is by the sensor die that is arranged in the wheelchair main body
The training data of block collection rehabilitation training personnel is simultaneously sent to the data processing by the mobile terminal via wireless network
Cloud terminal carries out data processing, is come according to the training data for collecting the rehabilitation training personnel by the data processing cloud terminal
Offer includes the data message of training progress and training suggestion, wherein,
The wheelchair main body includes the waist training mechanism of single-degree-of-freedom six-bar mechanism, and the waist training mechanism can simulate strong
The track that health people sits down and stands up, and the wheelchair main body also includes connection pedal（4）And vehicle frame（2）Flexible Connector
（6）, the Flexible Connector（6）Can extend and shrink, so as to the rehabilitation training personnel can stand on the ground, also can
Enough it is sitting on the intelligent rehabilitation wheelchair and moves ahead；
The sensor assembly includes four groups of pressure transducers, and four groups of pressure transducers are respectively and are arranged at pedal（4）On
Pedal sensor（5）, be installed on medicated cushion（7）On cushion sensor（8）, be installed on handrail（11）On handrail sensor
（12）Be installed on backrest（13）On back sensor（15）；Four groups of sensors be used to gathering the behavior of rehabilitation training personnel and
Physiological data；Pedal sensor（5）The stand up time of measurable rehabilitation training personnel, cushion sensor（8）Detectable rehabilitation
Trainer is seated the firmly size of process, handrail sensor（12）Arm is firmly big when detectable rehabilitation training personnel stand up
It is little, back sensor（15）Detectable rehabilitation training personnel standing process muscle is had an effect；
The data processing cloud terminal is connected with the mobile terminal by wireless network, and the data processing cloud terminal is entered
Capable data processing includes：Carry out the recommendation of exercise program, carry out the real-time adjustment and profit of motion scheme using expert knowledge library
The renewal of Personalized motion scheme is carried out with machine learning method, and the data processing cloud terminal is realized in the following way
The recommendation of exercise program is carried out using expert knowledge library：The data processing cloud terminal includes expert knowledge library, and the expert knows
Know exercise program of the storehouse comprising different phase difference body constitution crowd, the division Main Basiss of different phase difference body constitution crowd its lifes
Reason index is completed with physical function state, and the physical signs refer to height, body weight, age, and the physical function state refers to itself
Stand up and can be provided the size of power, for the data for being transferred to data processing cloud terminal, the data processing cloud terminal is entered first
Line number Data preprocess, by data standard rehabilitation training personnel's basic physiological data and rehabilitation training personnel's physical function number are turned to
According to, the stage that data calculate crowd residing for rehabilitation training personnel is then based on, last retrieval knowledge storehouse obtains correspondence crowd's correspondence
The exercise program in stage, and the exercise program is pushed to into mobile terminal, the data processing cloud terminal utilizes expertise
The exercise program that storehouse is recommended includes the time of force size, frequency of training, the natural law of training and each training of wheelchair；
The data processing cloud terminal carries out in the following way the real-time adjustment of motion scheme：The data processing cloud terminal according to
The physical condition of the data analysiss user detected according to sensor assembly, if user persistently occur firmly increases situation,
Wheelchair force is reduced, and the data of wheelchair force are updated into the motion scheme to rehabilitation training personnel, the data processing cloud end
The data detected also according to sensor assembly are held to update the frequency of training in motion scheme, the natural law of training or instruct every time
The experienced time；
The data processing cloud terminal is realized carrying out Personalized motion scheme more using machine learning method in the following way
Newly：The data processing cloud terminal storage has the rehabilitation training state of each rehabilitation training personnel, is collecting large-scale crowd
Training data after, cluster analyses, the similarity measurement side that the cluster is used are carried out to crowd using machine learning algorithm
Method at least by the height of user, body weight, the age, training burden, train the percentage ratio exerted oneself to be calculated every time, the data
Cloud terminal is processed by the crowd's cluster by similarity to carry out fine Personalized motion solution formulation, using machine learning side
Method is at least one in the wheelchair force size in motion scheme, frequency of training, the natural law of training and the time trained every time
Carry out personalized renewal.
2. intelligent rehabilitation wheelchair as claimed in claim 1, it is characterised in that the mobile terminal is installed on the wheelchair main body
Terminal bracing frame（10）On, and the mobile terminal be used for the sensor assembly is collected into the rehabilitation training personnel
Training data send to the data processing cloud terminal via wireless network, to make the fortune of suitable rehabilitation training personnel
Dynamic plan.
3. intelligent rehabilitation wheelchair as claimed in claim 2, it is characterised in that user can be adjusted by the mobile terminal
Or the exercise program is reformulated, to form the personalized exercise program of suitable rehabilitation training personnel.
4. intelligent rehabilitation wheelchair as claimed in claim 3, it is characterised in that the mobile terminal is additionally operable to monitor the motion
The implementation status of plan and training each time, and by the mobile terminal by the parameter for monitoring via wireless network
Network is sent to the data processing cloud terminal, is carried out being given after data analysiss by the data processing cloud terminal and is scored and by institute
State mobile terminal and feed back to the rehabilitation training personnel.
5. intelligent rehabilitation wheelchair as claimed in claim 1, it is characterised in that the wheelchair main body is also included the backrest
（13）The protection shell that the rod member mechanism at place wraps up（16）, to prevent surrounding people in drive rod（19）Hindered during operation
Evil.
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Effective date of registration: 20231017 Address after: Room 701-5, Building 1, 7th Floor, No.16 Chenghong Road, Chenghua District, Chengdu, Sichuan Province, 610000 Patentee after: Sichuan Aigehui Technology Group Co.,Ltd. Address before: Tunxi road in Baohe District of Hefei city of Anhui Province, No. 193 230009 Patentee before: An Ning |