CN105534650A - Starting and barrier avoiding system of electrically powered wheelchair - Google Patents

Starting and barrier avoiding system of electrically powered wheelchair Download PDF

Info

Publication number
CN105534650A
CN105534650A CN201610146562.6A CN201610146562A CN105534650A CN 105534650 A CN105534650 A CN 105534650A CN 201610146562 A CN201610146562 A CN 201610146562A CN 105534650 A CN105534650 A CN 105534650A
Authority
CN
China
Prior art keywords
wheelchair
master controller
module
signal
user
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201610146562.6A
Other languages
Chinese (zh)
Other versions
CN105534650B (en
Inventor
王强
樊瑜波
王喜太
兰陟
单新颖
张腾宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Research Center for Rehabilitation Technical Aids
Original Assignee
National Research Center for Rehabilitation Technical Aids
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by National Research Center for Rehabilitation Technical Aids filed Critical National Research Center for Rehabilitation Technical Aids
Priority to CN201710167445.2A priority Critical patent/CN106901917B/en
Priority to CN201610146562.6A priority patent/CN105534650B/en
Priority to CN201710167460.7A priority patent/CN107007403B/en
Publication of CN105534650A publication Critical patent/CN105534650A/en
Application granted granted Critical
Publication of CN105534650B publication Critical patent/CN105534650B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • 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
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/30—Specific positions of the patient
    • A61G2200/34—Specific positions of the patient sitting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/34—General characteristics of devices characterised by sensor means for pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
    • A61G2203/72—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a starting and barrier avoiding system of an electrically powered wheelchair. The starting and barrier avoiding system comprises a master controller, a sensor module, a power management module and an auxiliary module. The sensor module comprises a position sensor. The power management module comprises a power source and a power source self-starting device, and the self-starting device serves as a power switch and is in a normally-open state to switch off power supply. When the self-starting device bears pressure, the switch is closed, and the power source is switched on. After the system is powered on, the position sensor sends sitting position information of a user of the electrically powered wheelchair to the master controller in real time, and the master controller judges whether the user is at the safe position or not according to the received position information. If the user is at the safe position, the master controller controls a power source control module to supply power to a driving device of the wheelchair. If it is judged that the user is not at the safe position, the master controller controls the power source control module not to supply power to the driving device of the wheelchair, and meanwhile the master controller controls a voice module in the auxiliary module to send a voice alarm signal that the user is not at the safe position. Through the starting and barrier avoiding system, the use safety and the convenient degree are improved for the user.

Description

Electric wheelchair starts and obstacle avoidance system
Technical field
The present invention relates to a kind of electric wheelchair control system, especially relate to a kind of electric wheelchair human body sensing and start and obstruction-avoiding control system.
Background technology
According to ASSOCIATE STATISTICS, about there is all kinds of people with disability 8,300 ten thousand in China, and old people 1.5 hundred million, is have the most populous country of body function obstacle in the world, and huge population base becomes our serious problem of society today of puzzlement by making Aging Problem within Future Ten year.Promote undertakings for disabled people development, improve people with disability's situation, become an important and pressing task of building a well-off society in an all-round way and building a harmonious socialist society.
At present, for lower limb stand and locomotor activity more weak or lose people with disability and old man, in daily life, when they need electric wheelchair to solve trip and rehabilitation, whether what traditional electric wheelchair can not sense human body is sitting on the correct position of wheelchair, the road conditions of running environment can not be judged, give and use the people of electric wheelchair to bring potential safety hazard.The present invention is a kind of intelligent auxiliary device, and for user power-on under correct sitting posture state of wheelchair, under sitting posture state, wheelchair normally travels.User, when operating wheelchair, has and runs into obstacle prompting, run into upward slope, descending alarm, run into the function of climb and fall road conditions according to ramp gradient wheelchair acceleration or deceleration.Effectively can improve the daily life situation of wheelchair user, to they bring a kind of completely newly, the life style of safety, be conducive to improving their rehabilitation outcome and drive the comfort level of wheelchair.
Summary of the invention
The object of this invention is to provide a kind of convenient and reliable electric wheelchair being applicable to electric wheelchair to start and obstacle avoidance system, improve safety in utilization and the comfort level of user.
For realizing the object of the present invention, be achieved by the following technical solutions:
A kind of electric wheelchair induction starts and obstacle avoidance system, comprising: master controller, sensor assembly, power management module and supplementary module, wherein:
Master controller is connected with sensor assembly, power management module, supplementary module respectively;
Sensor assembly comprises position sensor;
Power management module comprises power supply and power supply self-starting device, self-starting device is as on and off switch, be in normally open, power with deenergization, after this self-starting device is under pressure, switch closes, power supply conducting, electric wheelchair starts and obstacle avoidance system is in power-up state, and main controller controls power supply is not temporarily powered to wheelchair drive mechanism;
After system electrification, the seating position information of electric wheelchair user is sent to master controller by position sensor in real time, according to the positional information received, master controller judges whether user is in home, if be in home, main controller controls energy supply control module is powered to the driving device of wheelchair; If judge that user is not in home, then main controller controls energy supply control module is not powered to the driving device of wheelchair, and the voice module simultaneously in main controller controls supplementary module sends the audio alert signal not being in home.
Described system, further:
Position sensor is arranged on the handrail of electric wheelchair left and right, and the distance of distance backrest is not more than 10cm, this position sensor is infrared detection module, comprise infrared transmitter and infrared light receptor, be oppositely arranged on the handrail of left and right respectively, when receiving the infrared light that infrared transmitter is launched, the optical signal received is converted to the signal of telecommunication by this infrared light receptor, and by this signal of telecommunication real-time Transmission to master controller, after master controller receives this signal, judge that user is not yet in home; When user shelters from the infrared light that infrared transmitter sends, infrared remote receiver does not receive this light, no longer sends the described signal of telecommunication to master controller, and now master controller judges that user is in home.
Described system, further:
Sensor assembly also comprises pressure transducer, described pressure transducer is separately positioned on two regions of wheelchair: sitting face region, backrest, for detecting sitting face pressure, the backrest pressure of user health, and by the pressure value real-time Transmission that detects to master controller, master controller determines according to the pressure value received the speed whether reporting to the police or reduce wheelchair.
Described system, further:
The backrest pressure value received, sitting face pressure value compare with the multiple backrest pressure threshold preset and multiple sitting face pressure threshold by master controller respectively, when backrest pressure value and sitting face pressure value are less than the first backrest pressure threshold and the first sitting face pressure threshold respectively and are greater than the second backrest pressure threshold and the second sitting face pressure threshold, master controller sends control signal to supplementary module, and the voice module controlling supplementary module carries out audio alert; When at least one in backrest pressure value and sitting face pressure value is less than the second default backrest pressure threshold or sitting face pressure threshold, controller sends control signal to supplementary module, the voice module controlling supplementary module carries out audio alert, master controller sends the instruction of deceleration simultaneously to wheelchair driver module, reduce the velocity of rotation of electric wheelchair drive motors.
Described system, further:
Described first backrest pressure threshold is greater than the second backrest pressure threshold; First sitting face pressure threshold is greater than the second sitting face pressure threshold.
Described system, further:
Supplementary module comprises key operation module, and described key operation module comprises a power switch button, button of blowing a whistle, a speed increase button, speed reduction button, three setup times buttons;
Described power switch button and self-starting device are connected in parallel.
Described system, further:
Key operation module also comprises operating means, this operating means is the action bars be arranged on wheelchair armrest, action bars can move front, rear, left and right, and corresponding movable signal is sent to master controller, after master controller receives this operation signal, send corresponding operational order to wheelchair drive mechanism, driving device comprises drive motors and steer motor, after receiving forward and backward operational order, drive motors forward or reverse, drives wheelchair to move forward or backward; After receiving the left and right operational order turned to, steer motor rotates forward or reversion, drives the steering mechanism be attached thereto to rotate, drives wheelchair to turn left or turn right.
Described system, further:
Power management module also comprises voltage conversion circuit and battery power detection circuit;
Power transfer module is used for the voltage be converted to by supply voltage for master controller work, and for the voltage of sensor assembly, key-press module, voice synthetic module and OLED display module job demand;
Battery power detection circuit is used for detecting electric quantity of power supply, and in real time testing result is sent to master controller, the SOC values received compares with predetermined power threshold by master controller, when finding the former lower than the latter, the voice module of main controller controls supplementary module sends the low voice message of electricity.
Described system, further:
Described voltage conversion circuit comprises blood pressure lowering chip, the first three-terminal voltage-stabilizing element, the second three-terminal voltage-stabilizing element.
Described system, further:
Described voltage conversion circuit also comprises diode 10A10, Schottky diode SS34,50V, 220 μ F electrochemical capacitors, 16V, 220 μ F electrochemical capacitors, 10A protective tube, 0.1 μ F electric capacity, 1 μ F electric capacity, 10 μ F electric capacity and 100 μ H inductance;
1 foot of blood pressure lowering chip LM2576HV is voltage input end, connect 24V supply voltage, supply voltage outfan first connects 10A protective tube and connects diode 10A10 positive pole again, diode 10A10 negative pole connects 1 foot of LM2576HV, realize the input of 24V voltage, diode 10A10 negative pole exports by 50V, 220 μ F electrochemical capacitor filtering;
3 feet of blood pressure lowering chip LM2576HV are earth terminal, ground connection; 5 feet are sheet choosing end, Low level effective, ground connection; 2 feet are voltage output end, connect Schottky diode SS34 voltage stabilizing and afterflow, and 2 foot output voltages are 12V, and 2 feet connect 100 μ H energy storage inductor one end, another termination electrochemical capacitor one end of inductance, electrochemical capacitor other end ground connection; 4 feet receive the link of inductance and electrochemical capacitor, as feed back input;
First circuit of three-terminal voltage-stabilizing integrated L7805 inputs termination 12V voltage, and with 10 μ F capacitor filterings, outfan 0.1 μ F capacitor filtering, produces 5V voltage;
Second circuit of three-terminal voltage-stabilizing integrated LM1117-3.3 inputs termination 5V, and with 0.1 μ F capacitor filtering, outfan 0.1 μ F capacitor filtering, produces 3.3V voltage.
Described system, further:
Described supplementary module also comprises OLED display module, for display system status information, and display obstacle distance, display traffic information, display battery electric quantity, the Distance geometry wheelchair residue travel distance of display wheelchair walking;
Described supplementary module also comprises enumerator, enumerator is arranged on wheelchair wheel shaft, wheelchair wheel often rotates a circle, enumerator sends a count signal to master controller, master controller adds up this count signal, and accumulated value is multiplied with wheelchair wheel girth, the numerical value obtained is the travel distance of wheelchair, and this distance is presented on display module by master controller in real time; Be previously provided with in master controller battery electric quantity with can the synopsis of travel distance, the electric quantity of power supply information that master controller detects according to battery power detection circuit, compare with this synopsis, obtain corresponding to this electric quantity of power supply can travel distance, and battery electric quantity and this can be presented on display module by travel distance.
Described system, further:
Sensor assembly also comprises road conditions sensor assembly, and for detecting road conditions, and implemented to be transferred to master controller by traffic information, whether master controller determines whether to report to the police and slow down according to the traffic information received.
Described system, further:
This road conditions sensor assembly is ultrasonic detector, comprise the first ultrasonic detector and the second ultrasonic detector, wherein the first ultrasonic detector is arranged on the height lower than seat plate on wheelchair dead ahead pedal, second ultrasonic detector is arranged on below on front side of Wheel chair pedal plate, lower than the first ultrasonic detector;
After system is opened, the probe of the first ultrasonic detector and the second ultrasonic detector sends and Received signal strength, preliminary environment-identification road conditions, wherein, first ultrasonic detector mainly detects the barrier situation in wheelchair front, second ultrasonic detector mainly detects the traffic information on ground, and detectable signal is all sent to master controller by two ultrasonic detectors.
Described system, further:
Master controller reads in filtering as follows to the signal that described ultrasonic detector detects: the N number of data signal of ultrasonic detector continuous acquisition in one-period, wherein N be greater than 1 integer, and send to master controller, master controller is this N number of data signal descending, the reference signal determined in the previous cycle compares with first signal, if the two difference is larger, then Reference Signal compares with next signal, if the two gap is less, then get the meansigma methods of the value of this binary signal as reference value, and this reference value is compared with next signal again, repeat above-mentioned reference value to compare and determine mode, finally determine the signal reference value in this cycle.
Described system, further:
The reference value in neighbouring sample cycle compares by master controller, when the variable quantity of the referential data that the probe of discovery first ultrasonic detector returns is greater than predetermined variable quantity threshold value, master controller thinks that there is doubtful barrier in front, now master controller sends alarm signal, controls voice module and sends audio alert signal;
The reference value in neighbouring sample cycle compares by master controller, when the referential data that the probe of discovery second ultrasonic detector returns is greater than predetermined threshold value, master controller thinks that road conditions change, and now master controller sends alarm signal, controls voice module and sends audio alert signal.
Described system, further:
Sensor assembly also comprises Slope Transducer, Slope Transducer is two degrees of freedom sensor, is arranged in wheelchair main frame, relative to wheelchair center of gravity vertical axis, lean forward and the motion of hypsokinesis both direction at wheelchair, by the variable quantity real-time Transmission of wheelchair center of gravity vertical line that records to master controller.
Described system, further:
When wheelchair is on level land, the numerical value of two degrees of freedom sensor measurement wheelchair center of gravity vertical line is 0, and when wheelchair climb and fall, the numerical value of two degrees of freedom sensor measurement wheelchair center of gravity vertical line changes, and upward slope numerical value is positive number, descending numerical value is negative;
When the numerical value of two degrees of freedom sensor measurement wheelchair center of gravity vertical line is positive number, master controller judges that wheelchair is at upward slope, controls voice module prompting and goes up a slope;
When the numerical value of two degrees of freedom sensor measurement wheelchair center of gravity vertical line is negative, master controller judges that wheelchair is at descending, controls voice module prompting and goes up a slope.
Described system, further:
The absolute value of the numerical value of the wheelchair center of gravity vertical line that two degrees of freedom sensor detects by master controller in real time compares with the gradient max-thresholds preset, when the absolute value of the numerical value of two degrees of freedom sensor measurement wheelchair center of gravity vertical line is greater than default gradient max-thresholds, main controller controls voice module sends audio alert signal, the prompting gradient is dangerous, and wheelchair must stop;
Judge that wheelchair is in descending when master controller receives negative value, now the drive motors underdrive of main controller controls driving device, reduce wheelchair rotating speed; When master controller receive on the occasion of time judge that wheelchair is in upward slope, now the drive motors of main controller controls driving device accelerates to rotate, and improves wheelchair rotating speed.
Described system, further:
Master controller also calculates gradient i residing for wheelchair in the following way:
i = L · C n + 1 - C n C n · S · t n · 100 %
Wherein set the gradient as i, L be the distance of the second ultrasonic detector 2 apart from ground, C nbe the n-th cycle collection referential data of the second ultrasonic detector 2, C n+1be (n+1)th cycle collection referential data of the second ultrasonic detector 2, S is wheelchair speed, t nit is a collection period.
Accompanying drawing explanation
Fig. 1 is that electric wheelchair starts and obstacle avoidance system structural representation;
Fig. 2 is voltage conversion circuit circuit diagram;
Fig. 3 is ultrasonic detector installation site schematic diagram;
Fig. 4 is voltage detection circuit schematic diagram;
Fig. 5 is that Ultrasonic Sensor Data reads in filtering flow chart;
Fig. 6 is gradient Computing Principle schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.The assembly of the embodiment of the present invention describing and illustrate in usual accompanying drawing herein can be arranged with various different configuration and design.Therefore, below to the detailed description of the embodiments of the invention provided in the accompanying drawings and the claimed scope of the present invention of not intended to be limiting, but selected embodiment of the present invention is only represented.Based on embodiments of the invention, the every other embodiment that those skilled in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
As shown in Figure 1, electric wheelchair startup and obstacle avoidance system comprise: master controller, sensor assembly, power management module and supplementary module.
Wherein master controller is connected with sensor assembly, power management module, supplementary module respectively, and for the work that controls correlation module and realize controlling the entirety of electric wheelchair.
Electric wheelchair starts and obstacle avoidance system is generally in off-position when wheelchair does not work, with saves energy.Traditional electric wheelchair, when user is taken, need manual unlocking on and off switch, power management module of the present invention comprises power supply self-starting device, also be pressure-activated module, can use as on and off switch, this pressure-activated module installation is on electric wheelchair seat plate, under preferably can being arranged on the cover for seat of seat plate, this pressure-activated module can be snap switch, this switch is in normally open, use as system power switch, when user sits on electric wheelchair, the own wt of user is pressed on snap switch, this switch is caused to close, power supply conducting, electric wheelchair starts and obstacle avoidance system is in power-up state.Power module also has hand switch, can realize with the power switch button form (this switch describes in the content below) in key operation module, this hand switch is connected with pressure-activated wired in parallel, make user can when pressure-activated Module Fail, can manually switch open power supply, be system power supply.
After electric wheelchair starts and obstacle avoidance system powers on, the power stage of power supply in main controller controls power management module, now the power supply of power management module is only powered to electric wheelchair startup and obstacle avoidance system, and does not power to the driving device of electric wheelchair, to improve the safety of user.
Sensor assembly comprises position sensor, road conditions sensor, Slope Transducer and pressure transducer.After electric wheelchair starts and obstacle avoidance system powers on, position sensor is started working, this position sensor is arranged on electric wheelchair backrest vicinity, preferably be arranged on the handrail of electric wheelchair left and right, and the distance of distance backrest is not more than 10cm, this position sensor preferred can be infrared detection module, comprise infrared transmitter and infrared light receptor, be oppositely arranged on the handrail of left and right respectively, this infrared light receptor is a kind of optical-electrical converter, when receiving the infrared light that infrared transmitter is launched, the optical signal received can be converted to the signal of telecommunication by this infrared light receptor, and by this electric signal transmission to master controller.After master controller receives this signal, judge that user is not yet in home (seating position is too forward), therefore master controller sends the control signal of not powering to power management module, and now power management module controls power supply and do not power to wheelchair drive mechanism.When the seating position of user is close to wheelchair backrest or when touching wheelchair backrest, now user health shelters from the infrared light that infrared transmitter sends, then infrared remote receiver does not receive this light, no longer sends the described signal of telecommunication to master controller.Now master controller judges that user is in home, and namely distance wheelchair backrest in user back is no more than 10cm, and master controller sends instruction to energy supply control module, and energy supply control module, under this instruction controls, controls power supply and powers to wheelchair drive mechanism.
User due to electric wheelchair mostly is old, weak, patient, likely when using wheelchair abnormal sitting posture really or sitting posture offset, this can cause occurring in wheelchair operation the risk that user falls.Therefore start in mobile or moving process at wheelchair, master controller needs the sitting posture of monitoring user.The detection of sitting posture, is completed by pressure transducer.Two pressure transducers are separately positioned on two regions of wheelchair: sitting face region, backrest, for detecting sitting face pressure, the backrest pressure of user health, and by the pressure value real-time Transmission that detects to master controller.The backrest pressure value that master controller will receive, sitting face pressure value compares with the multiple backrest pressure threshold preset and multiple sitting face pressure threshold respectively, be less than the first backrest pressure threshold and the first sitting face pressure threshold respectively when backrest pressure value and sitting face pressure value and be greater than the second backrest pressure threshold and the second sitting face pressure threshold, master controller sends alarm signal to supplementary module, when in backrest pressure value and sitting face pressure value is less than the second default backrest pressure threshold or sitting face pressure threshold, controller sends alarm signal to supplementary module, send the instruction of deceleration to wheelchair driver module simultaneously, reduce the velocity of rotation of electric wheelchair drive motors to reduce the gait of march of wheelchair.Described first backrest pressure threshold is greater than the second backrest pressure threshold; First sitting face pressure threshold is greater than the second sitting face pressure threshold.
Supplementary module, comprises voice synthetic module, OLED display module, key operation module and RTC battery module, enumerator.Master controller is alarm signal to the above-mentioned signal that supplementary module sends, after when receiving described use wheelchair, abnormal sitting posture really or the alarm signal of skew occurs sitting posture, voice synthetic module sends alarm voice prompting " asking occupant to occupy stably ", to remind wheelchair user.After system is opened, voice synthetic module starts, and OLED display screen enters start-up picture, and voice module sends voice message, as " welcoming to use electric wheelchair to start and obstacle avoidance system ".When the ultrasound probe of sensor assembly detects that there is a barrier in electric wheelchair front, main controller controls voice module sends voice message, as " danger ahead please slow down ".When ultrasound probe detects that road conditions change, main controller controls voice module sends voice message, as " please noting surface conditions ".When power management module detects cell voltage lower than setting voltage threshold value, main controller controls voice module sends voice message, as " electricity is low, please return charging ".In the present invention, master controller can draw corresponding electricity according to detecting the supply voltage value obtained by the mode of tabling look-up: such as, the voltage of more than 24V---Full Charge Capacity, 23.5V voltage---80% electricity, 23V voltage---60% electricity, 22.5V voltage---40% electricity, 22V voltage---20% electricity.Therefore master controller is according to detecting that supply voltage value passes through to inquire about the voltage-capacity synopsis preset and can judge that whether electric quantity of power supply is lower than predetermined threshold, if send the low voice message of electric quantity of power supply lower than controlling voice module while of the prompting that predetermined threshold main controller controls display display power supply electricity is low.
Key operation module, comprises a power switch button, button of blowing a whistle, a speed increases button, speed reduction button, three setup times buttons.Power switch button is for opening and closing system; Button of blowing a whistle is noted for reminding front pedestrian; Speed increases button for increasing the wheelchair speed of service; Speed reduces button for reducing the wheelchair speed of service; Three time buttons are followed successively by: button 1 (S1): date Hour Minute Second mode selection button; Button 2 (S2): add 1 button; Button 3 (S3): subtract 1 button, for the displaying time of adjustment system.Key operation module also comprises wheelchair mobile actuating device, alternatively be arranged on the action bars on wheelchair armrest, user operates this action bars to front, rear, left and right, then represent user and wish that wheelchair moves to front, rear, left and right, corresponding operation signal sends to master controller.After master controller receives this operation signal, corresponding operational order is sent to driving device, driving device comprises drive motors and steer motor, after receiving forward and backward operational order, drive motors forward or reverse, after the speed changer be attached thereto, wheelchair is driven to move forward or backward; After receiving the left and right operational order turned to, steer motor rotates forward or reversion, drives the steering mechanism be attached thereto to rotate, drives wheelchair to turn left or turn right.After master controller receives the signal of turbo or deceleration button, just transmit control signal to driving device, control drive motors and accelerate to rotate or be rotated in deceleration.RCT battery module, preferably comprises a button cell, and for the backup battery as master controller, when system power supply power down, RTC battery module still can normally run like this, ensures the accurate of displaying time.
Power management module comprises 24V power supply (such as 24V chargeable lithium cell), voltage conversion circuit and battery voltage detection circuit, and 24V power supply is powered directly to the drive motors in the driving device of electric wheelchair and steer motor; Power transfer module is used for the 5V voltage be converted to by 24V supply voltage for the normal job demand of master controller, is converted to the 3.3V voltage for the normal job demand of sensor assembly, key-press module, voice synthetic module and OLED display module; Battery power detection circuit is used for detecting electric quantity of power supply, and in real time testing result is sent to master controller, the SOC values received compares with predetermined power threshold by master controller, when the former is lower than the latter, main controller controls voice module sends voice message, as " battery electric quantity is too low, please return ".
Fig. 3 is voltage conversion circuit, and voltage conversion circuit comprises blood pressure lowering chip LM2576HV, the linear circuit of three-terminal voltage-stabilizing integrated L7805 of bipolarity, voltage regulator LM1117-3.3, diode 10A04, Schottky diode SS34,50V220 μ F electrochemical capacitor, 16V220 μ F electrochemical capacitor, 10A protective tube, 0.1 μ F electric capacity, 1 μ F electric capacity, 10 μ F electric capacity and 100 μ H inductance.1 foot of blood pressure lowering chip LM2576HV is voltage input end, connect 24V supply voltage, 24V supply voltage first connects fuse and connects commutation diode 10A04 positive pole again, diode cathode connects 1 foot of LM2576HV, realize the input of 24V voltage, diode cathode exports 1 foot being accessed LM2576HV by 50V, 220 μ F electrochemical capacitor filtering again; 3 feet are earth terminal, ground connection; 5 feet are sheet choosing end, Low level effective, ground connection; 2 feet are voltage output end, connect Schottky diode SS34 voltage stabilizing and afterflow, and 2 foot output voltages are 12V, 100 μ H energy storage inductors are connect after the node of 2 feet and Schottky diode SS34, another termination 16V220 μ F electrochemical capacitor of inductance, electrochemical capacitor other end ground connection, this electrochemical capacitor is used for filtering; 4 feet receive inductance and electrochemical capacitor link, as feed back input.Bipolarity linear integrated circuit L7805 inputs termination 12V voltage, connected mode is: 12V voltage exports one end that tip connects 0.1 μ F electric capacity, this electric capacity other end ground connection, realize decoupling, then connect 10 μ F electric capacity one end, this electric capacity other end ground connection, (above two electric capacity make the Alternating Component in circuit and disturbing pulse shorted to earth reflux to realize filtering, to reduce the impact on circuit working), outfan 0.1 μ F and the filtering respectively of 1 μ F electric capacity, produce stable 5V voltage.LM1117-3.3 inputs termination 5V input, and with 0.1 μ F capacitor filtering, outfan 0.1 μ F capacitor filtering, produces stable 3.3V voltage.
As shown in Figure 4, voltage detection circuit comprises 22K ohm sampling resistor R7,1K ohm sampling resistor R9 and 0.1 μ F filter capacitor.22K ohmage R7 mono-termination 24V cell voltage, the corresponding AD sampling pin of another termination master controller and 1K ohmage R9,1K ohmage other end ground connection, 0.1 μ F electric capacity is connected on the corresponding AD of master controller and samples between pin and ground, for filtering.Voltage sample is carried out from sampled point VBAT.
OLED display module is used for display system status information, display obstacle distance, display traffic information (step and the gradient), display battery electric quantity, the Distance geometry wheelchair residue travel distance of display wheelchair walking.Wheelchair travel distance is determined as follows: enumerator is arranged on wheelchair wheel shaft, wheelchair wheel often rotates a circle, enumerator sends a count signal to master controller, master controller adds up this count signal, and accumulated value is multiplied with wheelchair wheel girth, the numerical value obtained is the travel distance of wheelchair, and this distance is presented in OLED display module by master controller in real time.Be previously provided with in master controller battery electric quantity with can the synopsis of travel distance, the supply voltage information that master controller root voltage detection circuit detects, compare with this synopsis, obtain corresponding to this electric quantity of power supply can travel distance, and battery electric quantity and this can be presented in OLED display module by travel distance.
Sensor assembly also comprises road conditions sensor assembly, for detecting road conditions.This road conditions sensor assembly can be ultrasonic detector, as shown in Figure 2, electric wheelchair starts and the road conditions sensor assembly of obstacle avoidance system comprises the first ultrasonic detector 1 and the second ultrasonic detector 2, wherein the first ultrasonic detector 1 is arranged on the height lower than seat plate on wheelchair dead ahead pedal, to be advisable lower than seat plate height 10cm, second ultrasonic detector 2 is arranged on below on front side of Wheel chair pedal plate, lower than the first ultrasonic detector 1, to be advisable lower than the installation site 20cm of the first ultrasonic detector 1, after system is opened, first ultrasonic detector 1 of road conditions sensor assembly and the probe of the second ultrasonic detector 2 send and Received signal strength, preliminary environment-identification road conditions.Wherein, the first ultrasonic detector 1 mainly detects the barrier situation in wheelchair front, and the second ultrasonic detector 2 mainly detects the traffic information on ground, and detectable signal is all sent to master controller by two ultrasonic detectors.
As shown in Figure 5, it is as follows that Ultrasonic Sensor Data reads in filtering flow process: ultrasonic detector outwards sent and Received signal strength every a fixed cycle, and setting the numerical value gathered in one-period is referential data.The adquisitiones of referential data is, ultrasonic detector in one-period the N number of data signal of continuous acquisition (N be greater than 1 integer), and send to master controller, master controller is this N number of data signal descending, first signal is compared with second signal, if the two difference is larger, if difference is more than 20% of first signal value, then first signal is compared with the 3rd signal, if the two difference is less, as difference is no more than 20% of first signal value, then the two is got the value after average as reference value, this reference value and next signal are compared, if the two difference is larger, continue to compare with next signal again by this reference value, if interpolation is less, this reference value and this next signal compared are got after average as reference value, repeat above comparison step, until last signal completeer, using the reference value that finally the obtains signal reference value as this cycle.If all completeer difference is all comparatively large, then by all for this cycle rejection of data.What a rear cycle gathered is also N number of data, and its reference value determination mode is that the reference value first determined in the last cycle compares with rear cycle first signal, determines the mode of reference value and above-described similar.By this flow process, can filtering interfering item, the data-reference value defined.
The reference value in neighbouring sample cycle compares by master controller, the variable quantity of the referential data returned when the probe of discovery first ultrasonic detector 1 is greater than predetermined variable quantity threshold value constantly, master controller thinks that there is doubtful barrier in front, barriers to entry thing detected state, ultrasonic maximum distance launched by first ultrasonic detector 1 is 5 meters, what namely can receive within the scope of 5 meters that object reflects is ultrasonic, does not then receive ultrasound wave more than 5 meters, now thinks wheelchair all is clear ahead.System acceptance to the ultrasonic signal strength reflected relevant with barrier distance, therefore can weigh the distance of distance barrier by the reference value size in the sampling period, can the synopsis of preset different reference value and obstacle distance in the controller.When barrier reflection supersonic wave, the reference value obtained in sampling period and the reference value threshold value preset compare by master controller, when reaching this thresholding, main controller controls sends alarm signal, control voice module to send and reduce rotating speed, to reduce wheelchair gait of march as the audio alert signal of " there is barrier in front " and/or main controller controls driving device comprise drive motors.
Same, the reference value in neighbouring sample cycle compares by master controller, when the variable quantity of the referential data that the probe of discovery second ultrasonic detector 2 returns is greater than predetermined variable quantity threshold value, master controller thinks that road conditions change, controller sends alarm signal, controls voice module and sends audio alert signal.Cardinal principle is: set the second ultrasonic detector 2 apart from level land ground distance as h, gather in advance and the reference value received when wheelchair is in plane is set, in actual road conditions, the second ultrasonic detector 2 is H apart from ground level, the numerical value in sampling period that second ultrasonic detector 2 receives when level land is reference value C, and the ratio that so H equals the reference value C received when the referential data D in the sampling period received in actual road conditions and wheelchair are in plane is multiplied by h.Preset a height alarm threshold value of getting out of a predicament or an embarrassing situation, be greater than when continuous 5 sampling periods calculate H height alarm threshold value of getting out of a predicament or an embarrassing situation, then judge that wheelchair is about to enter region of getting out of a predicament or an embarrassing situation, controller sends alarm signal, control voice module and send audio alert signal, prompting has step dangerous, and wheelchair must stop.
Native system can also carry out detection to the gradient residing for wheelchair and identify.Slope detection is completed by Slope Transducer, Slope Transducer can be two degrees of freedom sensor, as gyroscope, be arranged in wheelchair main frame, relative to wheelchair center of gravity vertical axis, lean forward and the motion of hypsokinesis both direction at wheelchair, by the variable quantity real-time Transmission of wheelchair center of gravity vertical line that records to master controller.When wheelchair is on level land, the numerical value of two degrees of freedom sensor measurement wheelchair center of gravity vertical line is 0, and when wheelchair climb and fall, the numerical value of two degrees of freedom sensor measurement wheelchair center of gravity vertical line changes, upward slope numerical value is positive number, descending numerical value is negative, systemic presupposition gradient max-thresholds.When the numerical value of two degrees of freedom sensor measurement wheelchair center of gravity vertical line is positive number, master controller judges that wheelchair is at upward slope, controls voice module prompting and goes up a slope; When the numerical value of two degrees of freedom sensor measurement wheelchair center of gravity vertical line is negative, master controller judges that wheelchair is at descending, controls voice module prompting and goes up a slope.The absolute value of the numerical value of the wheelchair center of gravity vertical line that two degrees of freedom sensor detects by master controller in real time compares with the gradient max-thresholds preset, when the absolute value of the numerical value of two degrees of freedom sensor measurement wheelchair center of gravity vertical line is greater than default gradient max-thresholds, main controller controls voice module sends audio alert signal, the prompting gradient is dangerous, and wheelchair must stop.Master controller judges that wheelchair is in descending when receiving negative value, now the drive motors underdrive of main controller controls driving device, reduces wheelchair rotating speed, improves safety; Master controller receive on the occasion of time judge that wheelchair is in upward slope, now the drive motors of main controller controls driving device accelerates to rotate, and improves wheelchair rotating speed, is beneficial to climbing.
As shown in Figure 6, master controller can also calculate the gradient residing for wheelchair in the following way:
Calculate gradient formula: wherein set the gradient as i, L be the distance of the second ultrasonic detector 2 apart from ground, C nbe the n-th cycle collection referential data of the second ultrasonic detector 2, C n+1be (n+1)th cycle collection referential data of the second ultrasonic detector 2, S is wheelchair speed, t nit is a collection period.
i = L · C n + 1 - C n C n · S · t n · 100 %
Second ultrasonic detector 2 distance ground when collection n-th cycle reference numerical value is thought or L, and when collection (n+1)th cycle reference numerical value, distance ground distance is then for depth displacement, St nfor level error.
Above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.

Claims (10)

1. electric wheelchair induction starts and an obstacle avoidance system, comprising: master controller, sensor assembly, power management module and supplementary module, is characterized in that:
Master controller is connected with sensor assembly, power management module, supplementary module respectively;
Sensor assembly comprises position sensor;
Power management module comprises power supply and power supply self-starting device, self-starting device is as on and off switch, be in normally open, power with deenergization, after this self-starting device is under pressure, switch closes, power supply conducting, electric wheelchair starts and obstacle avoidance system is in power-up state, and main controller controls power supply is not temporarily powered to wheelchair drive mechanism;
After system electrification, the seating position information of electric wheelchair user is sent to master controller by position sensor in real time, according to the positional information received, master controller judges whether user is in home, if be in home, main controller controls power management module is powered to the driving device of wheelchair; If judge that user is not in home, then main controller controls power management module is not powered to the driving device of wheelchair, and the voice module simultaneously in main controller controls supplementary module sends the audio alert signal that user is not in home.
2. system according to claim 1, is characterized in that:
Position sensor is arranged on the handrail of electric wheelchair left and right, and the distance of distance backrest is not more than 10cm, this position sensor is infrared detection module, comprise infrared transmitter and infrared light receptor, be oppositely arranged on the handrail of wheelchair left and right respectively, when receiving the infrared light that infrared transmitter is launched, the optical signal received is converted to the signal of telecommunication by this infrared light receptor, and by this signal of telecommunication real-time Transmission to master controller, after master controller receives this signal, judge that user is not yet in home; When user shelters from the infrared light that infrared transmitter sends, infrared remote receiver does not receive this light, no longer sends the described signal of telecommunication to master controller, and now master controller judges that user is in home.
3. system according to claim 1, is characterized in that:
Sensor assembly also comprises pressure transducer, described pressure transducer is separately positioned on two regions of wheelchair: sitting face region, backrest, for detecting sitting face pressure, the backrest pressure of user health, and by the pressure value real-time Transmission that detects to master controller, master controller determines according to the pressure value received the speed whether reporting to the police or reduce wheelchair.
4. system according to claim 3, is characterized in that:
The backrest pressure value received, sitting face pressure value compare with the multiple backrest pressure threshold preset and multiple sitting face pressure threshold by master controller respectively, when backrest pressure value and sitting face pressure value are less than the first backrest pressure threshold and the first sitting face pressure threshold respectively and are greater than the second backrest pressure threshold and the second sitting face pressure threshold, master controller sends control signal to supplementary module, and the voice module controlling supplementary module carries out audio alert; When at least one in backrest pressure value and sitting face pressure value is less than the second default backrest pressure threshold or sitting face pressure threshold, controller sends control signal to supplementary module, the voice module controlling supplementary module carries out audio alert, master controller sends the instruction of deceleration simultaneously to wheelchair driver module, reduce the velocity of rotation of electric wheelchair drive motors.
5. system according to claim 4, is characterized in that:
Described first backrest pressure threshold is greater than the second backrest pressure threshold; First sitting face pressure threshold is greater than the second sitting face pressure threshold.
6. system according to claim 1, is characterized in that:
Supplementary module comprises key operation module, and described key operation module comprises a power switch button, button of blowing a whistle, a speed increase button, speed reduction button, three setup times buttons;
Described power switch button and self-starting device are connected in parallel.
7. system according to claim 6, is characterized in that:
Key operation module also comprises operating means, this operating means is the action bars be arranged on wheelchair armrest, action bars can move front, rear, left and right, and corresponding movable signal is sent to master controller, after master controller receives this operation signal, send corresponding operational order to wheelchair drive mechanism, driving device comprises drive motors and steer motor, after receiving forward and backward operational order, drive motors forward or reverse, drives wheelchair to move forward or backward; After receiving the left and right operational order turned to, steer motor rotates forward or reversion, drives the steering mechanism be attached thereto to rotate, drives wheelchair to turn left or turn right.
8. system according to claim 1, is characterized in that:
Power management module also comprises voltage conversion circuit and voltage detection circuit;
Voltage transformation module is used for the voltage be converted to by supply voltage for master controller work, and for the voltage of sensor assembly, key-press module, voice synthetic module and OLED display module job demand;
Voltage detection circuit is used for detecting supply voltage, and in real time testing result is sent to master controller, the voltage value received compares with predetermined voltage threshold by master controller, when finding the former lower than the latter, the voice module of main controller controls supplementary module sends the low voice message of electricity.
9. system according to claim 1, is characterized in that:
Described supplementary module also comprises OLED display module, for display system status information, and display obstacle distance, display traffic information, display battery electric quantity, the Distance geometry wheelchair residue travel distance of display wheelchair walking;
Described supplementary module also comprises enumerator, enumerator is arranged on wheelchair wheel shaft, wheelchair wheel often rotates a circle, enumerator sends a count signal to master controller, master controller adds up this count signal, and accumulated value is multiplied with wheelchair wheel girth, the numerical value obtained is the travel distance of wheelchair, and this distance is presented on display module by master controller in real time; Be previously provided with in master controller battery electric quantity with can the synopsis of travel distance, the supply voltage information that master controller detects according to voltage detection circuit, compare with this synopsis, obtain corresponding to this electric quantity of power supply can travel distance, and battery electric quantity and this can be presented on display module by travel distance.
10. system according to claim 1, is characterized in that:
Sensor assembly also comprises road conditions sensor assembly, and for detecting road conditions, and implemented to be transferred to master controller by traffic information, whether master controller determines whether to report to the police and slow down according to the traffic information received.
CN201610146562.6A 2016-03-15 2016-03-15 Starting and barrier avoiding system of electrically powered wheelchair Active CN105534650B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201710167445.2A CN106901917B (en) 2016-03-15 2016-03-15 A kind of electric wheelchair sensor assembly
CN201610146562.6A CN105534650B (en) 2016-03-15 2016-03-15 Starting and barrier avoiding system of electrically powered wheelchair
CN201710167460.7A CN107007403B (en) 2016-03-15 2016-03-15 A kind of electric wheelchair

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610146562.6A CN105534650B (en) 2016-03-15 2016-03-15 Starting and barrier avoiding system of electrically powered wheelchair

Related Child Applications (2)

Application Number Title Priority Date Filing Date
CN201710167445.2A Division CN106901917B (en) 2016-03-15 2016-03-15 A kind of electric wheelchair sensor assembly
CN201710167460.7A Division CN107007403B (en) 2016-03-15 2016-03-15 A kind of electric wheelchair

Publications (2)

Publication Number Publication Date
CN105534650A true CN105534650A (en) 2016-05-04
CN105534650B CN105534650B (en) 2017-04-26

Family

ID=55814586

Family Applications (3)

Application Number Title Priority Date Filing Date
CN201710167445.2A Active CN106901917B (en) 2016-03-15 2016-03-15 A kind of electric wheelchair sensor assembly
CN201610146562.6A Active CN105534650B (en) 2016-03-15 2016-03-15 Starting and barrier avoiding system of electrically powered wheelchair
CN201710167460.7A Active CN107007403B (en) 2016-03-15 2016-03-15 A kind of electric wheelchair

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN201710167445.2A Active CN106901917B (en) 2016-03-15 2016-03-15 A kind of electric wheelchair sensor assembly

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201710167460.7A Active CN107007403B (en) 2016-03-15 2016-03-15 A kind of electric wheelchair

Country Status (1)

Country Link
CN (3) CN106901917B (en)

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105943271A (en) * 2016-05-24 2016-09-21 李秀全 Sample bed used for department of laboratory
CN106038148A (en) * 2016-05-24 2016-10-26 李春 Operation bed for orthopedics department
CN106038149A (en) * 2016-05-24 2016-10-26 王翠平 Special bed for department of gynecology and obstetrics
CN106990407A (en) * 2017-02-24 2017-07-28 联创汽车电子有限公司 Anti-collision alarm system ultrasonic blind zone processing method and anti-collision alarm system
CN107320810A (en) * 2017-07-12 2017-11-07 孙烨 Monitor the transfusion chair of hygienic state
CN107361932A (en) * 2017-08-31 2017-11-21 苏州诺乐智能科技有限公司 A kind of electric wheelchair controller
CN107374639A (en) * 2017-07-18 2017-11-24 王琳 Hygienic state detection platform
CN107468437A (en) * 2017-07-18 2017-12-15 常英梅 Slope climbing type extended pattern wheelchair
CN108078694A (en) * 2017-12-29 2018-05-29 上海电力学院 A kind of wheelchair with navigation feature
CN108309594A (en) * 2018-03-14 2018-07-24 苏州辰晟优机电科技有限公司 A kind of wheelchair
WO2018176506A1 (en) * 2017-03-31 2018-10-04 武汉理工大学 System and method for controlling interventional actively-controlled intelligent wheelchair
CN108852655A (en) * 2017-05-09 2018-11-23 武汉易行子科技有限公司 Intelligent and safe electric wheelchair with seat monitoring, pressure perception and speed monitoring
CN109568037A (en) * 2018-11-29 2019-04-05 成都文博蓉耀科技有限公司 A kind of wheelchair device with intelligent reminding function
CN109984894A (en) * 2019-04-12 2019-07-09 深圳市班玛智行科技有限公司 A kind of Moveable intelligent assistance system
CN110420098A (en) * 2018-07-09 2019-11-08 江西斯麦高医疗器械科技有限公司 A kind of system of the road gradient detection and automatic adjustment of wheelchair
US20200237587A1 (en) * 2019-01-29 2020-07-30 Lg Electronics Inc. Motorized wheelchair and control method thereof
CN111643287A (en) * 2020-05-26 2020-09-11 首都医科大学宣武医院 Install in weight measurement system and wheelchair of wheelchair
CN111739255A (en) * 2020-06-19 2020-10-02 无锡绿科源电子科技有限公司 Auxiliary vehicle device, monitoring method and system based on auxiliary vehicle device
CN112859718A (en) * 2019-04-17 2021-05-28 国家康复辅具研究中心 Intelligent walking aid control circuit
CN112859679A (en) * 2021-01-07 2021-05-28 国家康复辅具研究中心 Wheelchair posture adjustment system
CN113017319A (en) * 2021-05-06 2021-06-25 武汉理工大学 Help old man's seat that helps old man to remove
CN113633530A (en) * 2018-08-28 2021-11-12 国家康复辅具研究中心 Intelligent walking aid
CN117234115A (en) * 2023-11-15 2023-12-15 深圳安培时代数字能源科技有限公司 Control method and related device of electric wheelchair

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106901917B (en) * 2016-03-15 2018-04-17 国家康复辅具研究中心 A kind of electric wheelchair sensor assembly
CN107280871B (en) * 2017-07-08 2018-05-18 宋秀梅 Intelligent medical wheelchair
CN107536311B (en) * 2017-10-17 2020-05-26 国家康复辅具研究中心 Intelligent multifunctional seat system
CN109895136A (en) * 2017-12-10 2019-06-18 湘潭宏远电子科技有限公司 A kind of robot balancing device
CN112022530A (en) * 2020-08-12 2020-12-04 广东欣会铝制品有限公司 Control method for wheelchair and wheelchair
CN115487002B (en) * 2022-11-17 2023-01-13 潍坊医学院附属医院 Electric wheelchair

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001086790A (en) * 1999-09-10 2001-03-30 Mitsuba Corp Motor controller
JP2007228135A (en) * 2006-02-22 2007-09-06 National Institute Of Advanced Industrial & Technology Utterance position estimate method and utterance position estimate apparatus using same, and electric wheelchair
CN201604748U (en) * 2009-09-30 2010-10-13 昆山好孩子百瑞康健康用品有限公司 Scooter
CN201716580U (en) * 2010-06-02 2011-01-19 华中科技大学 Electric wheelchair control system
CN202136503U (en) * 2011-07-01 2012-02-08 山东科技大学 Voice controlled obstacle-avoidance wheelchair
CN102600026A (en) * 2012-03-09 2012-07-25 常州汉迪机器人科技有限公司 Omni-directional intelligent electric wheel chair
CN103064283A (en) * 2012-12-14 2013-04-24 北京工业大学 Self-learning wheel chair control method based on change of gravity center of human body
CN103705352A (en) * 2013-12-27 2014-04-09 南京升泰元机器人科技有限公司 Intelligent wheelchair based on brain-computer interface and control system and control method thereof
CN104161629A (en) * 2014-06-27 2014-11-26 西安交通大学苏州研究院 Intelligent wheelchair
JP2015142414A (en) * 2014-01-28 2015-08-03 スズキ株式会社 vehicle control device
CN105250085A (en) * 2015-11-02 2016-01-20 深圳佳宜佳科技有限公司 Automatic obstacle avoidance control system of electric wheelchair

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201379725Y (en) * 2009-03-15 2010-01-13 姚湘江 Obstacle-avoidance electric wheelchair
CN201939611U (en) * 2010-12-17 2011-08-24 王荣虎 Special intelligent safety protection system for stairs-climbing seat
CN102125488B (en) * 2011-04-18 2012-10-10 中国科学院自动化研究所 Planet wheel type stair-climbing electric wheelchair
CN202800766U (en) * 2012-07-13 2013-03-20 汪夏 Solar public chair with internet and multimedia functions
CN104434428A (en) * 2014-11-07 2015-03-25 济宁中科先进技术研究院有限公司 Novel intelligent wheelchair
CN104523386B (en) * 2014-12-25 2017-04-26 南通康盛医疗器械有限公司 Wheel chair
CN105105938A (en) * 2015-07-14 2015-12-02 南京邮电大学 Intelligent wheelchair control method and system based on face orientation identification and tracking
CN106901917B (en) * 2016-03-15 2018-04-17 国家康复辅具研究中心 A kind of electric wheelchair sensor assembly

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001086790A (en) * 1999-09-10 2001-03-30 Mitsuba Corp Motor controller
JP2007228135A (en) * 2006-02-22 2007-09-06 National Institute Of Advanced Industrial & Technology Utterance position estimate method and utterance position estimate apparatus using same, and electric wheelchair
CN201604748U (en) * 2009-09-30 2010-10-13 昆山好孩子百瑞康健康用品有限公司 Scooter
CN201716580U (en) * 2010-06-02 2011-01-19 华中科技大学 Electric wheelchair control system
CN202136503U (en) * 2011-07-01 2012-02-08 山东科技大学 Voice controlled obstacle-avoidance wheelchair
CN102600026A (en) * 2012-03-09 2012-07-25 常州汉迪机器人科技有限公司 Omni-directional intelligent electric wheel chair
CN103064283A (en) * 2012-12-14 2013-04-24 北京工业大学 Self-learning wheel chair control method based on change of gravity center of human body
CN103705352A (en) * 2013-12-27 2014-04-09 南京升泰元机器人科技有限公司 Intelligent wheelchair based on brain-computer interface and control system and control method thereof
JP2015142414A (en) * 2014-01-28 2015-08-03 スズキ株式会社 vehicle control device
CN104161629A (en) * 2014-06-27 2014-11-26 西安交通大学苏州研究院 Intelligent wheelchair
CN105250085A (en) * 2015-11-02 2016-01-20 深圳佳宜佳科技有限公司 Automatic obstacle avoidance control system of electric wheelchair

Cited By (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106038148A (en) * 2016-05-24 2016-10-26 李春 Operation bed for orthopedics department
CN106038149A (en) * 2016-05-24 2016-10-26 王翠平 Special bed for department of gynecology and obstetrics
CN107007424A (en) * 2016-05-24 2017-08-04 王翠平 Gynemetrics's bed special
CN105943271A (en) * 2016-05-24 2016-09-21 李秀全 Sample bed used for department of laboratory
CN106990407A (en) * 2017-02-24 2017-07-28 联创汽车电子有限公司 Anti-collision alarm system ultrasonic blind zone processing method and anti-collision alarm system
CN106990407B (en) * 2017-02-24 2020-12-29 联创汽车电子有限公司 Ultrasonic blind area processing method of anti-collision alarm system and anti-collision alarm system
WO2018176506A1 (en) * 2017-03-31 2018-10-04 武汉理工大学 System and method for controlling interventional actively-controlled intelligent wheelchair
CN108852655A (en) * 2017-05-09 2018-11-23 武汉易行子科技有限公司 Intelligent and safe electric wheelchair with seat monitoring, pressure perception and speed monitoring
CN107320810B (en) * 2017-07-12 2018-06-29 青岛市肿瘤医院 Monitor the transfusion chair of hygienic state
CN107320810A (en) * 2017-07-12 2017-11-07 孙烨 Monitor the transfusion chair of hygienic state
CN107374639A (en) * 2017-07-18 2017-11-24 王琳 Hygienic state detection platform
CN107468437A (en) * 2017-07-18 2017-12-15 常英梅 Slope climbing type extended pattern wheelchair
CN107374639B (en) * 2017-07-18 2020-03-06 青岛市市立医院 Sanitary state detection platform
CN107361932A (en) * 2017-08-31 2017-11-21 苏州诺乐智能科技有限公司 A kind of electric wheelchair controller
CN108078694A (en) * 2017-12-29 2018-05-29 上海电力学院 A kind of wheelchair with navigation feature
CN108309594A (en) * 2018-03-14 2018-07-24 苏州辰晟优机电科技有限公司 A kind of wheelchair
CN110420098A (en) * 2018-07-09 2019-11-08 江西斯麦高医疗器械科技有限公司 A kind of system of the road gradient detection and automatic adjustment of wheelchair
CN113633530A (en) * 2018-08-28 2021-11-12 国家康复辅具研究中心 Intelligent walking aid
CN113633530B (en) * 2018-08-28 2024-04-05 国家康复辅具研究中心 Intelligent walking aid
CN109568037A (en) * 2018-11-29 2019-04-05 成都文博蓉耀科技有限公司 A kind of wheelchair device with intelligent reminding function
US20200237587A1 (en) * 2019-01-29 2020-07-30 Lg Electronics Inc. Motorized wheelchair and control method thereof
CN109984894A (en) * 2019-04-12 2019-07-09 深圳市班玛智行科技有限公司 A kind of Moveable intelligent assistance system
CN112859718A (en) * 2019-04-17 2021-05-28 国家康复辅具研究中心 Intelligent walking aid control circuit
CN112859718B (en) * 2019-04-17 2022-09-02 国家康复辅具研究中心 Intelligent walking aid control circuit
CN111643287A (en) * 2020-05-26 2020-09-11 首都医科大学宣武医院 Install in weight measurement system and wheelchair of wheelchair
CN111739255A (en) * 2020-06-19 2020-10-02 无锡绿科源电子科技有限公司 Auxiliary vehicle device, monitoring method and system based on auxiliary vehicle device
CN112859679A (en) * 2021-01-07 2021-05-28 国家康复辅具研究中心 Wheelchair posture adjustment system
CN113017319A (en) * 2021-05-06 2021-06-25 武汉理工大学 Help old man's seat that helps old man to remove
CN113017319B (en) * 2021-05-06 2023-11-14 武汉理工大学 Help old man to remove seat
CN117234115A (en) * 2023-11-15 2023-12-15 深圳安培时代数字能源科技有限公司 Control method and related device of electric wheelchair
CN117234115B (en) * 2023-11-15 2024-02-02 深圳安培时代数字能源科技有限公司 Control method and related device of electric wheelchair

Also Published As

Publication number Publication date
CN105534650B (en) 2017-04-26
CN106901917A (en) 2017-06-30
CN107007403A (en) 2017-08-04
CN107007403B (en) 2018-06-05
CN106901917B (en) 2018-04-17

Similar Documents

Publication Publication Date Title
CN105534650A (en) Starting and barrier avoiding system of electrically powered wheelchair
CN106308752A (en) Sleep monitoring method based on wearable equipment and sleep monitoring system based on wearable equipment
CN109116161A (en) A kind of shield door abnormal state detection system and control method
CN210402486U (en) Induction self-powered face recognition intelligent door lock based on TOF technology
CN104622649A (en) Wheelchair system on basis of Bluetooth myoelectric collectors and method for controlling wheelchair system
CN111383391A (en) Fill electric pile face identification intelligent device
CN105882519A (en) Anti-collision device and control method for door opening after vehicle parking
CN110091734A (en) A kind of intelligent radio charging cart system and its charging method
CN106183974A (en) Electric automobile and for pedestrian's system for prompting of electric automobile and method
CN105147504A (en) Multifunctional intelligent blind guiding crutch
CN211857283U (en) Intelligent wheelchair control system
CN204238323U (en) A kind of universal urinal with urine volume monitoring function
CN208141623U (en) Night proximity-warning device and night crash bar
CN203319488U (en) Counting/analyzing prewarning monitoring management system for pedestrian volume of escalator and moving walkway
CN210134746U (en) Automatic door control device and automatic door system
CN111049248A (en) Solar electric automobile fills electric pile
CN209634420U (en) A kind of interior delay children's safety warning device
CN205078078U (en) Controlling means of electronic bus
CN115016350A (en) Getting-off falling-prevention risk-avoiding system and method based on ultrasonic ranging single chip microcomputer and relay control central lock
CN206508142U (en) Active tracing intelligent wheel chair
CN211830636U (en) Motor locked rotor detection device based on current ripple
CN113668661A (en) Intelligent squatting pan system with weighing and safety protection functions
CN206003272U (en) A kind of automobile information monitoring system based on Internet of Things
CN214376857U (en) Natural disaster comprehensive early warning system based on multiple disaster sensing
CN102013146B (en) Control method of alarm with functions of panoramic scanning and active probing

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant