CN105816280A - Intelligent stair climbing wheelchair with effect of automatic distance measurement - Google Patents
Intelligent stair climbing wheelchair with effect of automatic distance measurement Download PDFInfo
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- CN105816280A CN105816280A CN201610285871.1A CN201610285871A CN105816280A CN 105816280 A CN105816280 A CN 105816280A CN 201610285871 A CN201610285871 A CN 201610285871A CN 105816280 A CN105816280 A CN 105816280A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/063—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels
- A61G5/065—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels with three or more wheels mounted on a rotary cross member, e.g. spiders or spoked wheels with small wheels at the end of the spokes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1002—Parts, details or accessories with toilet facilities
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
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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
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/18—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering by patient's head, eyes, facial muscles or voice
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
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- 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 discloses an intelligent stair climbing wheelchair with an effect of automatic distance measurement. The wheelchair comprises a travelling and climbing mechanism, a wheelchair rack, a seat, an automatic mass center regulation mechanism, and a battery pack, wherein the seat is arranged inside the wheelchair rack due to a seat suspension mechanism, and the seat suspension mechanism is connected with the wheelchair rack through a spherical hinge; the travelling and climbing mechanism comprises a star wheel mechanism and an automatic mass center regulation support; the star wheel structure is connected with the wheelchair rack by virtue of the mass center automatic regulation support; the star wheel structure has three star wheel expansion links which are uniformly distributed in circumference; the free end of each star wheel expansion link is provided with a star wheel, a servo motor is used for driving the star wheel expansion links to rotate around a transmission shaft, and star wheels rotate freely around an assembly shaft. When the intelligent stair climbing wheelchair is on a flat ground, two star wheels are contacted with the ground; when the wheelchair is used for climbing stairs, the servo motor is used for driving the star wheel expansion links to rotate according to a control signal sent by a control system processor, so that stair climbing is realized.
Description
Technical field
The present invention relates to wheelchair technical field, be specifically related to the intelligent stair climbing wheelchair of a kind of automatic range.
Background technology
The life aid that crowd that wheelchair is handicapped is important, for old people, leg disability or temporarily can not be for the crowd of independent ambulation, wheelchair is that their life brings great convenience.But during the use of wheelchair, it is impossible to enough stair climbing, step, and a lot of occasion does not arrange Wheelchair Accessible, and therefore, the wheelchair with stair climbing function has important practical value.
In order to realize stair climbing function, existing stair climbing wheelchair mainly has continuous and batch-type two kinds；Continuous stair climbing wheelchair is mainly characterized by during stair climbing, has one group of support means, utilizes the function of the stair activity realizing wheelchair that moves continuously of this support means, can be divided into star-like wheel mechanism, Athey wheel mechanism and rail mechanism according to construction features；The Chinese patent literature of such as Publication No. CN203138896U discloses one can stair climbing wheel chair, including wheelchair, axis is installed on wheelchair, right A-frame is installed on the right of axis, be respectively mounted on three supports of right A-frame upper right wheel, right take turns, bottom right wheel, the left side of axis is installed left A-frame, three supports of left A-frame is respectively mounted steamboat, left front steamboat, left center before the right side, installation lower-left, the anterior lower left wheel of wheelchair, installation bottom right, the anterior lower right wheel of wheelchair.Being mainly characterized by of batch-type stair climbing wheel chair has two groups of support meanss, by the alternating action of two groups of support meanss, thus realizes the function of stair activity, such as the process of human body stair activity.
The Chinese patent literature of Publication No. CN204683956U discloses a kind of apery foot shape cat ladder and automatization's wheelchair of intelligent mobile phone Bluetooth control；Including wheelchair frame, the gearshift being installed on wheelchair frame, stair-climbing mechanism, gravity center adjusting mechanism, seat, level walking part and intelligent mobile phone Bluetooth control part；Being operated by three motors of controlled in wireless (Bluetooth control), the front motor being wherein positioned at wheelchair frame right front ends drives four humanoid machinery feet to realize automatic cat ladder, can also adjust center of gravity during cat ladder；Left driving motor and the right driving motor of wheelchair frame rear end can realize wheelchair level walking.The automaticity of existing stair climbing wheelchair is the highest, and function is more single, and can not meet the cat ladder problem on the stair of differing heights, step.
Summary of the invention
It is an object of the invention to provide the intelligent stair climbing wheelchair of a kind of automatic range, in order to solve existing stair climbing wheelchair, not there is adaptation differing heights stair or the problem of step, the function simultaneously solving existing stair climbing wheelchair is more single, and Consumer's Experience is the highest, the problem that automaticity is low.
For achieving the above object, specifically, the technical scheme is that
The intelligent stair climbing wheelchair of a kind of automatic range, described wheelchair includes walk climbing device, Wheelchair support, seat and barycenter self-regulation structure, set of cells；Described seat is arranged on inside described Wheelchair support by seat suspension mechanism, and described seat suspension mechanism is connected with described Wheelchair support by ball pivot；Described walking climbing device includes that star-like wheel mechanism, barycenter are automatically adjusted support；Described star-like wheel construction is automatically adjusted support by described barycenter and is connected with Wheelchair support；Described star-like wheel construction has the star-like of three uniform circular distributions and takes turns expansion link；Being respectively arranged with star-like wheel on the described star-like free end taking turns expansion link, described in driven by servomotor, star-like expansion link of taking turns is around drive axis, described star-like take turns around install axle freely rotatable.When level land, two described star-like wheels contact with ground；During stair climbing, the control signal that servomotor sends according to control system processor, drive star-like expansion link of taking turns to rotate, thus realize cat ladder；
Described wheelchair also includes that automatic control system, described automatic control system include control system processor, detection sensor, step automatic range processor；Described step automatic range processor obtains the height of step, width data by described detection sensor；Described control system processor is connected with described step automatic range processor, height according to described step, width data calculate and obtain the star-like control signal taking turns expansion link, the described star-like control signal taking turns expansion link drives the described star-like actuator taken turns on expansion link, it is achieved described star-like take turns the flexible of expansion link.
Further, described automatic control system also has centroid adjustment module, is automatically adjusted the support pressure transducer of depressed position, centroid adjustment processor and gyroscope including being arranged on barycenter；Described pressure transducer obtains each described barycenter in real time and is automatically adjusted the force value of support；The perpendicularity of Wheelchair support monitored in real time by described gyroscope；Centroid adjustment processor regulates, according to described force value and/or perpendicularity, the actuator that described barycenter is automatically adjusted in support in real time, it is achieved the regulation of wheelchair barycenter.
Further, seat is one and is completely independent assembly structure, and seat suspension mechanism is suspended on Wheelchair support by one group of ball pivot, and during stair activity, chair top is in level all the time, and user will not swing when stair activity；It addition, be provided with electromagnetic locking device in described ball pivot and seat suspension mechanism, for locking described seat when wheelchair topples；Also having auxiliary support mechanism in the both sides of described Wheelchair support and bottom, including collateral strut, bottom support bar, described collateral strut, bottom support bar are locked by electromagnetic locking device；When wheelchair topples, described electromagnetic locking device is opened, and bottom support bar acts on stairway step or collateral strut acts on wall or the guardrail of wheelchair both sides.
Further, the intelligent stair climbing wheelchair of described automatic range be additionally provided with vital sign parameter monitoring and alarm module, including body temperature trans, respiration pickup, heartbeat sensor, oximetry sensor, pressure transducer, blood fat sensor, blood glucose sensor wherein one or more；The vital signs parameter signal of described sensor acquisition is sent to described control system processor, notes abnormalities and reports to the police immediately.
Further, the intelligent stair climbing wheelchair of described automatic range is additionally provided with excretion cleaning module, including the porus excretorius arranged in seat, left and right orifice plate, orifice plate drive mechanism, orifice plate pad, collecting bag, warm-water washing apparatus and hot-air drying unit；Described left and right orifice plate is used for closing described porus excretorius, and described orifice plate drive mechanism is for controlling unlatching and the Guan Bi of described left and right orifice plate, and described orifice plate pad is arranged on above the orifice plate of described left and right, and collecting bag is arranged on below described porus excretorius；Described warm-water washing apparatus and hot-air drying unit include warm water source, hot air source and pipeline configuration, centre position is pointed in the inclination of described pipeline configuration, described warm water source, hot air source are used in conjunction with described pipeline configuration, realize warm water by a solenoid directional control valve and hot blast switches.
Further, described collecting bag is arranged in collecting box, is provided with closing device and the shear of described collecting bag in the upper end of described collecting box.
Further, described excretion cleaning module also includes humidity sensor, when humidity sensor monitor buttocks humidity excessive time, automatic controlling system orifice plate drive mechanism, warm-water washing apparatus, hot-air drying unit, closing device, shear work successively, it is achieved automated cleaning.
Further, described star-like expansion link is taken turns and actuator that barycenter is automatically adjusted in support is screw rod motor, hydraulic cylinder or the pneumatic element of servo-drive；Described automatic control system controls described actuator in real time according to control signal.
Further, described automatic control system also includes multiple operation control module, including remotely controlling, Non-follow control, Voice command, brain wave control in one or more；
Described long-range control is remotely to be controlled intelligence stair climbing wheelchair by internet platform, carries out video by the Internet, audio interaction realizes emotion and accompanies and attends to.
Described Non-follow control is that intelligence stair climbing wheelchair is controlled by user or guardian by controlling button or touch screen；
Described Voice command is to be controlled intelligence stair climbing wheel chair by voice, is suitable for brain and regains consciousness but limbs inconvenience person.
Described brain wave controls to be the eeg signal by gathering user, and the EEG signals of the computer signal to collecting physiological activity daily with user is compared, according to comparison result to actuator transmission of control signals.
Can also be extended to: user by Push-pull Flow to intelligence stair climbing wheel chair be controlled, especially suitable to upper limb inconvenient activity person or by the action of eyes to intelligence stair climbing wheel chair be controlled, be suitable for brain regain consciousness but limbs inconvenience person.
The intelligent stair climbing wheelchair of the automatic range of the present invention has the advantage that
By arranging the governor motion of expansion link on expansion link star-like wheel, and width and the altitude information of step is realized by detection sensor, realize star-like taking turns being automatically adjusted of expansion link by automatic control system, this intelligence stair climbing wheel chair can be applicable to different steps or stair, has more wide applicability.Intelligence stair climbing wheel chair is provided with multiple automatization module, it is possible to realize excretion automated cleaning, multiple automatic control means, also there is safety guarantee function so that intelligence stair climbing wheel chair has functional diversities, it is ensured that user is obtained in that more convenient.
Accompanying drawing explanation
Fig. 1 is the structural representation of the intelligent stair climbing wheelchair of the automatic range of the present invention；
Fig. 2 is the structural representation of the auxiliary support mechanism of the present invention；
Fig. 3 is the structural representation of the excretion cleaning module of the present invention；
Wherein, 1, seat；2, Wheelchair support；3, ball pivot；4, seat suspension mechanism；5, barycenter is automatically adjusted support；6, centroid adjustment processor；7, detection sensor；8, set of cells；9, control system processor；10, step automatic range processor；11, star-like take turns；12, star-like expansion link is taken turns；13, gyroscope；14, servomotor；15, drive mechanism；51, collateral strut；52, bottom support bar；53, electromagnetic locking device；101, orifice plate drive mechanism；102, orifice plate；103, orifice plate pad；104, closing device；105, shear；106, collecting bag；107, collecting box；108, pipeline configuration.
Detailed description of the invention
Following example are used for illustrating the present invention, but are not limited to the scope of the present invention.
Embodiment 1
As it is shown in figure 1, the intelligent stair climbing wheelchair of a kind of automatic range, including walking climbing device, Wheelchair support 2, seat 1 and barycenter self-regulation structure, set of cells 8；Seat 1 is arranged on inside Wheelchair support 2 by seat suspension mechanism 4, and seat suspension mechanism 4 is connected with Wheelchair support 2 by ball pivot 3；Walking climbing device includes that star-like wheel mechanism, barycenter are automatically adjusted support 5；Star-like wheel construction is automatically adjusted support 5 by barycenter and is connected with Wheelchair support 2；Star-like wheel construction has the star-like of three uniform circular distributions and takes turns expansion link 12；Being respectively arranged with on the star-like free end taking turns expansion link 12 and star-like take turns 11, servomotor 14 drives star-like expansion link 12 of taking turns around drive axis by drive mechanism 15, and star-like to take turns 11 freely rotatable around installing axle.When level land, two of which is star-like takes turns 11 and contacts with ground, and servomotor 14 does not works, thus the same with common wheelchair, can promotion freely, it is also possible to drive mechanism be installed on 11 star-like wheel or other automatic pushing mechanisms are set again, it is achieved automatically moving；During stair climbing, the control signal that servomotor sends according to control system processor 9, drive star-like expansion link 12 of taking turns to rotate, thus realize cat ladder.
Preferably, the intelligent stair climbing wheelchair of automatic range has automatic control system, and automatic control system includes control system processor 9, detection sensor 7, step automatic range processor 10；Step automatic range processor 10 obtains the height of step, width data by detection sensor 7；Control system processor 9 is connected with step automatic range processor 10, height according to step, width data calculate and obtain the star-like control signal taking turns expansion link 12, control signal drives the star-like actuator taken turns on expansion link 12, it is achieved star-like take turns the flexible of expansion link 12.
Wherein detection sensor 7 can be laser ranging, video image, obtains the height of step, width data by being arranged on step automatic range processor 10 correspondingly data processing module.
Preferably, automatic control system also has centroid adjustment module, is automatically adjusted the support pressure transducer of 5 depressed position, centroid adjustment processor 6 and gyroscope 13 including being arranged on barycenter；Pressure transducer obtains each barycenter in real time and is automatically adjusted the force value supporting 5；The perpendicularity of Wheelchair support 2 monitored in real time by gyroscope 13；Centroid adjustment processor 6 regulates barycenter in real time according to force value and/or perpendicularity and is automatically adjusted the actuator supported on 5, it is achieved the regulation of wheelchair barycenter.
Wherein, each barycenter is automatically adjusted and supports 5 gravity that subject wheelchair itself, when poised state, each barycenter is automatically adjusted and supports the pressure value suffered by 5 is not have the biggest deviation, when barycenter changes time, pressure value will occur the biggest deviation, the force value supporting 5 so it is automatically adjusted by each barycenter of acquisition in real time, calculate pressure divergence, can be with real-time judge wheelchair whether barycenter serious unbalance, such that it is able to regulation barycenter is automatically adjusted the length supporting 5 to realize the adjustment of barycenter, in the range of making barycenter remain at a minor variations, guarantee that wheelchair is not turned on one's side.Gyroscope 13 can be as a kind of regulation supplemented or jointly realize barycenter with pressure transducer.
Preferably, as shown in Figure 1, 2, seat 1 is one and is completely independent assembly structure, and seat suspension mechanism 4 is suspended on Wheelchair support 2 by one group of ball pivot 3, and during stair activity, chair top is in level all the time, and user will not swing when stair activity；It addition, be provided with electromagnetic locking device 53 in ball pivot 3 and seat suspension mechanism 4, for locking seat when wheelchair topples；Also having auxiliary support mechanism in the both sides of Wheelchair support 2 and bottom, including collateral strut 51, bottom support bar 52, under normal circumstances, collateral strut 51, bottom support bar 52 are locked by electromagnetic locking device 53；When wheelchair topples, electromagnetic locking device 53 is opened, and bottom support bar 52 acts on stairway step or collateral strut 51 acts on wall or the guardrail of wheelchair both sides.
Concrete, the pressure divergence numerical value or the gyroscope 13 that obtain when centroid adjustment module obtain the changes in balance data of Wheelchair support 2 and have exceeded safe threshold, after automatic control system receives these data messages, judge that wheelchair will topple, control each electromagnetic locking device 53 immediately to work, wherein in seat suspension mechanism 4, electromagnetic locking device 53 is arranged on Wheelchair support 2, seat suspension mechanism 4 is by electromagnetic locking device 53, when electromagnetic locking device 53 closes, seat suspension mechanism 4 is clamped, it is impossible to move around ball pivot 3 again；Meanwhile, the electromagnetic locking device 53 on collateral strut 51, bottom support bar 52 is opened, and bottom support bar 52 acts on stairway step or collateral strut 51 acts on wall or the guardrail of wheelchair both sides；Avoid toppling.
Preferably, star-like expansion link 12 is taken turns and barycenter is automatically adjusted screw rod motor, hydraulic cylinder or the pneumatic element that the actuator supported on 5 is servo-drive；Automatic control system controls actuator in real time according to control signal.
Preferably, the structural material of wheelchair have employed Carbon fibe material, and set of cells is lithium battery, utilizes the methods such as hollow pipe fitting structure, reinforcement and boring loss of weight, it is ensured that in the case of structural strength so that wheelchair has lighter quality.
Embodiment 2
Compared with specific embodiment 1, in the technical scheme of embodiment 2, the intelligent stair climbing wheelchair of automatic range be additionally provided with vital sign parameter monitoring and alarm module, including body temperature trans, respiration pickup, heartbeat sensor, oximetry sensor, pressure transducer, blood fat sensor, blood glucose sensor wherein one or more；The vital signs parameter signal of sensor acquisition is sent to control system processor, notes abnormalities and reports to the police immediately.
Preferably, as shown in Figure 3, the intelligent stair climbing wheelchair of automatic range is additionally provided with excretion cleaning module, including the porus excretorius arranged in seat, left and right orifice plate 102, orifice plate drive mechanism 101, orifice plate pad 103, collecting bag 106, warm-water washing apparatus and hot-air drying unit；Left and right orifice plate 102 is used for closing porus excretorius, and described orifice plate drive mechanism 101 is for controlling unlatching and the Guan Bi of left and right orifice plate 102, and orifice plate pad 103 is arranged on above left and right orifice plate 102, and collecting bag 106 is arranged on below porus excretorius；Warm-water washing apparatus and hot-air drying unit include warm water source, hot air source and pipeline configuration 108, centre position is pointed in the inclination of pipeline configuration 108, warm water source, hot air source are used in conjunction with pipeline configuration 108, realize warm water by a solenoid directional control valve and hot blast switches.
Preferably, collecting bag 106 is arranged in collecting box 107, is provided with closing device 104 and the shear 105 of collecting bag in the upper end of collecting box 107.
Preferably, excretion cleaning module also includes humidity sensor, when humidity sensor monitor buttocks humidity excessive time, automatic controlling system orifice plate drive mechanism 101, warm-water washing apparatus, hot-air drying unit, closing device 104, shear 105 work successively, it is achieved automated cleaning.
Preferably, orifice plate pad (diaper) is from inside to outside by surface layer, absorbed layer, impervious barrier up of three layers: surface layer and human contact, absorbed layer is arranged between surface layer and impervious barrier.Surface layer flexible, breathable antibacterial, comfortable, can keep the dry-ness of skin；Absorbed layer absorbs the most fully, and effective cohesion does not bleeds back, it is ensured that antiseepage leakproof, makes user dry and comfortable refreshing at any time；Impervious barrier has to be prevented blending high temperature bonding function.All make with degradable environment friendly material for three layers.
Excretion cleaning module work process: when humidity sensor monitor buttocks humidity excessive time, automatic control system starts orifice plate drive mechanism 101, porus excretorius is opened, orifice plate pad (diaper) drops to collecting bag automatically, warm water washing, hot-air drying unit start subsequently, and collecting bag is sealed and cuts off by closing device and shear subsequently, and collecting bag is sheathed cylindric environmentally-friendly plastic film, cutting off after sealing and form new bag, the principle automatically packed with refuse receptacle is similar.
Preferably, warm-water washing apparatus and hot-air drying unit use cloth hole around below porus excretorius to the pipeline configuration of middle water spray, contamination i.e. can be avoided to collect again hydrodynamic cleaning just mouth.
Preferably, closing device 104, shear 105 are to stretch out a centrage band about the upper end position of collecting bag to break a little the plastic heat sealing device of shear blade (hole) simultaneously, wherein there is heat seal heater strip on parts, another parts are supporting bodies, after being heated to impervious barrier bonding, plastic leakage-proof layer is cut into a little disconnected shape by the disconnected shear blade of point, it is simple to break when nursing staff clears up.
Preferably, automatic control system also includes multiple operation control module, including remotely controlling, the control of Non-follow control, blowing suction, Voice command, visually control, brain wave control in one or more；
Remotely control to be by internet platform, intelligence stair climbing wheelchair remotely to be controlled, carry out video by the Internet, audio interaction realizes emotion and accompanies and attends to.
Non-follow control is that intelligence stair climbing wheelchair is controlled by user or guardian by controlling button or touch screen；
Voice command is to be controlled intelligence stair climbing wheel chair by voice, is suitable for brain and regains consciousness but limbs inconvenience person.
Brain wave controls to be the eeg signal by gathering user, and the EEG signals of the computer signal to collecting physiological activity daily with user is compared, according to comparison result to actuator transmission of control signals.
Can also be extended to: user by Push-pull Flow to intelligence stair climbing wheel chair be controlled, especially suitable to upper limb inconvenient activity person or by the action of eyes to intelligence stair climbing wheel chair be controlled, be suitable for brain regain consciousness but limbs inconvenience person.
Although, the present invention is described in detail to have used general explanation and specific embodiment, but on the basis of the present invention, can make some modifications or improvements it, and this will be apparent to those skilled in the art.Therefore, these modifications or improvements without departing from theon the basis of the spirit of the present invention, belong to the scope of protection of present invention.
Claims (10)
1. the intelligent stair climbing wheelchair of an automatic range, it is characterised in that described wheelchair includes walking climbing device, Wheelchair support, seat with, barycenter self-regulation structure and set of cells；Described seat is arranged on inside described Wheelchair support by seat suspension mechanism, and described seat suspension mechanism is connected with described Wheelchair support by ball pivot；Described walking climbing device includes that star-like wheel mechanism and barycenter are automatically adjusted support；Described star-like wheel construction is automatically adjusted support by described barycenter and is connected with Wheelchair support；Described star-like wheel construction has the star-like of three uniform circular distributions and takes turns expansion link；Being respectively arranged with star-like wheel on the described star-like free end taking turns expansion link, described in driven by servomotor, star-like expansion link of taking turns is around drive axis, described star-like take turns around install axle freely rotatable；
Described wheelchair also includes that automatic control system, described automatic control system include control system processor, detection sensor, step automatic range processor；Described step automatic range processor obtains the height of step, width data by described detection sensor；Described control system processor is connected with described step automatic range processor, height according to described step, width data calculate and obtain the star-like control signal taking turns expansion link, the described star-like control signal taking turns expansion link drives the described star-like actuator taken turns on expansion link, it is achieved described star-like take turns the flexible of expansion link.
The intelligent stair climbing wheelchair of a kind of automatic range the most according to claim 1, it is characterized in that, described automatic control system also has centroid adjustment module, is automatically adjusted support multiple pressure transducers of depressed position, centroid adjustment processor and gyroscope including being arranged on barycenter；Described pressure transducer obtains each described barycenter in real time and is automatically adjusted the force value of support；The perpendicularity of Wheelchair support monitored in real time by described gyroscope；Centroid adjustment processor regulates, according to described force value and/or perpendicularity, the actuator that described barycenter is automatically adjusted in support in real time, it is achieved the regulation of wheelchair barycenter.
The intelligent stair climbing wheelchair of a kind of automatic range the most according to claim 2, it is characterised in that described star-like take turns expansion link and actuator that barycenter is automatically adjusted in support is screw rod motor, hydraulic cylinder or the pneumatic element of servo-drive；Described automatic control system controls described actuator in real time according to control signal.
The intelligent stair climbing wheelchair of a kind of automatic range the most according to claim 3, it is characterised in that be provided with electromagnetic locking device on described ball pivot and seat suspension mechanism, for locking described seat when wheelchair topples；Also having auxiliary support mechanism in the both sides of described Wheelchair support and bottom, including collateral strut, bottom support bar, described collateral strut, bottom support bar are locked by electromagnetic locking device；When wheelchair topples, described electromagnetic locking device is opened, and bottom support bar acts on stairway step or collateral strut acts on wall or the guardrail of wheelchair both sides.
The intelligent stair climbing wheelchair of a kind of automatic range the most according to claim 3, it is characterized in that, the intelligent stair climbing wheelchair of described automatic range be additionally provided with vital sign parameter monitoring and alarm module, including body temperature trans, respiration pickup, heartbeat sensor, oximetry sensor, pressure transducer, blood fat sensor, blood glucose sensor wherein one or more；The vital signs parameter signal of described sensor acquisition is sent to described control system processor, notes abnormalities and reports to the police immediately.
The intelligent stair climbing wheelchair of a kind of automatic range the most according to claim 3, it is characterized in that, the intelligent stair climbing wheelchair of described automatic range is additionally provided with excretion cleaning module, including the porus excretorius arranged in seat, left and right orifice plate, orifice plate drive mechanism, orifice plate pad, collecting bag, warm-water washing apparatus and hot-air drying unit；Described left and right orifice plate is used for closing described porus excretorius, and described orifice plate drive mechanism is for controlling unlatching and the Guan Bi of described left and right orifice plate, and described orifice plate pad is arranged on above the orifice plate of described left and right, and collecting bag is arranged on below described porus excretorius；Described warm-water washing apparatus and hot-air drying unit include warm water source, hot air source and pipeline configuration, centre position is pointed in the inclination of described pipeline configuration, described warm water source, hot air source are used in conjunction with described pipeline configuration, realize warm water by a solenoid directional control valve and hot blast switches.
The intelligent stair climbing wheelchair of a kind of automatic range the most according to claim 6, it is characterised in that described collecting bag is arranged in collecting box, is provided with closing device and the shear of described collecting bag in the upper end of described collecting box.
8. according to the intelligent stair climbing wheelchair of a kind of automatic range described in claim 6 or 7, it is characterized in that, described excretion cleaning module also includes humidity sensor, when humidity sensor monitor buttocks humidity excessive time, automatic controlling system orifice plate drive mechanism, warm-water washing apparatus, hot-air drying unit, closing device, shear work successively, it is achieved automated cleaning.
9. according to the intelligent stair climbing wheelchair of a kind of automatic range described in claim 6 or 7, it is characterised in that described orifice plate pad includes surface layer, absorbed layer, impervious barrier the most successively；Described surface layer and human contact, described absorbed layer is arranged between surface layer and impervious barrier.
The intelligent stair climbing wheelchair of a kind of automatic range the most according to claim 3, it is characterized in that, described automatic control system also includes multiple operation control module, including remotely controlling, Non-follow control, Voice command, brain wave control in one or more；
Described long-range control is remotely to be controlled intelligence stair climbing wheelchair by internet platform, carries out video by the Internet, audio interaction realizes emotion and accompanies and attends to；
Described Non-follow control is that intelligence stair climbing wheelchair is controlled by user or guardian by controlling button or touch screen；
Described Voice command is to be controlled intelligence stair climbing wheel chair by voice；
Described brain wave controls to be the eeg signal by gathering user, and the EEG signals of the computer signal to collecting physiological activity daily with user is compared, according to comparison result to actuator transmission of control signals.
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