CN106155052A - Intelligent barrier avoiding wheelchair - Google Patents
Intelligent barrier avoiding wheelchair Download PDFInfo
- Publication number
- CN106155052A CN106155052A CN201610471720.5A CN201610471720A CN106155052A CN 106155052 A CN106155052 A CN 106155052A CN 201610471720 A CN201610471720 A CN 201610471720A CN 106155052 A CN106155052 A CN 106155052A
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- Prior art keywords
- wheelchair
- detection
- module
- obstacles
- barrier avoiding
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- 230000004888 barrier function Effects 0.000 title claims abstract description 82
- 238000001514 detection method Methods 0.000 claims abstract description 56
- 238000012372 quality testing Methods 0.000 claims 1
- 239000012491 analyte Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to wheelchair technical field, the present invention provides a kind of intelligent barrier avoiding wheelchair, including detection of obstacles module and wheelchair control module；Described detection of obstacles module and described wheelchair control module are electrically connected with, the barrier to described intelligent barrier avoiding wheelchair surrounding for the described detection of obstacles module carries out detection and draws detection of obstacles information, and described detection of obstacles information is transferred to described wheelchair control module, described intelligent barrier avoiding wheelchair is controlled accordingly by described wheelchair control module according to described detection of obstacles information.Whereby, the barrier of wheelchair surrounding can be detected by the present invention, and controls accordingly.
Description
Technical field
The present invention relates to wheelchair technical field, particularly relate to a kind of intelligent barrier avoiding wheelchair.
Background technology
The user group of wheelchair is inconvenient with the elderly, disabled person, action or not to be good for people entirely in the majority, these people oneself simultaneously
It is difficult to control accurately, correctly, flexibly, freely electric wheelchair, it is necessary to have other people to accompany and attend to.
Content of the invention
For above-mentioned defect, it is an object of the invention to provide a kind of intelligent barrier avoiding wheelchair, can be to wheelchair surrounding
Barrier detects, and controls accordingly.
To achieve these goals, the present invention provides a kind of intelligent barrier avoiding wheelchair, including detection of obstacles module and wheelchair
Control module；Described detection of obstacles module and described wheelchair control module are electrically connected with, and described detection of obstacles module is to institute
State the barrier of intelligent barrier avoiding wheelchair surrounding to carry out detection and draw detection of obstacles information, and described detection of obstacles information is passed
Be defeated by described wheelchair control module, described wheelchair control module according to described detection of obstacles information to described intelligent barrier avoiding wheelchair
Control accordingly.
According to intelligent barrier avoiding wheelchair of the present invention, described detection of obstacles module includes at least one Distance-sensing
Device.
According to intelligent barrier avoiding wheelchair of the present invention, multiple described range sensors are arranged on described intelligent barrier avoiding wheelchair
Seat and/or seat support on.
According to intelligent barrier avoiding wheelchair of the present invention, the front, rear, left and right of described wheelchair, front left, front right, rear left, after
Right direction is provided with at least one described range sensor.
According to intelligent barrier avoiding wheelchair of the present invention, described range sensor is ultrasonic sensor.
According to intelligent barrier avoiding wheelchair of the present invention, described detection of obstacles module and described wheelchair control module are passed through
I/O port is electrically connected with.
According to intelligent barrier avoiding wheelchair of the present invention, described wheelchair control module include control unit, judging unit and
Indexing unit, described control unit, described judging unit and institute's indexing unit be electrically connected with each other, described judging unit root
Judge the preset distance at least one predetermined direction according to the described detection of obstacles information of described detection of obstacles module transfer
Inside whether there is barrier, if there is barrier, the directional information that there is barrier is transferred to described mark by described judging unit
Note unit, the direction has been labeled as obstacle direction by described indexing unit.
According to intelligent barrier avoiding wheelchair of the present invention, described judging unit is according to described detection of obstacles module transfer
Described detection of obstacles information judge described in when having obstacle direction to there is not barrier, described judging unit will not exist
The directional information having obstacle direction described in barrier is transferred to described indexing unit, has obstacle described in the removing of described indexing unit
The mark in direction.
According to intelligent barrier avoiding wheelchair of the present invention, described control unit has obstacle direction controlling according to mark
Described intelligent barrier avoiding wheelchair runs.
According to intelligent barrier avoiding wheelchair of the present invention, described intelligent barrier avoiding wheelchair also includes operation module, described operation
Module is electrically connected with described wheelchair control module, and the user operation instruction receiving is sent to described wheel by described operation module
Chair control module；When described user operation instruction is for during to the described order having obstacle direction to move on, ignore this user behaviour
Instruct；When described user operation instruction is the order moving on to accessible direction, perform this user operation instruction.
Intelligent barrier avoiding wheelchair of the present invention mainly includes detection of obstacles module and wheelchair control module, described detection of obstacles
The barrier to wheelchair surrounding for the module carries out the obstacle information that detection obtains surrounding, and the information of acquisition is transferred to wheelchair control
Molding block, wheelchair can be controlled accordingly by wheelchair control module according to information.Whereby, the present invention can be to wheelchair surrounding
Barrier detect, and control accordingly.
Brief description
Fig. 1 is intelligent barrier avoiding wheelchair preferred embodiment structural representation of the present invention；
Fig. 2 is intelligent barrier avoiding wheelchair module diagram of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein only in order to explaining the present invention, and
It is not used in the restriction present invention.
As shown in Fig. 1～Fig. 2, intelligent barrier avoiding wheelchair 100 includes detection of obstacles module 10 and wheelchair control module 20；Barrier
Hindering analyte detection module 10 and wheelchair control module 20 to be electrically connected with, detection of obstacles module 10 is to described intelligent barrier avoiding wheelchair surrounding
Barrier carry out detection and draw detection of obstacles information, and described detection of obstacles information is transferred to wheelchair control module
20, intelligent barrier avoiding wheelchair 100 is controlled accordingly by wheelchair control module 20 according to described detection of obstacles information.Preferably
It is that detection of obstacles module 10 and wheelchair control module 20 are electrically connected with by I/O port.So, the detection of obstacles on wheelchair
Module 10 detect have barrier on the one or several direction of surrounding when, the side that wheelchair will be unable to there being barrier continues up
Advance, thus avoid accident to occur.
Preferably, as shown in figure, detection of obstacles module 10 includes at least one range sensor 40.Preferably
It is that multiple range sensors 40 are arranged on seat and/or the seat support of intelligent barrier avoiding wheelchair 100.Specifically, described take turns
The front, rear, left and right of chair, front left, front right, rear left, rear right direction are provided with at least one range sensor 40, in order to accurately
Detect the obstacle information in all directions.Particularly, range sensor 40 is ultrasonic sensor.By ultrasonic wave certainly
Dynamic avoidance obstacle, can be prevented effectively from the people because of the faulty operation of user or on wheelchair and lose operational capacity and cause
Accident, wheelchair can be automatically stopped before barrier.
Preferably, wheelchair control module 20 includes control unit the 23rd, judging unit 21 and indexing unit 22, control unit
23rd, judging unit 21 and indexing unit 22 are electrically connected with each other, it is judged that unit 21 transmits according to detection of obstacles module 10
Described detection of obstacles information judge the preset distance at least one predetermined direction in whether there is barrier, if exist barrier
Hindering thing then judging unit 21 that the directional information that there is barrier is transferred to indexing unit 22, the direction is marked by indexing unit 22
For there being obstacle direction.Preset distance is preferably 0.5～3 meter, and certain preset distance can also is that other distance ranges, and premise is this
Preset distance is the distance that detection of obstacles module 10 can detect.When this preset distance exists barrier, shadow will be likely to
Ring the traveling of wheelchair.
Preferably, it is judged that unit 21 is judged according to the described detection of obstacles information that detection of obstacles module 10 is transmitted
Described when having obstacle direction to there is not barrier, it is judged that unit 21 has the side in obstacle direction by not existing described in barrier
Be transferred to indexing unit 22 to information, indexing unit 22 remove described in have the mark in obstacle direction.
Preferably, control unit 23 has obstacle direction controlling intelligent barrier avoiding wheelchair 100 to run according to mark.
Preferably, intelligent barrier avoiding wheelchair 100 also includes operation module 30, operation module 30 and wheelchair control module 20 electricity
Property connect, operation module 30 by receive user operation instruction be sent to wheelchair control module 20；When described user operation refers to
Order, for when the described order having obstacle direction to move on, ignores this user operation instruction；When described user operation instruction is
During the order moving on to accessible direction, perform this user operation instruction.
It is embodied as follows:
Detection of obstacles module 10 moment detects wheelchair surrounding traffic information, and traffic information passes to wheelchair control module
20, the detection of obstacles information that the judging unit 21 of wheelchair control module 20 transmits according to detection of obstacles module judges there is barrier
Hindering thing direction, and transferring information to indexing unit 22, indexing unit 22 will have the bearing mark of barrier, when wheelchair control module
The control unit 23 of 20 receives when the order that markd side proceeds upwardly, and ignores this order.If it is determined that unit
21 judge originally to have when not having barrier on barrier direction, it is judged that unit 21 transfers information to indexing unit 22, and mark is single
Unit 22 this mark of removing.
In sum, intelligent barrier avoiding wheelchair of the present invention mainly includes detection of obstacles module and wheelchair control module, described
The barrier to wheelchair surrounding for the detection of obstacles module carries out the obstacle information that detection obtains surrounding, and passes the information obtaining
Being defeated by wheelchair control module, wheelchair can be controlled accordingly by wheelchair control module according to information.Whereby, the present invention can
The barrier of wheelchair surrounding is detected, and controls accordingly.
Certainly, the present invention also can have other various embodiments, in the case of without departing substantially from present invention spirit and essence thereof, ripe
Know those skilled in the art to work as and can make various corresponding change and deformation according to the present invention, but these change and change accordingly
Shape all should belong to the protection domain of appended claims of the invention.
Claims (10)
1. an intelligent barrier avoiding wheelchair, it is characterised in that include detection of obstacles module and wheelchair control module；Described barrier
Detection module and described wheelchair control module are electrically connected with, and described detection of obstacles module is to described intelligent barrier avoiding wheelchair surrounding
Barrier carries out detection and draws detection of obstacles information, and described detection of obstacles information is transferred to described wheelchair control mould
Block, described intelligent barrier avoiding wheelchair is controlled accordingly by described wheelchair control module according to described detection of obstacles information.
2. intelligent barrier avoiding wheelchair according to claim 1, it is characterised in that described detection of obstacles module includes at least
Individual range sensor.
3. intelligent barrier avoiding wheelchair according to claim 2, it is characterised in that multiple described range sensors are arranged on described
On the seat of intelligent barrier avoiding wheelchair and/or seat support.
4. intelligent barrier avoiding wheelchair according to claim 2, it is characterised in that the front, rear, left and right of described wheelchair, front left,
Front right, rear left, rear right direction are provided with at least one described range sensor.
5. intelligent barrier avoiding wheelchair according to claim 2, it is characterised in that described range sensor is supersonic sensing
Device.
6. intelligent barrier avoiding wheelchair according to claim 1, it is characterised in that described detection of obstacles module and described wheelchair
Control module is electrically connected with by I/O port.
7. the intelligent barrier avoiding wheelchair according to any one of claim 1～6, it is characterised in that described wheelchair control module bag
Including control unit, judging unit and indexing unit, described control unit, described judging unit and institute's indexing unit are electric each other
Property connect, described judging unit judges at least one according to the described detection of obstacles information of described detection of obstacles module transfer
Whether there is barrier in preset distance on predetermined direction, if there is barrier, will there is barrier in described judging unit
Directional information is transferred to described indexing unit, and the direction has been labeled as obstacle direction by described indexing unit.
8. intelligent barrier avoiding wheelchair according to claim 7, it is characterised in that described judging unit is according to described obstacle quality testing
Survey the described detection of obstacles information of module transfer judge described in when having obstacle direction to there is not barrier, described judgement list
Unit has the directional information in obstacle direction to be transferred to described indexing unit by not existing described in barrier, described indexing unit is clear
Except the described mark having obstacle direction.
9. intelligent barrier avoiding wheelchair according to claim 7, it is characterised in that described control unit has according to mark
Intelligent barrier avoiding wheelchair described in obstacle direction controlling runs.
10. intelligent barrier avoiding wheelchair according to claim 9, it is characterised in that described intelligent barrier avoiding wheelchair also includes operation
Module, described operation module is electrically connected with described wheelchair control module, and the user operation receiving is referred to by described operation module
Order is sent to described wheelchair control module；When described user operation instruction is for the described order having obstacle direction to move on
When, ignore this user operation instruction；When described user operation instruction is the order moving on to accessible direction, performing should
User operation instructs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610471720.5A CN106155052A (en) | 2016-06-24 | 2016-06-24 | Intelligent barrier avoiding wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610471720.5A CN106155052A (en) | 2016-06-24 | 2016-06-24 | Intelligent barrier avoiding wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106155052A true CN106155052A (en) | 2016-11-23 |
Family
ID=57349346
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610471720.5A Pending CN106155052A (en) | 2016-06-24 | 2016-06-24 | Intelligent barrier avoiding wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106155052A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106933157A (en) * | 2017-04-20 | 2017-07-07 | 武汉理工大学 | A kind of wheelchair safety monitoring assembly and monitoring method |
| CN107224363A (en) * | 2017-05-05 | 2017-10-03 | 深圳市元征科技股份有限公司 | Wheelchair control method and device |
| CN107390224A (en) * | 2017-07-21 | 2017-11-24 | 歌尔科技有限公司 | Obstacle detection method, device and virtual reality display device |
| CN107544494A (en) * | 2017-08-17 | 2018-01-05 | 上海美祎科技有限公司 | Sweeping robot and its barrier-avoiding method |
| CN114115220A (en) * | 2021-12-29 | 2022-03-01 | 桂林航天工业学院 | Wheelchair autonomous following and obstacle avoiding system based on mobile robot technology |
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| CN102188311A (en) * | 2010-12-09 | 2011-09-21 | 南昌大学 | Embedded visual navigation control system and method of intelligent wheelchair |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106933157A (en) * | 2017-04-20 | 2017-07-07 | 武汉理工大学 | A kind of wheelchair safety monitoring assembly and monitoring method |
| CN107224363A (en) * | 2017-05-05 | 2017-10-03 | 深圳市元征科技股份有限公司 | Wheelchair control method and device |
| CN107390224A (en) * | 2017-07-21 | 2017-11-24 | 歌尔科技有限公司 | Obstacle detection method, device and virtual reality display device |
| CN107544494A (en) * | 2017-08-17 | 2018-01-05 | 上海美祎科技有限公司 | Sweeping robot and its barrier-avoiding method |
| CN114115220A (en) * | 2021-12-29 | 2022-03-01 | 桂林航天工业学院 | Wheelchair autonomous following and obstacle avoiding system based on mobile robot technology |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170119 Address after: Henggang street Longgang road in Longgang District of Shenzhen City, Guangdong province 518000 No. 8288 Shenzhen Dayun town 13 software building 3 floor B District Applicant after: Shenzhen Pulse Technology Co., Ltd. Address before: Longgang road in Longgang District of Shenzhen City, Guangdong province 518000 No. 8288 Shenzhen Dayun town 13 software building 3 floor (Dayun Metro Line 3 station exit A) Applicant before: Zhang Xuehai |
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| CB02 | Change of applicant information |
Address after: Sonoyama street Longgang Avenue in Longgang District of Shenzhen City, Guangdong province 518000 No. 8288 Shenzhen Dayun town 13 software building 3 floor B District Applicant after: Shenzhen pulse medical robot Co., Ltd. Address before: Henggang street Longgang road in Longgang District of Shenzhen City, Guangdong province 518000 No. 8288 Shenzhen Dayun town 13 software building 3 floor B District Applicant before: Shenzhen Pulse Technology Co., Ltd. |
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| CB02 | Change of applicant information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181115 Address after: 518000 3/F, 13 Building, Shenzhen Dayun Software Town, 8288 Longgang Avenue, Longgang District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Mai Kang medical robot Co., Ltd. Address before: 518000 Area B, 3rd Floor, 13 Building, Software Town, Shenzhen Dayun, 8288 Longgang Avenue, Yuanshan Street, Longgang District, Shenzhen City, Guangdong Province Applicant before: Shenzhen pulse medical robot Co., Ltd. |
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| TA01 | Transfer of patent application right | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161123 |
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| RJ01 | Rejection of invention patent application after publication |