CN106933157A - A kind of wheelchair safety monitoring assembly and monitoring method - Google Patents
A kind of wheelchair safety monitoring assembly and monitoring method Download PDFInfo
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- CN106933157A CN106933157A CN201710262623.XA CN201710262623A CN106933157A CN 106933157 A CN106933157 A CN 106933157A CN 201710262623 A CN201710262623 A CN 201710262623A CN 106933157 A CN106933157 A CN 106933157A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25338—Microprocessor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2604—Test of external equipment
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2637—Vehicle, car, auto, wheelchair
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Alarm Systems (AREA)
Abstract
The present invention provides a kind of wheelchair safety monitoring assembly, including wheelchair state detection module, environmental perception module, SOS button, falling-resistant module, main control module, locating module, wireless data sending module, alarm module.The present invention makes it have the function of monitoring wheelchair state and ambient conditions simultaneously by introducing wheelchair safety monitoring device in wheelchair system, and wheelchair state and ambient conditions are judged, to ensure wheelchair mobile security；With key emergency function, user's alert help can be facilitated；With warning function, it is easy to surrounding population in time to help wheelchair user；With positioning function, it is easy to determine user's particular location in time；With multi-faceted data receiving terminal, the long distance monitoring to wheelchair user is not only realized, it is ensured that the safety of wheelchair user, and the habits and customs of user can be understood by cloud platform Monitoring Data, preferably to serve them.
Description
Technical field
The invention belongs to intelligent wheel chair accessory design field, and in particular to a kind of wheelchair safety monitoring assembly and monitoring side
Method.
Background technology
The physical disabilities caused with the quickening of today's society aging population process and due to various disasters and disease
Increase year by year, the research and development of intelligent wheel chair and its auxiliary equipment seem more and more important.At the same time, it is such to take action not
The life of person who happens to be on hand for an errand group also more and more obtains the concern of personages of various circles of society with safety problem.Particularly with lower limb disability person with
And the old person with action obstacle, central many people need to be by wheelchair in life, and this relates to safety problem, such as：
At outdoor, how to ensure safe driving wheelchair, prevent wheelchair from tumbling；When being in an emergency, such as how simplest side
Formula notifies guardian etc..
Found by consulting literatures, the safety monitoring function of current intelligent wheel chair is all excessively weak, in existing paper and specially
Wheelchair safety monitoring assembly involved in profit and method are mainly associated with smart home, and in other words, these monitoring systems are only
Monitoring effect can be just played in the specific environment that can be for a long time lived in user.It follows that the peace to realize this kind of wheelchair
Full monitoring function, just has to carry out the arrangement of correlation in user family, and this not only increases user's financial burden, also makes this
Promoting the use of for functional wheelchair is restricted.
The content of the invention
The present invention cannot be compared with the living safety problem of the handicapped user of comprehensive monitoring for existing wheelchair, there is provided one kind wheel
Chair safety monitoring assembly and monitoring method.
The present invention is for the solution technical scheme taken of above-mentioned technical problem：A kind of wheelchair safety monitoring assembly, it is special
Levy and be：It includes：
Wheelchair state detection module, angled state and the speed of service for gathering wheelchair；
Environmental perception module, the range information for gathering wheelchair and barrier in certain limit；
SOS button, for sending distress signal when pressing；
Falling-resistant module, including safety belt, safety belt buckle and pulling force sensor, the pulling force for detecting safety belt；
Main control module, for angled state and the speed of service, wheelchair and certain limit cataract or glaucoma according to the wheelchair for collecting
Hinder the range information of thing and the pulling force of safety belt, judge whether wheelchair has the danger toppled, exceed the speed limit, collide and fall down, and
Alarm signal is sent when dangerous, signal is simultaneously emitted by and is controlled wheelchair to wheelchair control module；
Locating module, for being positioned to wheelchair；
Wireless data sending module, for when having alarm signal or distress signal, by location information and alarm signal
Or distress signal is wirelessly transmitted to cloud platform together；
Alarm module, for receiving the alarm signal of main control module and sending alarm.
By said apparatus, described main control module includes embedded microprocessor, mu balanced circuit, rechargeable battery, power supply
Electric quantity display circuit；Wherein embedded microprocessor is connected by mu balanced circuit with rechargeable battery, electric quantity of power supply display circuit
It is connected with embedded microprocessor.
By said apparatus, described alarm module includes buzzer and LED alarm display lamps.
By said apparatus, described wheelchair state detection module includes acceleration transducer and three-axis gyroscope.
By said apparatus, described environmental perception module is obstacle distance detection sensor.
The monitoring method realized using described wheelchair safety monitoring assembly, it is characterised in that：It is comprised the following steps：
S1, the angled state of Real-time Collection wheelchair and the speed of service, wheelchair and the range information of barrier in certain limit,
The pulling force of safety belt；
S2, when collection wheelchair inclination angle exceed tilt threshold, then judge have danger of toppling；When the operation of the wheelchair of collection
Speed outpaces threshold value, then judge have hypervelocity dangerous；When wheelchair is less than apart from threshold with the distance of a range of barrier
Value, then judge there is risk of collision；When safety belt buckle is buckled, the loop conducting where pulling force sensor, and the pulling force for collecting
More than or equal to pulling force threshold value, when being not detected by the signal of pulling force sensor, or the pulling force for collecting is less than pulling force threshold value, then sentence
It is disconnected not fasten the safety belt；
S3, when there is risk of collision, output reduction of speed instruction and is alarmed, while warning message and GPS position information are led to
Cross wireless data sending module to send to cloud platform, notify guardian or service station；When there is hypervelocity dangerous, then alarm, carry
Show user；Topple dangerous or when monitoring distress signal when having, then alarm, while by warning message and GPS position information
Sent to cloud platform by wireless data sending module, notify guardian or service station；When monitoring not fastening the safety belt, then
Alarm.
As stated above, described distance threshold is included apart from preset value and apart from critical value；When wheelchair and certain limit
The distance of interior barrier is less than apart from preset value, and during more than apart from critical value, output reduction of speed instruction, when wheelchair and certain model
The distance of the barrier in enclosing is less than or equal to during apart from critical value, outputting parking instruction.
Beneficial effects of the present invention are：The present invention has it by introducing wheelchair safety monitoring device in wheelchair system
There is the function of monitoring wheelchair state and ambient conditions simultaneously, and wheelchair state and ambient conditions are judged, with
Ensure wheelchair mobile security；With key emergency function, user's alert help can be facilitated；With warning function, it is easy to surrounding
People's group energy helps wheelchair user in time；With positioning function, it is easy to determine user's particular location in time；With multi-faceted number
According to receiving terminal, the long distance monitoring to wheelchair user is not only realized, it is ensured that the safety of wheelchair user, and can pass through
Cloud platform Monitoring Data understands the habits and customs of user, preferably to serve them.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is the method flow diagram of one embodiment of the invention.
Specific embodiment
With reference to instantiation and accompanying drawing, the present invention will be further described.
The present invention provides a kind of wheelchair safety monitoring assembly, as shown in figure 1, it includes：Wheelchair state detection module, is used for
Gather the angled state and the speed of service of wheelchair；Environmental perception module, for gather barrier in wheelchair and certain limit away from
From information；SOS button, for sending distress signal when pressing；Falling-resistant module, including safety belt, safety belt buckle
And pulling force sensor, the pulling force for detecting safety belt；Main control module, for angled state and fortune according to the wheelchair for collecting
Scanning frequency degree, wheelchair and in certain limit the range information of barrier and safety belt pulling force, judge wheelchair whether have topple,
The danger for exceeding the speed limit, colliding and falling down, and alarm signal is sent when dangerous, it is simultaneously emitted by signal and gives wheelchair control module control
Ratch chair；Locating module, for being positioned to wheelchair；Wireless data sending module, for having alarm signal or distress signal
When, location information is wirelessly transmitted to cloud platform together with alarm signal or distress signal；Alarm module, for receiving master control
The alarm signal of module simultaneously sends alarm.The data message that cloud platform can be pushed according to main control module judges that user and wheelchair are worked as
Preceding state in which, and safety, early warning or warning message are sent to other-ends such as guardians according to different degrees of danger.
Described main control module includes embedded microprocessor, mu balanced circuit, rechargeable battery, electric quantity of power supply display electricity
Road；Wherein embedded microprocessor is connected by mu balanced circuit with rechargeable battery, and electric quantity of power supply display circuit declines with insertion
Processor is connected.Described alarm module includes buzzer and LED alarm display lamps.Described wheelchair state detection module includes
Acceleration transducer and three-axis gyroscope.Described environmental perception module is obstacle distance detection sensor.
The wireless data sending module is used for data transfer, can select the wireless modules such as 2G/3G/4G.It is described embedded
Using 8 single chip computer AT mega 2560 of AVR kernels as control core, it has the Flash of 258KB, 8KB to microprocessor
SRAM, the EEPROM of 4KB, while have 54 railway digital I/O ports, 16 tunnel simulation inputs, 4 tunnel UART interfaces, one
16MHz crystal oscillators, a USB port, a power outlet, an ICSP header and a SR, are ensureing low
While power consumption, with powerful calculation process performance.Device is also provided with shell, and shell is provided with switch key, power supply
Module charging inlet, electric quantity of power supply display window, SOS modular connection interface, falling-resistant modular connection interface and acousto-optic
Alarm light source display window.
The monitoring method realized using described wheelchair safety monitoring assembly, as shown in Fig. 2 it is comprised the following steps：
S1, the angled state of Real-time Collection wheelchair and the speed of service, wheelchair and the range information of barrier in certain limit,
The pulling force of safety belt.
S2, when collection wheelchair inclination angle exceed tilt threshold, then judge have danger of toppling；When the operation of the wheelchair of collection
Speed outpaces threshold value, then judge have hypervelocity dangerous；When wheelchair is less than apart from threshold with the distance of a range of barrier
Value, then judge there is risk of collision；When safety belt buckle is buckled, the loop conducting where pulling force sensor, and the pulling force for collecting
More than or equal to pulling force threshold value, when being not detected by the signal of pulling force sensor, or the pulling force for collecting is less than pulling force threshold value, then sentence
It is disconnected not fasten the safety belt；Whether the detection user fastens seat belts, main pulling force sensor and safety by safety belt
Band buckle judges, can form circuit loop after safety belt buckle is buckled well, and reads the electric signal of force snesor, if user
Really fasten seat belts, then safety belt is tightened, can now get the electric signal of pulling force sensor generation；If being only to detain
Upper safety belt buckle, does not play a part of to protect user's body actually, then now safety belt is in relaxed state, so that nothing
Method reads sensor electric signal, and then judges that user's presence potentially falls down danger.If it is determined that not fastening seat belts, then produce
Raw prompt messages are to notify guardian, and now wheelchair will be unable to normal startup optimization.
S3, when there is risk of collision, output reduction of speed instruction and is alarmed, while warning message and GPS position information are led to
Cross wireless data sending module to send to cloud platform, notify guardian or service station；When there is hypervelocity dangerous, then alarm, carry
Show user；Topple dangerous or when monitoring distress signal when having, then alarm, while by warning message and GPS position information
Sent to cloud platform by wireless data sending module, notify guardian or service station；When monitoring not fastening the safety belt, then
Alarm.
Described distance threshold is included apart from preset value and apart from critical value；When wheelchair and a range of barrier
Distance is less than apart from preset value, and during more than apart from critical value, output reduction of speed instruction, when wheelchair and a range of barrier
Distance be less than or equal to apart from critical value when, outputting parking instruction.
Furthermore it is also possible to wheelchair original state is detected, including whether detection battery electric quantity, correlation module have exception, specifically
For, wheelchair initial tilt state is detected, judge whether it can be with clean boot；Whether detection power source supplying voltage is stablized；Detection
Whether sensor has waken up；Whether detection network communicating function is normal etc..
It is described that relevant information is obtained by main control module periphery monitoring device, specifically include, in use environment sensing module
Sensor obtain obstacle information；Use wheelchair inclination angle detection module and wheelchair velocity measuring in wheelchair state detection module
Module obtains the current angled state of wheelchair and the speed of service；A key is obtained using SOS module call distress signal；
Current electric quantity of power supply is obtained using the electric quantity of power supply display circuit in power module.
Further, it is described that counter-measure is taken according to relevant device, specifically include, main control module receives environment sensing mould
Obstacle distance information acquired in block, when judgement reaches threshold value or critical value, or reception wheelchair state detection module is sent out
The data sent, when judging that wheelchair inclination angle exceedes threshold value or the abnormal speed of service, or receive the emergency transmitted by SOS module
During signal, audible-visual annunciator is triggered, and corresponding data information and GPS position information are selectively sent according to different situations
To cloud platform, then send to other-end equipment such as guardians, be that guardian or service station staff take corresponding measure
Data supporting is provided, so as to ensure user's safety.
Further, the threshold value, specifically include ambient parameter threshold value, wheelchair tilt threshold, wheelchair operational threshold speed,
Belt force threshold value；Wherein, ambient parameter threshold value includes obstacle distance preset value l1With apart from critical value l0(l0<l1)；Wheel
Chair tilt threshold is obtained by testing, when the monitoring device is parallel with wheelchair operation road surface, the threshold value note of left and right sides inclination angle theta
It is θ0, the threshold value of front and rear tilt angle gamma is designated as γ0；Wheelchair operational threshold speed is according to national standard for the outdoor wheelchair speed of service
Regulation obtain, be v>6km/h；Belt force threshold value is obtained by testing, and is designated as F0。
Above example is merely to illustrate design philosophy of the invention and feature, its object is to make technology in the art
Personnel will appreciate that present disclosure and implement according to this that protection scope of the present invention is not limited to above-described embodiment.So, it is all according to
The equivalent variations made according to disclosed principle, mentality of designing or modification, within protection scope of the present invention.
Claims (7)
1. a kind of wheelchair safety monitoring assembly, it is characterised in that：It includes：
Wheelchair state detection module, angled state and the speed of service for gathering wheelchair；
Environmental perception module, the range information for gathering wheelchair and barrier in certain limit；
SOS button, for sending distress signal when pressing；
Falling-resistant module, including safety belt, safety belt buckle and pulling force sensor, the pulling force for detecting safety belt；
Main control module, for angled state and the speed of service, wheelchair and barrier in certain limit according to the wheelchair for collecting
Range information and safety belt pulling force, judge whether wheelchair has the danger toppled, exceed the speed limit, collide and fall down, and having
Alarm signal is sent when dangerous, signal is simultaneously emitted by and is controlled wheelchair to wheelchair control module；
Locating module, for being positioned to wheelchair；
Wireless data sending module, for when having alarm signal or distress signal, by location information and alarm signal or
Distress signal is wirelessly transmitted to cloud platform together；
Alarm module, for receiving the alarm signal of main control module and sending alarm.
2. wheelchair safety monitoring assembly according to claim 1, it is characterised in that：Described main control module includes embedded
Microprocessor, mu balanced circuit, rechargeable battery, electric quantity of power supply display circuit；Wherein embedded microprocessor passes through mu balanced circuit
It is connected with rechargeable battery, electric quantity of power supply display circuit is connected with embedded microprocessor.
3. wheelchair safety monitoring assembly according to claim 1, it is characterised in that：Described alarm module includes buzzer
With LED alarm display lamps.
4. wheelchair safety monitoring assembly according to claim 1, it is characterised in that：Described wheelchair state detection module bag
Include acceleration transducer and three-axis gyroscope.
5. wheelchair safety monitoring assembly according to claim 1, it is characterised in that：Described environmental perception module is obstacle
Thing distance detection sensor.
6. the monitoring method realized using the wheelchair safety monitoring assembly described in claim 1, it is characterised in that：It includes following
Step：
S1, the angled state of Real-time Collection wheelchair and the speed of service, wheelchair and the range information of barrier, safety in certain limit
The pulling force of band；
S2, when collection wheelchair inclination angle exceed tilt threshold, then judge have danger of toppling；When the speed of service of the wheelchair of collection
Outpace threshold value, then judge have hypervelocity dangerous；When wheelchair is less than distance threshold with the distance of a range of barrier, then
Judgement has risk of collision；When safety belt buckle is buckled, the conducting of loop where pulling force sensor, and the pulling force for collecting be more than or
Equal to pulling force threshold value, when being not detected by the signal of pulling force sensor, or the pulling force for collecting is less than pulling force threshold value, then judge be not
Safety belt；
S3, when there is risk of collision, output reduction of speed instruction and is alarmed, while warning message and GPS position information are passed through into nothing
Line data transmission blocks are sent to cloud platform, notify guardian or service station；When there is hypervelocity dangerous, then alarm, point out to use
Family；Topple dangerous or when monitoring distress signal when having, then alarm, while warning message and GPS position information are passed through
Wireless data sending module is sent to cloud platform, notifies guardian or service station；When monitoring not fastening the safety belt, then report
It is alert.
7. monitoring method according to claim 6, it is characterised in that：Described distance threshold include apart from preset value and away from
From critical value；It is defeated when wheelchair is less than apart from preset value with the distance of a range of barrier, and during more than apart from critical value
Go out reduction of speed instruction, when wheelchair is less than or equal to apart from critical value with the distance of a range of barrier, outputting parking refers to
Order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710262623.XA CN106933157A (en) | 2017-04-20 | 2017-04-20 | A kind of wheelchair safety monitoring assembly and monitoring method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710262623.XA CN106933157A (en) | 2017-04-20 | 2017-04-20 | A kind of wheelchair safety monitoring assembly and monitoring method |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107224359A (en) * | 2017-07-20 | 2017-10-03 | 李良 | The wheelchair automatically controlled |
| CN107260474A (en) * | 2017-07-21 | 2017-10-20 | 靳爱丛 | Automate circulation-type operating table |
| CN108037397A (en) * | 2017-12-31 | 2018-05-15 | 浙江英洛华康复器材有限公司 | The calling device of intelligent diagnostics electric wheel-chair vehicle working status |
| CN108670228A (en) * | 2018-05-25 | 2018-10-19 | 绥化学院 | A kind of safeguard and supervision for the aged and recovering aid system |
| CN108871437A (en) * | 2018-06-14 | 2018-11-23 | 四川长虹网络科技有限责任公司 | Detection warning device and system are toppled over and moved to facility |
| WO2019127348A1 (en) * | 2017-12-29 | 2019-07-04 | 四川金瑞麒智能科学技术有限公司 | Wheelchair position tracking method, system and apparatus |
| CN111583583A (en) * | 2020-04-26 | 2020-08-25 | 郑州大学 | Safety monitoring device and feedback early warning system for paralyzed patients |
| CN111714296A (en) * | 2020-06-15 | 2020-09-29 | 安徽理工大学 | Intelligent wheelchair and intelligent wheelchair safety system |
| CN112566603A (en) * | 2018-09-07 | 2021-03-26 | 苏州金瑞麒智能科技有限公司 | Wheelchair structure parameter self-adaptive adjusting method, system and storage medium |
| CN113777961A (en) * | 2021-08-06 | 2021-12-10 | 季华实验室 | Wheelchair nursing bed control method and system and computer readable storage medium |
| CN115047801A (en) * | 2022-06-16 | 2022-09-13 | 东南大学 | Wheelchair cluster remote sensing and control system based on cloud service |
| CN115501050A (en) * | 2022-10-31 | 2022-12-23 | 江苏理工学院 | Wheelchair user health monitoring system based on computer vision and training method of detection network thereof |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107224359A (en) * | 2017-07-20 | 2017-10-03 | 李良 | The wheelchair automatically controlled |
| CN107260474A (en) * | 2017-07-21 | 2017-10-20 | 靳爱丛 | Automate circulation-type operating table |
| CN107260474B (en) * | 2017-07-21 | 2018-12-14 | 徐州玖胜医疗器械有限公司 | Automate circulation-type operating table |
| WO2019127348A1 (en) * | 2017-12-29 | 2019-07-04 | 四川金瑞麒智能科学技术有限公司 | Wheelchair position tracking method, system and apparatus |
| CN111512246A (en) * | 2017-12-29 | 2020-08-07 | 四川金瑞麒智能科学技术有限公司 | Wheelchair position tracking method, system and device |
| CN108037397A (en) * | 2017-12-31 | 2018-05-15 | 浙江英洛华康复器材有限公司 | The calling device of intelligent diagnostics electric wheel-chair vehicle working status |
| CN108670228A (en) * | 2018-05-25 | 2018-10-19 | 绥化学院 | A kind of safeguard and supervision for the aged and recovering aid system |
| CN108871437A (en) * | 2018-06-14 | 2018-11-23 | 四川长虹网络科技有限责任公司 | Detection warning device and system are toppled over and moved to facility |
| CN112566603A (en) * | 2018-09-07 | 2021-03-26 | 苏州金瑞麒智能科技有限公司 | Wheelchair structure parameter self-adaptive adjusting method, system and storage medium |
| CN111583583A (en) * | 2020-04-26 | 2020-08-25 | 郑州大学 | Safety monitoring device and feedback early warning system for paralyzed patients |
| CN111714296A (en) * | 2020-06-15 | 2020-09-29 | 安徽理工大学 | Intelligent wheelchair and intelligent wheelchair safety system |
| CN113777961A (en) * | 2021-08-06 | 2021-12-10 | 季华实验室 | Wheelchair nursing bed control method and system and computer readable storage medium |
| CN115047801A (en) * | 2022-06-16 | 2022-09-13 | 东南大学 | Wheelchair cluster remote sensing and control system based on cloud service |
| CN115501050A (en) * | 2022-10-31 | 2022-12-23 | 江苏理工学院 | Wheelchair user health monitoring system based on computer vision and training method of detection network thereof |
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