CN107174418A - A kind of intelligent wheel chair and its control method - Google Patents
A kind of intelligent wheel chair and its control method Download PDFInfo
- Publication number
- CN107174418A CN107174418A CN201710510126.7A CN201710510126A CN107174418A CN 107174418 A CN107174418 A CN 107174418A CN 201710510126 A CN201710510126 A CN 201710510126A CN 107174418 A CN107174418 A CN 107174418A
- Authority
- CN
- China
- Prior art keywords
- wheel chair
- intelligent wheel
- current environment
- order
- map
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
-
- 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
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses intelligent wheel chair and its control method, intelligent wheel chair includes：Intelligent wheel chair body, is arranged on forward laser light radar and rearmounted laser radar on intelligent wheel chair body, and input equipment, processor, input equipment receives the order of user's input；Processor obtains the structure order of map, according to structure order and intelligent wheel chair in current environment moving process, the information of target point in the current environment returned after the forward laser light radar and rearmounted Laser Radar Scanning current environment that receive, builds map and the preservation of current environment；Processor obtains the traveling order for indicating to reach appointed place in current environment, and according to traveling order and the map of current environment, control intelligent wheel chair is moved to appointed place.The intelligent wheel chair and its control method of the present invention is arrived at according to user command self-navigation traveling, is simplified user's operating procedure, is met demand.
Description
Technical field
The present invention relates to Intelligent hardware technical field, and in particular to a kind of intelligent wheel chair and its control method.
Background technology
There are millions of disabled person or the crowd with dyskinesia in the whole world, and they are dependent in daily life
Wheelchair, still, wherein a big chunk people is due to a variety of causes such as limbs disturbances, it is impossible to normally operate wheelchair.
Therefore, it is necessary to propose that a kind of intelligent wheel chair meets the demand of user.
The content of the invention
The invention provides a kind of intelligent wheel chair and its control method, to solve existing wheelchair, it is impossible to meet user's need
Ask, the problem of Consumer's Experience is not good.
According to an aspect of the invention, there is provided a kind of intelligent wheel chair, including intelligent wheel chair body, it is arranged on intelligent wheel
Forward laser light radar and rearmounted laser radar, input equipment and processor on chair body,
Forward laser light radar is arranged on the front side of intelligent wheel chair body, and rearmounted laser radar is arranged on intelligent wheel chair body
Rear side,
Input equipment, receives the order of user's input；
Processor, obtains the structure order for the map for indicating to build current environment, is ordered and intelligent wheel chair according to building
In current environment moving process, what is returned after the forward laser light radar and rearmounted Laser Radar Scanning current environment that receive works as
The information of target point in preceding environment, builds map and the preservation of current environment；
Processor, obtains the traveling order for indicating to reach appointed place in current environment, is ordered and preserved according to traveling
Current environment map, control intelligent wheel chair be moved to appointed place.
According to another aspect of the present invention there is provided a kind of control method of intelligent wheel chair, including：
Receive the order of user's input；
The structure order for the map for indicating to build current environment is obtained, front ring is being worked as according to structure order and intelligent wheel chair
In the moving process of border, in the current environment returned after the forward laser light radar and rearmounted Laser Radar Scanning current environment that receive
The information of target point, builds map and the preservation of current environment；
The traveling order for indicating to reach appointed place in current environment is obtained, that orders and preserve according to traveling works as front ring
The map in border, control intelligent wheel chair is moved to appointed place.
The beneficial effects of the invention are as follows：The intelligent wheel chair of the embodiment of the present invention, receives the order of user's input, and according to finger
Show the structure order for the map for building current environment, in current environment moving process, the forward laser light radar received is with after
The information of target point in the current environment returned after Laser Radar Scanning current environment is put, the map for being presently in environment is built,
Realize that memory of the intelligent wheel chair to current environment recognizes；When getting the traveling order for reaching appointed place, it can combine and preserve
Current environment map, automatically control intelligent wheel chair and be moved to the appointed place that user thinks, enter manually without user
Row operation, simplifies the rate-determining steps of wheelchair, improves Consumer's Experience.Furthermore, by the front side of intelligent wheel chair body and after
Side sets forward laser light radar and rearmounted laser radar respectively, due to two laser radars respectively positioned at wheelchair body front side and
Rear side, both are combined scanning, 360 ° of its periphery scope can comprehensively scanned centered on intelligent wheel chair body, are being built
During map, the integrality and accuracy of cartographic information are can guarantee that, the mistake of appointed place is moved in control intelligent wheel chair
Cheng Zhong, can also provide accurate guiding, it is to avoid collide barrier for traveling process.
Brief description of the drawings
Fig. 1 is the side view of the intelligent wheel chair of one embodiment of the invention；
Fig. 2 is the functional block diagram of the intelligent wheel chair of one embodiment of the invention；
Fig. 3 is the map signal of the current environment of the intelligent wheel chair structure of one embodiment of the invention；
Fig. 4 is the workflow schematic diagram of the intelligent wheel chair of one embodiment of the invention；
Fig. 5 is the travel route schematic diagram of the intelligent wheel chair of one embodiment of the invention；
Fig. 6 is the schematic flow sheet of the control method of the intelligent wheel chair of one embodiment of the invention.
Embodiment
The design concept of the present invention is：With application of the interactive voice technology in people live, such as in hospital, work
Application in the environment such as place and family, and existing wheelchair operation complexity can not meet the wheelchair users such as limbs disturbance
The problem of demand, present inventor expects, interactive voice is applied in wheelchair control, and realizes wheelchair independent navigation
Avoidance and traveling, improve the intelligence degree of wheelchair, reduce operation difficulty of the users such as limbs disturbance to wheelchair.
Referring to Fig. 1, the side view of intelligent wheel chair in one embodiment, intelligent wheel chair includes：Intelligent wheel chair body 1, is set
Forward laser light radar 13 and rearmounted laser radar 12 on intelligent wheel chair body 1, input equipment 10 and processor 11,
Forward laser light radar 13 is arranged on the front side of intelligent wheel chair body 1 and (is for example arranged on front side of intelligent wheel chair body
The lower position of pedal), the rear side that rearmounted laser radar 12 is arranged on intelligent wheel chair body 1 (is for example arranged on intelligent wheel chair
At the chair back of body), by setting forward laser light radar and rearmounted laser thunder respectively in the front side of intelligent wheel chair body and rear side
Reach, two laser radars combine scanning, 360 ° of its periphery scope can comprehensively be scanned centered on intelligent wheel chair body,
During map is built, it is ensured that the integrality and accuracy of cartographic information, subsequently finger is moved in control intelligent wheel chair
During determining place, accurate guiding can be also provided for traveling process, it is to avoid bump against barrier.
Input equipment 10, receives the order of user's input；
Processor 11, obtains the structure order for the map for indicating to build current environment, is taken turns according to structure order and intelligence
Chair is returned in current environment moving process after the forward laser light radar and rearmounted Laser Radar Scanning current environment that receive
The information of target point in current environment, builds map and the preservation of current environment；
Processor 11, obtains the traveling order for indicating to reach appointed place in current environment, is ordered and protected according to traveling
The map for the current environment deposited, control intelligent wheel chair is moved to appointed place.
In addition, encoder 15 and motor 14 are installed on the wheel of intelligent wheel chair body 1, encoder 15, in intelligence
When wheelchair is moved, record the number of turns of vehicle wheel rotation and feed back to processor 11；Processor 11, according to the number of turns and the wheel of preservation
Circumference calculating go out intelligent wheel chair movement distance；Motor 14, is operated according to the instruction of the processor 11 received,
Driving moment is rotated.
Understand as shown in Figure 1, the intelligent wheel chair of the present embodiment, the instruction inputted according to user builds the map of current environment
Structure order in current environment moving process, receive laser radar collection 360 degree of intelligent wheel chair periphery in the range of letter
Breath builds the map of current environment, realizes that memory of the intelligent wheel chair to current environment recognizes；Then when receive user input arrive
Up to appointed place order when, according to reach appointed place order and structure current environment map independently drive to it is specified
Place, it is not necessary to which user controls traveling manually, reduces operation difficulty, more intelligent, improves Consumer's Experience.
Referring to Fig. 2, functionally divide, the aforementioned hardware of intelligent wheel chair can be divided into three kinds, i.e. input, processing end
And output end.
Input, including microphone, microphone receive voice command, are then output to sound identification module, speech recognition
Voice command is converted to the processor that Text Command is sent to processing end by module.
Input, in addition to Laser Radar Scanning, forward laser light radar and rearmounted Laser Radar Scanning current environment, will sweep
The information retouched is sent to the processor of processing end.
Laser radar is to be reflected by objective emission detectable signal (that is, laser beam), then will receive from target
The signal (that is, target echo) returned is compared with transmission signal, is made after proper treatment, so that it may obtain the relevant letter of target
Breath, such as target range, orientation, height, speed, posture, shape parameter, so as to object (such as desk, wall in current environment
Wall etc.) detected and recognized.
The information that the processor of processing end is sent according to laser radar, and internal SLAM (Simultaneous
Localization And Mapping, are positioned and map structuring immediately) algorithm, can accurately it be calculated by certain computing
Go out absolute position or the relative position of current environment, position carry out synchronous with the map for building current environment.Also, processor
Text Command according to receiving generates corresponding control instruction and is sent to output end after being handled.
Output end, including motor and encoder, motor drive wheelchair to move according to the control instruction of processor.
The number of turns of vehicle wheel rotation, processor, so, processor are sent to by lap information in encoder collection intelligent wheel chair moving process
The distance that intelligent wheel chair is currently moved can be calculated, and judges whether that control wheelchair stops movement for follow-up.
The intelligent wheel chair of the present embodiment is except can be in addition to self-navigation driven to up to appointed place, more intelligentized body
Being now being capable of avoidance, i.e. avoiding obstacles in the process of moving, it is ensured that the security during intelligent wheel chair traveling.
Specifically, processor 11, during control intelligent wheel chair is moved to appointed place, also receives forward laser light thunder
The information of target point in the current environment returned after up to 13 and the real time scan of rearmounted laser radar 12, according to the information meter of target point
Calculate intelligent wheel chair corresponding forbidden area on the map of current environment, and control intelligent wheel chair along the region beyond forbidden area to
Move appointed place.
In this way, the manual control during improving the security of the intelligent wheel chair traveling of the present embodiment, traveling without user
System, meets user's request.It should be noted that in the present embodiment, the map of the current environment of structure is with current environment etc.
The virtual map of proportional zoom.Forward laser light radar is mainly used in scanning the information of the object in intelligent wheel chair front area, after
Put the information that laser radar is mainly used in scanning object in intelligent wheel chair posterior region.Two laser radars are located at wheelchair sheet respectively
The front side of body and rear side, both combine scanning, centered on intelligent wheel chair body, 360 ° of its periphery scope are swept comprehensively
Retouch, it is ensured that the integrality and accuracy of cartographic information are simultaneously accurately oriented to be provided during wheelchair traveling, it is to avoid bump against barrier.
In embodiment, referring to Fig. 1, input equipment 10 is microphone, and microphone is arranged on the headrest of intelligent wheel chair body 1
Place, the voice command for receiving user's input, voice command is sent to processor 11.It is arranged on headrest prescription and just gathers use
The voice at family, improves the degree of accuracy of voice collecting, it is to be understood that, the set location not limited to this of microphone.
Processor 11, is sent to sound identification module by the voice command received and is identified, and obtains correspondence voice life
The Text Command information of order, processor 11, after Text Command information is obtained, by Text Command information and default order rule
Each order rule in storehouse is matched, and when Text Command information meets an order rule, determines Text Command information pair
The order answered is effective.
Here, sound identification module is arranged on cloud server or is arranged on intelligent wheel chair.
In one embodiment, sound identification module is provided with intelligent wheel chair, for example, pre- in the memory of intelligent wheel chair
A plurality of voice command is first stored, carrying out speech recognition after the voice command of microphone collection is received determines whether to control wheelchair
Order, and when the voice command judged is the order of control wheelchair, then the specific command context to the order
Judged.
Preferably, it is contemplated that in practical application, each user speak custom and mode difference it is larger, the voice of user life
Irregular situation is made, sound identification module is arranged on cloud server.There are more resources on cloud server, save
A large amount of voice commands, faster, recognition result is more accurate for processing and calculating speed.Sent after intelligent wheel chair receives voice command
Sound identification module on to cloud server is identified.In this case, the intelligent wheel chair of the present embodiment supports networking work(
Can, for example, being provided with communication module in processor, voice command is sent to cloud server by processor by the communication module
Carry out online speech recognition.
Here, each order rule in order rule base includes following information：Wake up word information, order word information and/
Or object information.
Referring to table 1, be the present embodiment order rule base in order rule list,
Table 1
It is " your good wheelchair " that word is waken up in table 1, and it is a fixed phrase to wake up word, for activating speech recognition mechanism, is kept away
Exempt from erroneous judgement when daily and intelligent wheel chair is talked.
Order word includes：" setting up map ", " understanding is here " " remembeing here " etc., object information is location information, including：
" bedroom ", " kitchen ", " dining room " etc..Meeting comprising the primitive rule for waking up word information, order word information and/or object information
On the premise of, order rule in order rule base can independent assortment according to demand, the application is not restricted to this.
It should be noted that wake-up word and order word information in table 1 etc. is only schematic example, can basis in practice
Application demand is configured, in addition, the remark information in table 1 is the explanation to order rule, can be omitted in practical application.
For the further operation for simplifying user, reduce in the requirement to the user of intelligent wheel chair, the present embodiment, work as identification
After the voice for going out user's input, the voice command of the location name for indicating each region in current environment inputted according to user,
Voice command is sent to processor, processor, when receiving voice command, the ground of intelligent wheel chair correspondence current environment is obtained
Current position coordinates on figure, set up after the one-to-one relationship of current position coordinates and location name and preserve；Processor, when obtaining
When getting the traveling order of appointed place in instruction arrival current environment, believed according to the location name of appointed place in traveling order
Breath, determines location name corresponding coordinate on the map of current environment, and according to corresponding coordinate, control intelligent wheel chair is moved
Move to appointed place.
Table 2
Table 2, is the location name of the present embodiment and the coordinate corresponding table of corresponding points, referring to table 2, each location name is right
There should be a two-dimensional coordinate, i.e. correspondence point coordinates.For example, in table 2 parlor corresponding point coordinates P1=(X1, Y1).Pair in bedroom
Answer point coordinates P2=(X2, Y2)。
It should be noted that, it is necessary to complete when using self-navigation and the driving functions of the intelligent wheel chair of the present embodiment first
Travelled into the learning process of intelligent wheel chair, i.e. control intelligent wheel chair first in current environment, and specify ground driving to one
During point, input phonetic order tells intelligent wheel chair current location corresponding location name, and such intelligent wheel chair can be by structure
A specified coordinate in the map of current environment, the location name of user's input sets up one-to-one relationship, subsequently works as user
When saying the arrival location name, intelligent wheel chair is gone by searching corresponding relation, and being generated according to the current position of intelligent wheel chair
Sail route self-navigation and drive to the appointed place.So there is no need to the position seat that user remembers the place of each in current environment
Mark, if user wants to reach some place in current environment, it is only necessary to a voice command is said, so as to reduce
Requirement to user.
With reference to Fig. 3, the map of the information architecture of target point in the current environment that Fig. 3, which is processor, to be fed back according to laser radar
It is the obstructing objects such as metope that the region (that is, region shown in reference 23) of gridline is drawn in signal, Fig. 3, and other regions are nothings
The region of barrier, is the region of intelligent wheel chair wheeled.Fig. 3 further illustrates intelligent wheel chair 22 in the corresponding map of current environment
In position signal.It is further to note that illustrate some isolated target points 20 in Fig. 3, these target points 20 be
During being scanned using laser radar to the interior space, it is incomplete to the object scanning in space or scan less than etc. reason
It is caused.
Here so that the voice command that user inputs is the order for the map for building current environment as an example, to the work of intelligent wheel chair
Illustrated as process.Referring to Fig. 4, flow starts, and performs step S401,
Step S401, receives the voice command of user；
That is, the voice command of the map for the structure current environment that user inputs is received by microphone.
Step S402, uploads to cloud server and carries out speech recognition；
Intelligent wheel chair uploads to the voice command of collection on cloud server, the speech recognition mould on cloud server
Block carries out speech recognition.
Step S403, receives the Text Command that cloud server is returned；
The processor of intelligent wheel chair is received after cloud server progress speech recognition, the Text Command of return, specifically,
Voice command is identified cloud server, and the voice command that will identify that is converted to textual form, that is, is converted to text life
Order is issued to intelligent wheel chair.Here it is that the processor for facilitating intelligent wheel chair is carried out to order voice command to be converted into textual form
Signal coding and subsequent treatment.
Step S404, judges whether to meet order rule；It is then to perform step S405, otherwise performs step S406.
The processor of intelligent wheel chair judges whether the Text Command received meets in default order rule, the present embodiment i.e.
To judge whether to meet default " your good wheelchair, set up map " order rule, when the Text Command received meets order rule
When then, it is determined that order is effective order, and performs step S405, when the Text Command received does not meet default order rule
When, it is determined that order is invalid command and performs step S406.
Here by judging voice command, it is determined whether be effective order, phase is just performed when for effective order
The operation answered, so as to avoid false triggering, improves the satisfaction of user.
Step S405, performs corresponding order.
Here, that is, it is the real time information sent respectively according to forward laser light radar and rearmounted laser radar, is calculated using SLAM
Method, builds the map of current environment.SLAM refers to information of the moving object according to sensor, while calculating self-position, on one side
The process of constructing environment map.The intelligent wheel chair of the present embodiment is movement unknown position for one since current environment, is being moved
Self poisoning is carried out according to location estimation and map during dynamic, while building increment type map on the basis of self poisoning.
Step S406, ignores.
Because the voice command of user does not meet default order rule, so as to ignore the voice command, it is to avoid wrong
The inconvenience that operation is brought to user is performed by mistake, improves man-machine interaction experience.
After according to the map of current environment is constructed shown in Fig. 4, when the arrival that intelligent wheel chair receives user's input is current
In environment during the order of appointed place, the map for the current environment ordered and preserved according to traveling, control intelligent wheel chair movement
To appointed place and can realize traveling during automatic obstacle-avoiding.
Fig. 5 is the travel route schematic diagram of the intelligent wheel chair of one embodiment of the invention, referring to Fig. 5, it can be seen that intelligence wheel
Automatic obstacle avoidance functions in chair traveling.Specifically, the order that is inputted according to user when processor and the current environment of structure
Map, is generated to up to after the travel route of appointed place, that is, controls intelligent wheel chair 22 to move, and is moved in control intelligent wheel chair 22
In dynamic process, each target point 201 that processor is scanned respectively according to forward laser light radar and rearmounted laser radar, with mesh
Punctuate 201 be the center of circle, with pre-determined distance (such as 0.5 millimeter) be radius draw circle 21, all circles 21 connect constitute it is forbidden
Area, processor control intelligent wheel chair 22 is moved along the region beyond forbidden area according to driving line to appointed place.
Based on the structure of aforementioned intelligent wheelchair, one embodiment of the invention there is provided a kind of control method of intelligent wheel chair,
Referring to Fig. 6, including：
Step S601, receives the order of user's input；
Step S602, obtains the structure order for the map for indicating to build current environment, is taken turns according to structure order and intelligence
Chair is returned in current environment moving process after the forward laser light radar and rearmounted Laser Radar Scanning current environment that receive
The information of target point in current environment, builds map and the preservation of current environment；
Step S603, obtains the traveling order for indicating to reach appointed place in current environment, is ordered and protected according to traveling
The map for the current environment deposited, control intelligent wheel chair is moved to appointed place.
Here the map of the current environment built is the virtual map scaled with current environment equal proportion, it is ensured that intelligence wheel
The accuracy of chair independent navigation and traveling, facilitates intelligent wheel chair to reach the place that user thinks in current environment with user.
In one embodiment, this method also includes：During control intelligent wheel chair is moved to appointed place, also receive
The information of target point in the current environment returned after forward laser light radar and rearmounted laser radar real time scan, according to target point
Information computational intelligence wheelchair corresponding forbidden area on the map of current environment, and intelligent wheel chair is controlled along beyond forbidden area
Moved to appointed place in region；
In one embodiment, the order that step S601 receives user's input includes：Using being arranged on intelligent wheel chair body
Microphone at headrest, receives the voice command of input；The voice command received is sent into sound identification module to be known
Not, the Text Command information of correspondence voice command is obtained,
After Text Command information is obtained, Text Command information is entered with each order rule in default order rule base
Row matching, when Text Command information meets an order rule, determines that the corresponding order of Text Command information is effective.Wherein,
Sound identification module is arranged on cloud server or is arranged on intelligent wheel chair；Each order rule bag in order rule base
Containing following information：Wake up word information, order word information and/or object information；
In one embodiment, this method also includes：Receive the position for indicating each region in current environment of user's input
The voice command of title, according to the present bit on the map of the intelligent wheel chair correspondence current environment obtained when receiving voice command
Coordinate is put, sets up after the one-to-one relationship of current position coordinates and location name and preserves.
And, when getting the traveling order of appointed place in instruction arrival current environment, according to traveling order middle finger
Determine the location name information in place, determine location name corresponding coordinate on the map of current environment, and according to corresponding
Coordinate, control intelligent wheel chair is moved to appointed place.
In summary, the intelligent wheel chair and its control method of the present embodiment, the order inputted according to user builds current institute
Locate the map of environment, and the traveling order for reaching appointed place in current environment inputted according to user, control reaches current
The appointed place that user thinks in environment, is operated manually without user, is simplified the control operation step of wheelchair, is changed
It has been apt to Consumer's Experience, has met user's request.By using the intelligent wheel chair of the present embodiment, the work effect of nursing staff is improved
Rate, at the same time, moreover it is possible to improve by the quality of life of nursing staff, facilitate large-scale promotion.
The foregoing is only a specific embodiment of the invention, under the above-mentioned teaching of the present invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of above-described embodiment.It will be understood by those skilled in the art that above-mentioned tool
The purpose of the present invention is simply preferably explained in body description, and protection scope of the present invention is defined by scope of the claims.
Claims (10)
1. a kind of intelligent wheel chair, it is characterised in that including：Intelligent wheel chair body, before being arranged on the intelligent wheel chair body
Laser radar and rearmounted laser radar, input equipment and processor are put,
The forward laser light radar is arranged on the front side of the intelligent wheel chair body, and the rearmounted laser radar is arranged on the intelligence
The rear side of energy wheelchair body,
The input equipment, receives the order of user's input；
The processor, obtains the structure order for the map for indicating to build current environment, and order is built and described according to described
Intelligent wheel chair is in current environment moving process, and the forward laser light radar and the rearmounted Laser Radar Scanning received is worked as
The information of target point in the current environment returned after preceding environment, builds map and the preservation of current environment；
The processor, obtain indicate reach current environment in appointed place traveling order, according to it is described traveling order and
The map of the current environment preserved, control intelligent wheel chair is moved to the appointed place.
2. intelligent wheel chair according to claim 1, it is characterised in that
The processor, during control intelligent wheel chair is moved to the appointed place, also receives the forward laser light thunder
Up to the information with target point in the current environment returned after the rearmounted laser radar real time scan, according to the information meter of target point
Calculate the intelligent wheel chair corresponding forbidden area on the map of current environment, and control the intelligent wheel chair along beyond forbidden area
Region moved to the appointed place.
3. intelligent wheel chair according to claim 1 or 2, it is characterised in that
The input equipment is microphone,
Microphone is arranged at the headrest of intelligent wheel chair body, the voice signal for receiving user's input, and the voice is believed
Number send to the processor.
4. intelligent wheel chair according to claim 3, it is characterised in that
The processor, is sent to sound identification module by the voice command received and is identified, and obtains the correspondence voice
The Text Command information of order,
The sound identification module is arranged on cloud server or is arranged on the intelligent wheel chair.
5. intelligent wheel chair according to claim 4, it is characterised in that
The processor, after the Text Command information is obtained, by Text Command information and default order rule base
Each order rule is matched, and when the Text Command information meets an order rule, determines the Text Command
The corresponding order of information is effective.
6. intelligent wheel chair according to claim 3, it is characterised in that
The microphone, also receives the voice command of the location name for indicating each region in current environment of user's input, will
Institute's speech commands are sent to processor,
The processor, receiving during speech commands, on the map for obtaining the intelligent wheel chair correspondence current environment
Current position coordinates, set up after the one-to-one relationship of the current position coordinates and the location name and preserve；
The processor, when getting the traveling order of appointed place in instruction arrival current environment, is ordered according to the traveling
The location name information of appointed place in order, determines location name corresponding coordinate on the map of current environment, and according to
Corresponding coordinate, control intelligent wheel chair is moved to the appointed place.
7. intelligent wheel chair according to claim 1, it is characterised in that
Encoder and motor are installed on the wheel of the intelligent wheel chair body,
The encoder, when intelligent wheel chair is moved, records the number of turns of the vehicle wheel rotation and feeds back to the processor；
The processor, according to the circumference calculating of the number of turns and the wheel of preservation go out that the intelligent wheel chair moves away from
From；
The motor, is operated according to the instruction of the processor received, drives the vehicle wheel rotation.
8. intelligent wheel chair according to claim 5, it is characterised in that
Each order rule in the order rule base includes following information：Wake up word information, order word information and/or object letter
Breath；
The map of the current environment built is the virtual map scaled with current environment equal proportion.
9. a kind of control method of intelligent wheel chair, it is characterised in that including：
Receive the order of user's input；
The structure order for the map for indicating to build current environment is obtained, is being worked as according to order and the intelligent wheel chair of building
In preceding environment moving process, what is returned after the forward laser light radar and rearmounted Laser Radar Scanning current environment that receive works as front ring
The information of target point in border, builds map and the preservation of current environment；
The traveling order for indicating to reach appointed place in current environment is obtained, is worked as according to the traveling is ordered and preserved
The map of preceding environment, control intelligent wheel chair is moved to the appointed place.
10. method according to claim 9, it is characterised in that also include：
During control intelligent wheel chair is moved to the appointed place, the forward laser light radar is also received and described rearmounted
The information of target point in the current environment returned after laser radar real time scan, calculates the intelligence according to the information of target point and takes turns
Chair corresponding forbidden area on the map of current environment, and the intelligent wheel chair is controlled along the region beyond forbidden area to described
Move appointed place；
The order for receiving user's input includes：
Using the microphone being arranged at the headrest of intelligent wheel chair body, the voice command of input is received；
Also include：The voice of the location name for indicating each region in current environment of user's input is received using the microphone
Current location on order, the map of the intelligent wheel chair correspondence current environment obtained according to receiving during speech commands
Coordinate, sets up after the one-to-one relationship of the current position coordinates and the location name and preserves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710510126.7A CN107174418A (en) | 2017-06-28 | 2017-06-28 | A kind of intelligent wheel chair and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710510126.7A CN107174418A (en) | 2017-06-28 | 2017-06-28 | A kind of intelligent wheel chair and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107174418A true CN107174418A (en) | 2017-09-19 |
Family
ID=59845032
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710510126.7A Pending CN107174418A (en) | 2017-06-28 | 2017-06-28 | A kind of intelligent wheel chair and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107174418A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928898A (en) * | 2017-11-30 | 2018-04-20 | 杭州爱尚智能家居有限公司 | A kind of intelligent wheel chair |
| CN107943029A (en) * | 2017-11-15 | 2018-04-20 | 苏州佳世达电通有限公司 | Transportation resources and transportation system |
| CN108062098A (en) * | 2017-12-11 | 2018-05-22 | 子歌教育机器人（深圳）有限公司 | Map construction method and system for intelligent robot |
| CN108478348A (en) * | 2018-05-29 | 2018-09-04 | 华南理工大学 | A kind of intelligent wheelchair and control method of interior independent navigation Internet of Things |
| CN108594719A (en) * | 2018-05-31 | 2018-09-28 | 陈力涛 | A kind of intelligent cooking operating method |
| CN108827317A (en) * | 2018-08-20 | 2018-11-16 | 重庆师范大学 | The more balance car autonomous navigation methods in interior identified based on sparse map and driver |
| CN108897328A (en) * | 2018-08-27 | 2018-11-27 | 桂林电子科技大学 | Wheel chair robot and its indoor autonomous navigation method |
| CN108937283A (en) * | 2018-07-19 | 2018-12-07 | 贵州省仁怀市西科电脑科技有限公司 | A kind of Intelligent office chair |
| CN109106522A (en) * | 2018-06-14 | 2019-01-01 | 深圳市尚荣医用工程有限公司 | Voice control automatic path planning intelligent wheelchair system |
| CN109172196A (en) * | 2018-10-16 | 2019-01-11 | 薛宸 | It is a kind of intellectual nursing bed |
| CN109725632A (en) * | 2017-10-30 | 2019-05-07 | 速感科技（北京）有限公司 | Removable smart machine control method, removable smart machine and intelligent sweeping machine |
| WO2019179467A1 (en) * | 2018-03-21 | 2019-09-26 | 北京猎户星空科技有限公司 | Correlation establishment method and apparatus, and medium and electronic device |
| CN110368210A (en) * | 2019-08-09 | 2019-10-25 | 珠海格力智能装备有限公司 | Wheelchair |
| CN111708368A (en) * | 2020-07-07 | 2020-09-25 | 上海工程技术大学 | Intelligent wheelchair based on fusion of laser and visual SLAM |
| CN111739255A (en) * | 2020-06-19 | 2020-10-02 | 无锡绿科源电子科技有限公司 | Auxiliary vehicle device, monitoring method and system based on auxiliary vehicle device |
| CN112578778A (en) * | 2019-09-27 | 2021-03-30 | 上海尊颐智能科技有限公司 | Navigation control method and navigation system of function auxiliary device |
| WO2021108959A1 (en) * | 2019-12-02 | 2021-06-10 | 深圳职业技术学院 | Intelligent traveling wheelchair used in small area |
| CN113081525A (en) * | 2021-03-30 | 2021-07-09 | 南京工程学院 | Intelligent walking aid equipment and control method thereof |
| CN113288608A (en) * | 2021-05-27 | 2021-08-24 | 中国科学院心理研究所 | Indoor automatic driving method of electric wheelchair |
| CN114089741A (en) * | 2021-10-16 | 2022-02-25 | 南昌大学 | Mobile device with user-defined voice and intelligent efficient and accurate tracking function |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2808996A1 (en) * | 2000-05-19 | 2001-11-23 | Univ Montpellier Ii | Control unit for handicapped persons electrically driven mobile chair, uses control panel with at least four photosensitive zones, right, left, forwards, backwards, acted on by laser beam |
| CN101038175A (en) * | 2006-03-17 | 2007-09-19 | 通用汽车公司 | Method for recording notation and the method capable of making the notation to be replayed |
| JP2010221784A (en) * | 2009-03-23 | 2010-10-07 | Toyota Motor Corp | Inverted wheel type moving body |
| CN103110485A (en) * | 2013-02-25 | 2013-05-22 | 武汉理工大学 | Multifunctional intelligent medical guardian wheelchair and wheelchair control method |
| CN103344973A (en) * | 2013-06-24 | 2013-10-09 | 开平市中铝实业有限公司 | Auto voice input navigation system |
| CN103637887A (en) * | 2013-11-26 | 2014-03-19 | 苏州罗马冯环保科技有限公司 | Wheelchair capable of navigating the blind |
| CN103700369A (en) * | 2013-11-26 | 2014-04-02 | 安徽科大讯飞信息科技股份有限公司 | Voice navigation method and system |
| CN104083258A (en) * | 2014-06-17 | 2014-10-08 | 华南理工大学 | Intelligent wheel chair control method based on brain-computer interface and automatic driving technology |
| CN104216410A (en) * | 2014-09-24 | 2014-12-17 | 哈尔滨工业大学 | Blind person navigation walking-aiding trolley used in large indoor public place and positioning method thereof |
| CN104596533A (en) * | 2015-01-07 | 2015-05-06 | 上海交通大学 | Automatic guided vehicle based on map matching and guide method of automatic guided vehicle |
| CN106264911A (en) * | 2016-09-30 | 2017-01-04 | 深圳市镭神智能系统有限公司 | A kind of navigation avoidance wheelchair |
| CN106726209A (en) * | 2016-11-24 | 2017-05-31 | 中国医学科学院生物医学工程研究所 | A kind of method for controlling intelligent wheelchair based on brain-computer interface Yu artificial intelligence |
| CN106880454A (en) * | 2015-12-16 | 2017-06-23 | 安徽三联机器人科技有限公司 | A kind of robot care bed control system and method |
-
2017
- 2017-06-28 CN CN201710510126.7A patent/CN107174418A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2808996A1 (en) * | 2000-05-19 | 2001-11-23 | Univ Montpellier Ii | Control unit for handicapped persons electrically driven mobile chair, uses control panel with at least four photosensitive zones, right, left, forwards, backwards, acted on by laser beam |
| CN101038175A (en) * | 2006-03-17 | 2007-09-19 | 通用汽车公司 | Method for recording notation and the method capable of making the notation to be replayed |
| JP2010221784A (en) * | 2009-03-23 | 2010-10-07 | Toyota Motor Corp | Inverted wheel type moving body |
| CN103110485A (en) * | 2013-02-25 | 2013-05-22 | 武汉理工大学 | Multifunctional intelligent medical guardian wheelchair and wheelchair control method |
| CN103344973A (en) * | 2013-06-24 | 2013-10-09 | 开平市中铝实业有限公司 | Auto voice input navigation system |
| CN103700369A (en) * | 2013-11-26 | 2014-04-02 | 安徽科大讯飞信息科技股份有限公司 | Voice navigation method and system |
| CN103637887A (en) * | 2013-11-26 | 2014-03-19 | 苏州罗马冯环保科技有限公司 | Wheelchair capable of navigating the blind |
| CN104083258A (en) * | 2014-06-17 | 2014-10-08 | 华南理工大学 | Intelligent wheel chair control method based on brain-computer interface and automatic driving technology |
| CN104216410A (en) * | 2014-09-24 | 2014-12-17 | 哈尔滨工业大学 | Blind person navigation walking-aiding trolley used in large indoor public place and positioning method thereof |
| CN104596533A (en) * | 2015-01-07 | 2015-05-06 | 上海交通大学 | Automatic guided vehicle based on map matching and guide method of automatic guided vehicle |
| CN106880454A (en) * | 2015-12-16 | 2017-06-23 | 安徽三联机器人科技有限公司 | A kind of robot care bed control system and method |
| CN106264911A (en) * | 2016-09-30 | 2017-01-04 | 深圳市镭神智能系统有限公司 | A kind of navigation avoidance wheelchair |
| CN106726209A (en) * | 2016-11-24 | 2017-05-31 | 中国医学科学院生物医学工程研究所 | A kind of method for controlling intelligent wheelchair based on brain-computer interface Yu artificial intelligence |
Non-Patent Citations (1)
| Title |
|---|
| 张毅等: "《移动机器人技术基础与制作》", 31 January 2013 * |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109725632A (en) * | 2017-10-30 | 2019-05-07 | 速感科技（北京）有限公司 | Removable smart machine control method, removable smart machine and intelligent sweeping machine |
| CN107943029A (en) * | 2017-11-15 | 2018-04-20 | 苏州佳世达电通有限公司 | Transportation resources and transportation system |
| CN107928898A (en) * | 2017-11-30 | 2018-04-20 | 杭州爱尚智能家居有限公司 | A kind of intelligent wheel chair |
| CN108062098A (en) * | 2017-12-11 | 2018-05-22 | 子歌教育机器人（深圳）有限公司 | Map construction method and system for intelligent robot |
| TWI702376B (en) * | 2018-03-21 | 2020-08-21 | 大陸商北京獵戶星空科技有限公司 | Correspondence establishment method, device, medium and electronic equipment |
| WO2019179467A1 (en) * | 2018-03-21 | 2019-09-26 | 北京猎户星空科技有限公司 | Correlation establishment method and apparatus, and medium and electronic device |
| CN108478348A (en) * | 2018-05-29 | 2018-09-04 | 华南理工大学 | A kind of intelligent wheelchair and control method of interior independent navigation Internet of Things |
| CN108478348B (en) * | 2018-05-29 | 2023-12-01 | 华南理工大学 | Intelligent wheelchair with indoor autonomous navigation Internet of things and control method |
| CN108594719A (en) * | 2018-05-31 | 2018-09-28 | 陈力涛 | A kind of intelligent cooking operating method |
| CN109106522A (en) * | 2018-06-14 | 2019-01-01 | 深圳市尚荣医用工程有限公司 | Voice control automatic path planning intelligent wheelchair system |
| CN108937283A (en) * | 2018-07-19 | 2018-12-07 | 贵州省仁怀市西科电脑科技有限公司 | A kind of Intelligent office chair |
| CN108827317A (en) * | 2018-08-20 | 2018-11-16 | 重庆师范大学 | The more balance car autonomous navigation methods in interior identified based on sparse map and driver |
| CN108827317B (en) * | 2018-08-20 | 2022-05-24 | 重庆金美汽车电子有限公司 | Indoor multi-balance vehicle autonomous navigation method based on sparse map and driver identification |
| CN108897328A (en) * | 2018-08-27 | 2018-11-27 | 桂林电子科技大学 | Wheel chair robot and its indoor autonomous navigation method |
| CN108897328B (en) * | 2018-08-27 | 2024-05-10 | 桂林电子科技大学 | Wheelchair robot and indoor autonomous navigation method thereof |
| CN109172196A (en) * | 2018-10-16 | 2019-01-11 | 薛宸 | It is a kind of intellectual nursing bed |
| CN110368210A (en) * | 2019-08-09 | 2019-10-25 | 珠海格力智能装备有限公司 | Wheelchair |
| CN112578778A (en) * | 2019-09-27 | 2021-03-30 | 上海尊颐智能科技有限公司 | Navigation control method and navigation system of function auxiliary device |
| WO2021108959A1 (en) * | 2019-12-02 | 2021-06-10 | 深圳职业技术学院 | Intelligent traveling wheelchair used in small area |
| CN111739255A (en) * | 2020-06-19 | 2020-10-02 | 无锡绿科源电子科技有限公司 | Auxiliary vehicle device, monitoring method and system based on auxiliary vehicle device |
| CN111708368B (en) * | 2020-07-07 | 2023-03-10 | 上海工程技术大学 | Intelligent wheelchair based on fusion of laser and visual SLAM |
| CN111708368A (en) * | 2020-07-07 | 2020-09-25 | 上海工程技术大学 | Intelligent wheelchair based on fusion of laser and visual SLAM |
| CN113081525A (en) * | 2021-03-30 | 2021-07-09 | 南京工程学院 | Intelligent walking aid equipment and control method thereof |
| CN113288608A (en) * | 2021-05-27 | 2021-08-24 | 中国科学院心理研究所 | Indoor automatic driving method of electric wheelchair |
| CN114089741A (en) * | 2021-10-16 | 2022-02-25 | 南昌大学 | Mobile device with user-defined voice and intelligent efficient and accurate tracking function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107174418A (en) | A kind of intelligent wheel chair and its control method | |
| CN111708368B (en) | Intelligent wheelchair based on fusion of laser and visual SLAM | |
| KR102577785B1 (en) | Cleaning robot and Method of performing task thereof | |
| CN105787471A (en) | Gesture identification method applied to control of mobile service robot for elder and disabled | |
| Sekmen et al. | An application of passive human-robot interaction: human tracking based on attention distraction | |
| CN110844402B (en) | Garbage bin system is summoned to intelligence | |
| KR20240063820A (en) | Cleaning robot and Method of performing task thereof | |
| CN106527424A (en) | Mobile robot and navigation method of mobile robot | |
| Chen et al. | DroneTalk: An Internet-of-Things-based drone system for last-mile drone delivery | |
| CN207281590U (en) | A kind of intelligence blind-guidance robot device | |
| CN106584472A (en) | Method and device for controlling autonomous mobile equipment | |
| CN109933061A (en) | Robot and control method based on artificial intelligence | |
| CN111319044A (en) | Article grabbing method and device, readable storage medium and grabbing robot | |
| CN107390175A (en) | A kind of auditory localization guider with the artificial carrier of machine | |
| CN208048905U (en) | A kind of intelligent wheel chair | |
| EP3839817A2 (en) | Generating and/or using training instances that include previously captured robot vision data and drivability labels | |
| KR102380807B1 (en) | Catechetical type shared control system and mobile robot having the same | |
| CN114895563A (en) | Novel intelligent collaborative distribution robot system based on reinforcement learning | |
| Shah et al. | Solving service robot tasks: UT Austin Villa@ Home 2019 team report | |
| KR20230134109A (en) | Cleaning robot and Method of performing task thereof | |
| Luo et al. | Topological map generation for intrinsic visual navigation of an intelligent service robot | |
| Cao et al. | An autonomous service mobile robot for indoor environments | |
| US20230041272A1 (en) | Conversation facilitating method and electronic device using the same | |
| Ghidary et al. | Multi-modal human robot interaction for map generation | |
| CN112882481A (en) | Mobile multi-mode interactive navigation robot system based on SLAM |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170919 |
|
| RJ01 | Rejection of invention patent application after publication |