CN107608357A - Can automatic homing wheelchair and its automatic homing method - Google Patents
Can automatic homing wheelchair and its automatic homing method Download PDFInfo
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- CN107608357A CN107608357A CN201710910706.5A CN201710910706A CN107608357A CN 107608357 A CN107608357 A CN 107608357A CN 201710910706 A CN201710910706 A CN 201710910706A CN 107608357 A CN107608357 A CN 107608357A
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- wheelchair
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- barrier
- automatic homing
- universal wheel
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000004044 response Effects 0.000 claims abstract description 22
- 230000004888 barrier function Effects 0.000 claims description 82
- 230000008859 change Effects 0.000 claims description 8
- 238000004458 analytical method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 238000011897 real-time detection Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000011282 treatment Methods 0.000 description 2
- 241001062009 Indigofera Species 0.000 description 1
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Abstract
The invention discloses it is a kind of can automatic homing wheelchair and its automatic homing method, be related to wheelchair technical field.The wheelchair communicates with background server, wheelchair includes controller, GPS locator, motor, supply unit, Quick Response Code display board and universal wheel, GPS locator, motor, supply unit, Quick Response Code display board and universal wheel are connected with controller, controller, GPS locator and motor are connected with supply unit, and motor is also connected with universal wheel；This method includes：S1, mobile scanning terminal Quick Response Code display board；S2, controller send positional information to background server, and background server calculates the automatic homing route of wheelchair；S3, controller drive motor are rotated, and the direction of motion of universal wheel is adjusted according to automatic homing route.The present invention can be after patient uses wheelchair, and wheelchair automatically returns to the position for being originally used for placing wheelchair, facilitates patient to use wheelchair, so as to ensure the effectively shared of this public resource of wheelchair.
Description
Technical field
The present invention relates to wheelchair technical field, be specifically related to it is a kind of can automatic homing wheelchair and its automatic homing side
Method.
Background technology
Within the hospital, the application of wheelchair is commonplace, and patient checks or can used during various treatments, particularly
It is handicapped, infusing or even more needing wheelchair when just finishing patient's movement that treatment be inconvenient to walk about, thus at some
Section office's such as orthopaedics, neurosurgery and Oncology Ward utilization rate is very high.But the wheelchair of hospital is often lent by patient and used
Afterwards, arbitrarily put, be not returned to the position for being originally used for placing wheelchair, cannot be timely when other patients are in need
Wheelchair is found, many inconvenience is brought to the patient using wheelchair, causes this public resource of wheelchair to be shared.
The content of the invention
The invention aims to overcome the shortcomings of above-mentioned background technology, there is provided it is a kind of can automatic homing wheelchair and its
Automatic homing method.The present invention can be after patient uses wheelchair, and wheelchair automatically returns to the position for being originally used for placing wheelchair, side
Just patient uses wheelchair, so as to ensure the effectively shared of this public resource of wheelchair.
The present invention provide it is a kind of can automatic homing wheelchair, the wheelchair communicates with background server, and the wheelchair includes
Controller, GPS locator, motor, supply unit, Quick Response Code display board and universal wheel, it is the GPS locator, electronic mechanical, electrical
Source device, Quick Response Code display board and universal wheel are connected with controller, the controller, GPS locator and motor with electricity
Source device is connected, and the motor is also connected with universal wheel；
The controller, for obtaining the positional information of GPS locator, the position that wheelchair is sent to background server is believed
Breath, the automatic homing route that background server is sent is received, drive motor rotates, and is adjusted according to the automatic homing route
The direction of motion of universal wheel, makes wheelchair be moved to target location；
The GPS locator, for positioning the positional information of wheelchair；
The motor, for driving universal wheel to move；
The supply unit, for controller, GPS locator and motor；
The Quick Response Code display board, for providing the Quick Response Code of mobile scanning terminal, and show on mobile terminal display screen
Show automatic homing order.
On the basis of above-mentioned technical proposal, the wheelchair also includes range sensor, the range sensor connection control
Device processed, the range sensor is used to detect whether wheelchair periphery has barrier, and range data of the barrier from wheelchair is passed
Deliver to controller.
On the basis of above-mentioned technical proposal, the controller, it is additionally operable to receive range data of the barrier from wheelchair, than
Compared with barrier from default distance threshold in the range data and controller of wheelchair, judge that wheelchair continues according to automatic homing route
Avoiding barrier is carried out in direction that is mobile or changing universal wheel；
If barrier is more than default distance threshold in controller from the range data of wheelchair, wheelchair continues according to returning automatically
Position route movement；If barrier is less than default distance threshold in controller from the range data of wheelchair, controller adjustment is universal
The rotational angle of wheel, carry out avoiding barrier so as to change the moving direction of wheelchair.
On the basis of above-mentioned technical proposal, the wheelchair also includes electronic lock, and the electronic lock is arranged on universal wheel,
The electronic lock connects controller, and the electronic lock is used to locking or unlocking universal wheel.
On the basis of above-mentioned technical proposal, before the controller drive motor rotates, controller passes according to distance
Whether sensor detection wheelchair periphery has the situation of barrier, judges whether to unlock electronic lock；
If barrier is not present, controller unblock electronic lock；If barrier be present, controller carries out analysis judgement, sentences
It is disconnected can avoiding barrier, then controller unblock electronic lock, judgement can not avoiding barrier, then controller do not unlock electronic lock.
On the basis of above-mentioned technical proposal, the communication protocol used between the controller and background server includes indigo plant
At least one of tooth wireless protocols, ZigBee wireless protocols, WiFi wireless protocols or NFC wireless protocols are several.
The present invention also provide it is a kind of based on it is above-mentioned can automatic homing wheelchair automatic homing method, this method include it is as follows
Step：
S1, mobile scanning terminal Quick Response Code display board, there is automatic homing order on the display screen of mobile terminal；
After S2, automatic homing order are chosen, controller obtains the positional information of GPS locator, and controller takes to backstage
Device of being engaged in sends the positional information, and background server, and will according to the automatic homing route of the positional information calculation wheelchair of wheelchair
The automatic homing route calculated is sent to controller；
After S3, controller receive automatic homing route, controller drive motor rotates, and is adjusted according to automatic homing route
The direction of motion of whole universal wheel, makes wheelchair be moved to target location.
On the basis of above-mentioned technical proposal, step S3 specifically comprises the following steps：
After S301, controller receive automatic homing route, controller drive motor rotates, and controller is according to automatic homing
Route controls the rotational angle of universal wheel, so as to adjust the direction of motion of universal wheel；
S302, in wheelchair moving process, whether have barrier by the range sensor real-time detection wheelchair periphery on wheelchair
Hinder thing, if barrier is not present, wheelchair continues to move to；If barrier be present, range data of the barrier from wheelchair is sent to
Controller；
If S303, barrier from wheelchair range data be more than controller in default distance threshold, wheelchair continue according to
Automatic homing route moves；If barrier is less than default distance threshold in controller from the range data of wheelchair, controller is adjusted
The rotational angle of whole universal wheel, carry out avoiding barrier so as to change the moving direction of wheelchair, repeat step S2 after avoiding barrier.
On the basis of above-mentioned technical proposal, in step S301, before controller drive motor rotates, in addition to it is as follows
Step：Whether range sensor detection wheelchair periphery has barrier, if barrier is not present, the electricity on controller unblock wheelchair
Son lock；If barrier be present, controller carries out analysis judgement, judgement can avoiding barrier, then controller unlock the electronics
Lock, judgement can not avoiding barrier, then controller do not unlock the electronic lock.
On the basis of above-mentioned technical proposal, in step S3, controller controls turning for universal wheel according to automatic homing route
The detailed process of dynamic angle is：During wheelchair moves, controller is counted in real time according to the deviation angle of automatic homing route
Calculate and adjust the rotational angle of universal wheel.
Compared with prior art, advantages of the present invention is as follows：
(1) present invention obtains the positional information of wheelchair by controller, and the position of wheelchair is then sent to background server
Information, the automatic homing route that controller is sent according to background server, control the rotational angle of universal wheel so that wheelchair along from
Dynamic playback route is moved to the position for being originally used for placing wheelchair, facilitates patient to use wheelchair, so as to ensure that wheelchair is this public
Resource is effectively shared.
(2) whether the present invention has barrier by range sensor real-time detection wheelchair periphery, and by barrier from wheelchair
Range data be sent to controller so that the rotation direction that controller can adjust universal wheel carrys out avoiding barrier, so as to protect
Wheelchair is demonstrate,proved during automatic homing, will not be damaged because barrier is knocked.
(3) present invention is positioned in real time by GPS locator to wheelchair, and positioning is flexibly accurate, ensure that wheelchair is automatic
The accuracy of playback route.Meanwhile the present invention is opened by way of Quick Response Code display board using mobile scanning terminal Quick Response Code
Automatic homing order is opened, the mode of this startup wheelchair automatic homing is simple, and can make with wheelchair by the way that Quick Response Code is shared
With, lease, supervision etc. function phase combine, practical, applicability is wide.
(4) automatic homing method of the invention strengthens the control measures to public wheelchair, strengthens management intensity, can protect
Card patient is correct, conveniently, safely uses wheelchair, improves the satisfaction of patient and the social image of hospital.
Brief description of the drawings
Fig. 1 be the embodiment of the present invention can automatic homing wheelchair structural representation.
Fig. 2 be the embodiment of the present invention can automatic homing wheelchair automatic homing method flow chart.
Fig. 3 be the embodiment of the present invention can automatic homing wheelchair automatic homing method in controller driving wheelchair be moved to
The flow chart of target location.
Reference：1- seat supports, 2- backrests, 3- handrails, 4- controllers, 5-GPS locators, 6- motor, 7- power supplys dress
Put, 8- Quick Response Codes display board, 9- universal wheels, 10- range sensors, 11- electronic locks.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is described in further detail.
It is shown in Figure 1, the embodiment of the present invention provide it is a kind of can automatic homing wheelchair, wheelchair leads to background server
Letter, wheelchair include seat support 1, backrest 2 and handrail 3, and the lower section of seat support 1 is provided with controller 4, GPS locator 5, motor 6 and electricity
Source device 7, the bottom of wheelchair are provided with universal wheel 9, and backrest 2 is provided with Quick Response Code display board 8, GPS locator 5, motor 6, electricity
Source device 7, Quick Response Code display board 8 and universal wheel 9 are connected with controller 4, controller, GPS locator and motor with electricity
Source device is connected, and motor is also connected with universal wheel.
Controller 4, for obtaining the positional information of GPS locator 5, the positional information of wheelchair is sent to background server,
The automatic homing route that background server is sent is received, drive motor 6 rotates, and adjusts universal wheel according to automatic homing route
9 direction of motion, makes wheelchair be moved to target location.
GPS locator 5, for positioning the positional information of wheelchair.
Motor 6, for driving universal wheel 9 to move.
Supply unit 7, for being powered to controller 4, GPS locator 5 and motor 6.In practical application, supply unit 7
Including battery and charging plug, charging plug is connected with battery.
Quick Response Code display board 8, for providing the Quick Response Code of mobile scanning terminal, and shown certainly on mobile terminal display screen
Dynamic playback order.The side of wheelchair is additionally provided with range sensor 10, and range sensor 10 connects controller 4, range sensor 10
For detecting whether wheelchair periphery has barrier, and by barrier controller 4 is sent to from the range data of wheelchair.
Wheelchair also includes electronic lock 11, and electronic lock 11 is arranged on universal wheel 9, and electronic lock 11 connects controller 4, electronic lock
11 are used to locking or unlocking universal wheel 9.
Controller 4, be additionally operable to receive barrier from wheelchair range data, compare barrier from wheelchair range data with
Default distance threshold in controller 4, judge that wheelchair continues that the direction of universal wheel 9 is moved or changed according to automatic homing route
Carry out avoiding barrier；
If barrier is more than default distance threshold in controller 4 from the range data of wheelchair, wheelchair continues according to automatic
The route that playbacks moves；If barrier is less than default distance threshold in controller 4 from the range data of wheelchair, controller 4 adjusts
The rotational angle of universal wheel 9, carry out avoiding barrier so as to change the moving direction of wheelchair.
Before the drive motor 6 of controller 4 rotates, controller 4 detects whether wheelchair periphery has according to range sensor 10
The situation of barrier, judge whether to unlock electronic lock 11；
If barrier is not present, controller 4 unlocks electronic lock 11；If barrier be present, controller 4 carries out analysis and sentenced
It is disconnected, judgement can avoiding barrier, then controller 4 unlock electronic lock 11, judgement can not avoiding barrier, then controller 4 do not understand
Lock electronic lock 11.
The communication protocol used between controller 4 and background server include bluetooth wireless protocol, ZigBee wireless protocols,
At least one of WiFi wireless protocols or NFC wireless protocols are several.
It is shown in Figure 2, the present invention also provide it is a kind of based on it is above-mentioned can automatic homing wheelchair automatic homing method, bag
Include following steps：
S1, mobile scanning terminal Quick Response Code display board 8, there is automatic homing order on the display screen of mobile terminal；
After S2, automatic homing order are chosen, controller 4 obtains the positional information of GPS locator 5, and controller 4 is to from the background
Server sends the positional information of wheelchair, background server according to the automatic homing route of the positional information calculation wheelchair of wheelchair,
And the automatic homing route calculated is sent to controller 4；
After S3, controller 4 receive automatic homing route, the drive motor 6 of controller 4 rotates, and according to automatic homing road
Line adjusts the direction of motion of universal wheel 9, wheelchair is moved to target location.
Shown in Figure 3, step S3 specifically comprises the following steps：
After S301, controller 4 receive automatic homing route, the drive motor 6 of controller 4 rotates, and controller 4 is according to automatic
The route that playbacks controls the rotational angle of universal wheel 9, so as to adjust the direction of motion of universal wheel 9；
S302, in wheelchair moving process, whether have by the real-time detection wheelchair periphery of range sensor 10 on wheelchair
Barrier, if barrier is not present, wheelchair continues to move to；If barrier be present, range data of the barrier from wheelchair is transmitted
To controller 4；
If S303, barrier from wheelchair range data be more than controller 4 in default distance threshold, wheelchair continue according to
Automatic homing route moves；If barrier is less than default distance threshold in controller 4, controller 4 from the range data of wheelchair
The rotational angle of universal wheel 9 is adjusted, carrys out avoiding barrier so as to change the moving direction of wheelchair, repeat step after avoiding barrier
S2。
Wherein, in step S301, before the drive motor 6 of controller 4 rotates, also comprise the following steps：Range sensor
Whether 10 detection wheelchair peripheries have barrier, if barrier is not present, controller 4 unlocks the electronic lock 11 on wheelchair；If deposit
In barrier, controller 4 carries out analysis judgement, judgement can avoiding barrier, then controller 4 unlock electronic lock 11, judge nothing
Method avoiding barrier, then controller 4 do not unlock electronic lock 11.
Wherein, in step S3, controller 4 controls the detailed process of the rotational angle of universal wheel 9 according to automatic homing route
For：During wheelchair moves, controller 4 calculates according to the deviation angle of automatic homing route and adjusts universal wheel 9 in real time
Rotational angle.
Those skilled in the art can carry out various modifications and variations to the embodiment of the present invention, if these modifications and change
Type is within the scope of the claims in the present invention and its equivalent technologies, then these modifications and variations are also in protection scope of the present invention
Within.
The prior art that the content not being described in detail in specification is known to the skilled person.
Claims (10)
1. it is a kind of can automatic homing wheelchair, it is characterised in that：The wheelchair communicates with background server, and the wheelchair includes control
Device, GPS locator, motor, supply unit, Quick Response Code display board and universal wheel processed, the GPS locator, motor, power supply
Device, Quick Response Code display board and universal wheel are connected with controller, and the controller, GPS locator and motor are and power supply
Device is connected, and the motor is also connected with universal wheel；
The controller, for obtaining the positional information of GPS locator, the positional information of wheelchair is sent to background server, is connect
The automatic homing route that background server is sent is received, drive motor rotates, and universal according to automatic homing route adjustment
The direction of motion of wheel, makes wheelchair be moved to target location；
The GPS locator, for positioning the positional information of wheelchair；
The motor, for driving universal wheel to move；
The supply unit, for controller, GPS locator and motor；
The Quick Response Code display board, for providing the Quick Response Code of mobile scanning terminal, and shown certainly on mobile terminal display screen
Dynamic playback order.
2. as claimed in claim 1 can automatic homing wheelchair, it is characterised in that：The wheelchair also includes Distance-sensing
Device, the range sensor connect controller, and the range sensor is used to detect whether wheelchair periphery has barrier, and will barrier
Thing is hindered to be sent to controller from the range data of wheelchair.
3. as claimed in claim 2 can automatic homing wheelchair, it is characterised in that：The controller, it is additionally operable to receive barrier
Thing is hindered to compare barrier from the range data of wheelchair from default distance threshold in the range data and controller of wheelchair, judge
Avoiding barrier is carried out in the direction that wheelchair continues to move or change according to automatic homing route universal wheel；
If barrier is more than default distance threshold in controller from the range data of wheelchair, wheelchair continues according to automatic homing road
Line moves；If barrier is less than default distance threshold in controller from the range data of wheelchair, controller adjustment universal wheel
Rotational angle, carry out avoiding barrier so as to change the moving direction of wheelchair.
4. as claimed in claim 2 can automatic homing wheelchair, it is characterised in that：The wheelchair also includes electronic lock, institute
State electronic lock to be arranged on universal wheel, the electronic lock connects controller, and the electronic lock is used to locking or unlocking universal wheel.
5. as claimed in claim 4 can automatic homing wheelchair, it is characterised in that：The controller drive motor rotates
Before, controller detects whether wheelchair periphery has the situation of barrier according to range sensor, judges whether to unlock electronic lock；
If barrier is not present, controller unblock electronic lock；If barrier be present, controller carries out analysis judgement, judges energy
Enough avoiding barriers, then controller unblock electronic lock, judgement can not avoiding barrier, then controller do not unlock electronic lock.
6. as claimed in claim 1 can automatic homing wheelchair, it is characterised in that：The controller and background server it
Between the communication protocol that uses include in bluetooth wireless protocol, ZigBee wireless protocols, WiFi wireless protocols or NFC wireless protocols
It is at least one or several.
7. it is a kind of based on any one of claim 1-6 can automatic homing wheelchair automatic homing method, its feature
It is, comprises the following steps：
S1, mobile scanning terminal Quick Response Code display board, there is automatic homing order on the display screen of mobile terminal；
After S2, automatic homing order are chosen, controller obtains the positional information of GPS locator, and controller is to background server
Send the positional information, background server will calculate according to the automatic homing route of the positional information calculation wheelchair of wheelchair
Good automatic homing route is sent to controller；
After S3, controller receive automatic homing route, controller drive motor rotates, and adjusts ten thousand according to automatic homing route
To the direction of motion of wheel, wheelchair is set to be moved to target location.
8. automatic homing method according to claim 7, it is characterised in that：Step S3 specifically comprises the following steps：
After S301, controller receive automatic homing route, controller drive motor rotates, and controller is according to automatic homing route
The rotational angle of universal wheel is controlled, so as to adjust the direction of motion of universal wheel；
S302, in wheelchair moving process, whether have barrier by the range sensor real-time detection wheelchair periphery on wheelchair,
If barrier is not present, wheelchair continues to move to；If barrier be present, barrier is sent to control from the range data of wheelchair
Device；
If S303, barrier are more than default distance threshold in controller from the range data of wheelchair, wheelchair continues according to automatic
The route that playbacks moves；If barrier is less than default distance threshold in controller, controller adjustment ten thousand from the range data of wheelchair
To the rotational angle of wheel, carry out avoiding barrier so as to change the moving direction of wheelchair, repeat step S2 after avoiding barrier.
9. automatic homing method according to claim 8, it is characterised in that：In step S301, controller drive motor
Before rotation, also comprise the following steps：Whether range sensor detection wheelchair periphery has barrier, if barrier is not present,
Electronic lock on controller unblock wheelchair；If barrier be present, controller carries out analysis judgement, judgement can avoiding barrier,
Then controller unlocks the electronic lock, judgement can not avoiding barrier, then controller do not unlock the electronic lock.
10. automatic homing method according to claim 7, it is characterised in that：In step S3, controller is according to automatic homing
Route controls the detailed process of the rotational angle of universal wheel to be：During wheelchair moves, controller is according to automatic homing road
The deviation angle of line, calculate in real time and adjust the rotational angle of universal wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710910706.5A CN107608357A (en) | 2017-09-29 | 2017-09-29 | Can automatic homing wheelchair and its automatic homing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710910706.5A CN107608357A (en) | 2017-09-29 | 2017-09-29 | Can automatic homing wheelchair and its automatic homing method |
Publications (1)
| Publication Number | Publication Date |
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| CN107608357A true CN107608357A (en) | 2018-01-19 |
Family
ID=61067215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710910706.5A Pending CN107608357A (en) | 2017-09-29 | 2017-09-29 | Can automatic homing wheelchair and its automatic homing method |
Country Status (1)
| Country | Link |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109532379A (en) * | 2018-11-12 | 2019-03-29 | 重庆科技学院 | Adaptive adjustment balancing transporter and its intelligence control system and method |
| CN109765885A (en) * | 2018-11-21 | 2019-05-17 | 深圳市迈康信医用机器人有限公司 | The method and its system of Wheelchair indoor automatic Pilot |
| CN109887184A (en) * | 2019-04-11 | 2019-06-14 | 深圳市班玛智行科技有限公司 | A kind of system and method for shared chair type Intelligent scooter |
| CN114931473A (en) * | 2022-05-17 | 2022-08-23 | 南京工程学院 | Automatic unlocking system for universal wheels of wheelchair and control method |
| CN114973525A (en) * | 2022-07-28 | 2022-08-30 | 深圳壹家智能锁有限公司 | Returning processing method, device, equipment and storage medium of self-service wheelchair |
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| CN114973525A (en) * | 2022-07-28 | 2022-08-30 | 深圳壹家智能锁有限公司 | Returning processing method, device, equipment and storage medium of self-service wheelchair |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180119 |
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| RJ01 | Rejection of invention patent application after publication |