CN108143550A - A kind of multifunctional intellectual wheelchair - Google Patents
A kind of multifunctional intellectual wheelchair Download PDFInfo
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- CN108143550A CN108143550A CN201810155746.8A CN201810155746A CN108143550A CN 108143550 A CN108143550 A CN 108143550A CN 201810155746 A CN201810155746 A CN 201810155746A CN 108143550 A CN108143550 A CN 108143550A
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- multifunctional intellectual
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- 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
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1081—Parts, details or accessories with shock absorbers or other suspension arrangements between frame and seat
-
- 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
- A61G5/1089—Anti-tip devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/18—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering by patient's head, eyes, facial muscles or voice
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
-
- 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
- A61G2203/30—General characteristics of devices characterised by sensor means
-
- 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
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/34—General characteristics of devices characterised by sensor means for pressure
Abstract
Disclose a kind of multifunctional intellectual wheelchair, intelligent wheel chair as field of medical service, muscle signal control wheelchair is a kind of novel intelligent wheelchair based on flesh machine interfacing, have the function of to hide obstacle, independent navigation etc., it is user-friendly for operation and intelligent, and it high-precision can control, smoothly operation, simultaneously, the wheelchair also has high-end autonomous manual operation mode, for have many advantages, such as the patient of autonomous operation ability also can easy manipulation, have more economical property, higher utilization rate and it is high-end intelligence.
Description
Technical field
The present invention relates to medical instruments fields, more particularly, are related to a kind of multifunctional wheelchair.
Background technology
At present, world's aging populations are aggravating, and Empty nest elderly is increasing, while the disability caused by many factors
Personage just in cumulative year after year, the physical therapy of so huge handicapped and elderly and rehabilitation problem oneself become a weight of society
Big hot spot.With the development of science and technology, these disadvantaged group thirst for walking out door, society is reintegrated, the appearance of intelligent wheel chair carries
Their high freedom of movement, to they provide good trip
Intelligent wheel chair combines robot technology and electric wheelchair technology, have better capacity of will, interaction capabilities and
Adaptability substantially increases its intelligence.Intelligent wheel chair is typically the elderly and physical disabilities using crowd, primarily as
The walking-replacing tool of this special population and design, good locomotor activity should be its intelligent basis, and wheelchair is in autonomous row
During walking, some barriers can be inevitably encountered, quick safe avoidance is a kind of basic capacity of intelligent wheel chair indispensability.It is and old
Year people and physical disabilities can generally be less than normal person, if relying solely in terms of ability to act, reaction speed and elaborative faculty
The real-time manual operation of user not only results in the fatigue of user, and by user's ability to act, reaction speed and control
The influence of experience processed may make manipulation effect poor, the generation of safety accident is even caused when serious.
However, many elderly and the disabled cannot control common wheelchair well, they are unable to normal use wheelchair
Control interface is unable to safe driving wheelchair, some cannot be even used in wheelchair, such as amyotrophic lateral sclerosis, brain
The Diseases such as wind, multiple sclerosis.Therefore, for this present situation, there is an urgent need to develop a kind of novel multifunctional intellectuals
Wheelchair, to meet the needs of actual use.
Invention content
Therefore, in view of the shortcomings of the prior art, providing the example of the present invention to substantially solve since correlation is led
One or more problems, safety and reliability increase substantially caused by the limitation in domain and shortcoming, effectively play guarantor
Protect the effect of equipment.
According to technical solution provided by the invention, multifunctional intellectual wheelchair includes backrest, handrail, cushion, backplate, man-machine friendship
Mutual device dials foot, leg guard pads, foot pedal, front-wheel, trailing wheel, accumulator, driving motor, pushing hands, industrial personal computer.
Further, the driving motor is DC brushless motor, is installed in the tail portion of the DC brushless motor
For acquiring the grating encoder of motor position and velocity information, the DC brushless motor is by direct current generator drive control plate
Control, the direct current generator drive control plate include power management module, light-coupled isolation module and H bridge motor-drive circuit,
The direct current generator drive control plate is communicated by serial ports or CAN bus and the industrial personal computer, from described
High speed pwm pulse signal and motor drive direction the control signal of industrial personal computer are connected to the H by the light-coupled isolation module
Bridge motor-drive circuit generates different directions motor driven voltage, so as to control the rotating speed of the DC brushless motor and turn
To.
Further, the multifunctional intellectual wheelchair is further included for the detection to ambient enviroment and target and information
The sensory perceptual system of feedback, the sensory perceptual system include visual sensor, ultrasonic sensor, infrared distance sensor, photoelectricity
Encoder, the visual sensor are made of 2 road CMOS vision cameras being separately mounted on the left and right handrail, from
Angle perpendicular to wheel hub starts the ultrasonic sensor being positioned over described in one every 30 °, wherein, before being parallel to direction of travel
Each ultrasonic sensor placed described in two afterwards, the infrared distance sensor are infrared PSD sensors, the PSD
Sensor is made of transmitter and receiver two parts, and the photoelectric encoder is carved with light transmission and not regularly on code-disc
The segmental arc of light transmission, light-emitting component and light-sensitive element are equipped in code-disc both sides, and the photoelectric encoder is mounted on described two
On trailing wheel.
Preferably, the man-machine interaction device includes distant bar part, button part, display screen part, phonological component, GPS
The terminal of module and mobile communication module.
Further, the multifunctional intellectual wheelchair further includes flesh machine interface and muscle signal current measuring instrument, the flesh
Machine interface includes data acquisition module, data preprocessing module, data analysis module, control peripheral module, the flesh signal
Current measuring instrument acquire user muscle electric signal, the muscle signal current measuring instrument set there are one amplifier with several test electrodes
The data that the test electrode patch acquires are amplified by patch, the amplifier, by blue tooth interface with it is described
Industrial personal computer carries out the transmission of data.
Further, the multifunctional intellectual wheelchair further includes wireless control system, the wireless control system packet
Main control module, drive module, wireless communication module, detection module and smart mobile phone are included, the main control module passes through wireless/blue
Tooth communication communicates with the smart mobile phone, and user sends wheelchair control order, the master control by the smart mobile phone
Module is generated instruction code and is sent to the drive module control driving motor completion corresponding actions, meanwhile, it is described
The status information of the detection module detection wheelchair, and the main control module is sent to, the main control module receives, place
The smart mobile phone will send information to by wireless/bluetooth communication after reason.
Preferably, the data that hall effect type handle acquires are transferred to the industrial personal computer, institute by the distant bar part
The phonological component stated includes background denoising module, end-point detection speech enhan-cement module, Feature Extraction Feature compensating module, matches and search
Rope module, post-processing module, recognition result module.
Preferably, sensing angle >=18 ° of the ultrasonic sensor, effective detection range are 40 to 60 centimeters, essence
Spend is 0.2 centimeter.
Preferably, the button part includes wheel-chair switch control knob, wheel-chair running environment select button, wheel
Wheel-chair operational mode select button, GPS position information send button, mobile communication short message delete button, the display screen portion
Divide to show working environment, operating mode, environment temperature, real-time speed, location information.
Preferably, current overload detecting system is additionally provided between the accumulator and the driving motor, it is described
Current overload detecting system includes voltage comparator, it is described with make comparisons two voltage when, negative terminal adds a fixed voltage to do
Threshold voltage, the signal voltage that anode reception is compared.
Further, several pressure sensors and electric massage spring, the pressure are uniformly provided in the cushion
Force snesor is used to sense the pressure distribution of user and gravity center shift, the pressure sensor pass through collected electric signal
Blue tooth interface carries out the transmission of data with the industrial personal computer, so as to control the flexible equivalent of the electric massage spring.
Further, the handrail is equipped with adjusting height of armrests button, and the intelligent wheel chair rear portion is additionally provided with anti-
Spring and anti-dumping foot-driven lever are shaken, the front-wheel and the trailing wheel are inflated wheel, and the multifunctional intellectual wheelchair also wraps
Steering indicating light and whistle loudspeaker are included, the steering indicating light is controlled by relay, and the circuit of the whistle loudspeaker includes integrated timing
Device oscillator and power amplifier.
Further, described two driving trailing wheels are connect by separate transmission device with the driving motor, described
Transmission device include front ring gear, preceding planetary gear, front and rear sun wheel assembly, rear planetary gear, rear planet carrier, preceding planet carrier and rear tooth
Coil assembly, output shaft, wherein front-seat planet carrier and rear ring gear form a whole.
According to technical solution provided by the invention, the invention also discloses a kind of differential uses of intelligent wheel chair driving motor
Step, specially：The distance that needs barrier and/or target is measured according to ultrasonic sensor, infrared distance sensor
The steering angle that displacement and visual sensor need to run to wheelchair after image procossing；By direct current generator drive control plate
The steering angle of wheelchair to target and displacement are changed into the rotating speed and angle of left and right sidesing driving wheel needs after information processing；Root
According to mounted in left and right driving trailing wheel it is coaxial on photoelectric encoder measure motor rotation angular speed and linear velocity；It can by conversion
To obtain the output speed and angle of left and right driving motor reality.
With urgent craving of the aggravation and people of global aging trend to intelligent medical treatment service, muscle signal control wheel
Chair will gradually obtain the extensive concern of people.As the intelligent wheel chair of field of medical service, muscle signal control wheelchair is a kind of
Based on the novel intelligent wheelchair of flesh machine interfacing, have the function of to hide obstacle, independent navigation etc., it is user-friendly for operation and intelligent
Change, and high-precision can control, smoothly operate, meanwhile, which also has high-end autonomous manual operation mode, right
In the patient with autonomous operation ability also can easy manipulation, have more economical property, higher utilization rate and high-end intelligence
The features such as.
Description of the drawings
Fig. 1-6 is the overall schematic of the present invention.
Fig. 7-11 is the side schematic view of the present invention.
Figure 12 is the control section schematic diagram of the present invention.
Figure 13 is the transmission device schematic diagram of the present invention.
Figure 14 is the voice control schematic diagram of the present invention.
Specific embodiment
With reference to specific embodiment, the invention will be further described.
Below with reference to specific embodiment shown in the drawings, the present invention will be described in detail.But these embodiments are simultaneously
The present invention is not limited, structure that those of ordinary skill in the art are made according to these embodiments, method or functionally
Transformation is all contained in protection scope of the present invention.
Below in conjunction with the accompanying drawings and specific embodiment is further described the application principle of the present invention.
Multifunctional intellectual wheelchair include backrest 1, handrail 2, cushion 3, backplate 4, man-machine interaction device 5, dial foot 6, leg guard pads 7,
Foot pedal 8, front-wheel 9, trailing wheel 10, accumulator and industry control box body 11, driving motor 12, pushing hands 13, the accumulator and work
It controls and chargeable storage and industrial personal computer is equipped in box body.
Further, the driving motor is DC brushless motor, is installed in the tail portion of the DC brushless motor
For acquiring the grating encoder of motor position and velocity information, the DC brushless motor is by direct current generator drive control plate
Control, the direct current generator drive control plate include power management module, light-coupled isolation module and H bridge motor-drive circuit,
The direct current generator drive control plate is communicated by serial ports or CAN bus and the industrial personal computer, from described
High speed pwm pulse signal and motor drive direction the control signal of industrial personal computer are connected to the H by the light-coupled isolation module
Bridge motor-drive circuit generates different directions motor driven voltage, so as to control the rotating speed of the DC brushless motor and turn
To.
Further, the multifunctional intellectual wheelchair is further included for the detection to ambient enviroment and target and information
The sensory perceptual system of feedback, the sensory perceptual system include visual sensor, ultrasonic sensor, infrared distance sensor, photoelectricity
Encoder, the visual sensor are made of 2 road CMOS vision cameras being separately mounted on the left and right handrail, from
Angle perpendicular to wheel hub starts the ultrasonic sensor being positioned over described in one every 30 °, wherein, before being parallel to direction of travel
Each ultrasonic sensor placed described in two afterwards, the infrared distance sensor are infrared PSD sensors, the PSD
Sensor is made of transmitter and receiver two parts, and the photoelectric encoder is carved with light transmission and not regularly on code-disc
The segmental arc of light transmission, light-emitting component and light-sensitive element are equipped in code-disc both sides, and the photoelectric encoder is mounted on described two
On trailing wheel 10.
Preferably, the man-machine interaction device 5 includes distant bar part, button part, display screen part, phonological component, GPS
The terminal of module and mobile communication module.
Further, the multifunctional intellectual wheelchair further includes flesh machine interface and muscle signal current measuring instrument, the flesh
Machine interface includes data acquisition module, data preprocessing module, data analysis module, control peripheral module, the flesh signal
Current measuring instrument acquire user muscle electric signal, the muscle signal current measuring instrument set there are one amplifier with several test electrodes
The data that the test electrode patch acquires are amplified by patch, the amplifier, by blue tooth interface with it is described
Industrial personal computer 14 carries out the transmission of data.
Further, the multifunctional intellectual wheelchair further includes wireless control system, the wireless control system packet
Main control module, drive module, wireless communication module, detection module and smart mobile phone are included, the main control module passes through wireless/blue
Tooth communication communicates with the smart mobile phone, and user sends wheelchair control order, the master control by the smart mobile phone
Module is generated instruction code and is sent to the drive module control driving motor completion corresponding actions, meanwhile, it is described
The status information of the detection module detection wheelchair, and the main control module is sent to, the main control module receives, place
The smart mobile phone will send information to by wireless/bluetooth communication after reason.
Preferably, the data that hall effect type handle acquires are transferred to the industrial personal computer 14 by the distant bar part,
The phonological component includes background denoising module, end-point detection speech enhan-cement module, Feature Extraction Feature compensating module, matching
Search module, post-processing module, recognition result module.
Preferably, sensing angle >=18 ° of the ultrasonic sensor, effective detection range are 40 to 60 centimeters, essence
Spend is 0.2 centimeter.
Preferably, the button part includes wheel-chair switch control knob, wheel-chair running environment select button, wheel
Wheel-chair operational mode select button, GPS position information send button, mobile communication short message delete button, the display screen portion
Divide to show working environment, operating mode, environment temperature, real-time speed, location information.
Preferably, current overload detecting system, institute are additionally provided between the accumulator 11 and the driving motor 12
The current overload detecting system stated includes voltage comparator, it is described with make comparisons two voltage when, negative terminal adds a fixed electricity
Pressure does threshold voltage, the signal voltage that anode reception is compared.
Further, several pressure sensors and electric massage spring, the pressure are uniformly provided in the cushion 3
Force snesor is used to sense the pressure distribution of user and gravity center shift, the pressure sensor pass through collected electric signal
Blue tooth interface carries out the transmission of data with the industrial personal computer 14, so as to control the flexible equivalent of the electric massage spring.
Further, the handrail 2 is equipped with adjusting height of armrests button 15, and the intelligent wheel chair rear portion is additionally provided with
Antirattle spring 16 and anti-dumping foot-driven lever 17, the front-wheel 9 and the trailing wheel 10 are inflated wheel, the multifunctional intellectual
Wheelchair further includes steering indicating light and whistle loudspeaker, and the steering indicating light is controlled by relay, and the circuit of the whistle loudspeaker includes
Integrated timer oscillator and power amplifier.
Further, described two driving trailing wheels 10 are connect by separate transmission device with the driving motor 12,
The transmission device include front ring gear C1, preceding planetary gear C2, front and rear sun wheel assembly C3, rear planetary gear C4, rear planet carrier C5,
Preceding planet carrier and rear gear ring component C6, output shaft C7, wherein front-seat planet carrier and rear ring gear form a whole.
The differential of the intelligent wheel chair driving motor uses step, specially：
A）The displacement for the distance for needing barrier and/or target is measured according to ultrasonic sensor, infrared distance sensor
And the steering angle that visual sensor needs to run to wheelchair after image procossing；
B）By the steering angle of wheelchair to target and displacement are changed into after the information processing of direct current generator drive control plate
The rotating speed and angle that left and right sidesing driving wheel needs；
C）According to mounted in left and right driving trailing wheel it is coaxial on photoelectric encoder measure motor rotation angular speed and linear velocity；
D）The output speed and angle of left and right driving motor reality can be obtained by conversion.
The orientation or position relationship indicated in this specification be based on orientation shown in the drawings or position relationship, merely to
Convenient for the description present invention and simplify description rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.
In the present specification, identical embodiment or example are necessarily directed to the schematic representation of technical term.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples with suitable
Mode combines.In addition, without conflicting with each other, those skilled in the art can be by the difference described in this specification
The feature of embodiment or example and different embodiments or examples is combined.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of being detached from the principle of the present invention and objective a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The range of invention is limited by claim and its equivalent.
Claims (10)
1. a kind of multifunctional intellectual wheelchair, the multifunctional intellectual wheelchair includes backrest（1）, handrail（2）, cushion（3）, backplate
（4）, man-machine interaction device（5）, dial foot（6）, leg guard pads（7）, foot pedal（8）, front-wheel（9）, trailing wheel（10）, accumulator and industrial personal computer
Babinet（11）, driving motor（12）, pushing hands（13）, the accumulator is with being equipped with chargeable storage and work in industry control box body
Control machine, which is characterized in that
The driving motor is DC brushless motor, installs to acquire motor position in the tail portion of the DC brushless motor
The grating encoder with velocity information is put, the DC brushless motor is controlled by direct current generator drive control plate, and described is straight
Galvanic electricity machine drive control plate includes power management module, light-coupled isolation module and H bridge motor-drive circuit, the direct current generator
Drive control plate is communicated by serial ports or CAN bus and the industrial personal computer, the high speed PWM from the industrial personal computer
Pulse signal and motor drive direction control signal are connected to the H bridge motor-drive circuit by the light-coupled isolation module,
Different directions motor driven voltage is generated, so as to control the rotating speed of the DC brushless motor and steering；
The multifunctional intellectual wheelchair is further included for the detection to ambient enviroment and target and the perception system of the feedback of information
System, the sensory perceptual system includes visual sensor, ultrasonic sensor, infrared distance sensor, photoelectric encoder, described
Visual sensor is made of 2 road CMOS vision cameras being separately mounted on the left and right handrail, from perpendicular to wheel hub
Angle starts the ultrasonic sensor being positioned over described in one every 30 °, wherein, it is parallel to before and after direction of travel and respectively places two
The ultrasonic sensor, the infrared distance sensor are infrared PSD sensors, and the PSD sensors are by emitting
Device and receiver two parts composition, the photoelectric encoder are carved with light transmission and lighttight segmental arc regularly on code-disc,
Light-emitting component and light-sensitive element are equipped in code-disc both sides, the photoelectric encoder is mounted on two trailing wheels（10）On；
The man-machine interaction device（5）Including distant bar part, button part, display screen part, phonological component, GPS module and shifting
The terminal of dynamic communication module；
The multifunctional intellectual wheelchair further includes flesh machine interface and muscle signal current measuring instrument, and the flesh machine interface includes data
Acquisition module, data preprocessing module, data analysis module, control peripheral module, flesh signal current measuring instrument acquisition user
Muscle electric signal, the muscle signal current measuring instrument set there are one amplifier with several test electrode patch, described puts
The data that the test electrode patch acquires are amplified by big device, and data are carried out by blue tooth interface and the industrial personal computer
Transmission.
2. a kind of multifunctional intellectual wheelchair according to claim 1, which is characterized in that the multifunctional intellectual wheelchair is also
Including wireless control system, the wireless control system includes main control module, drive module, wireless communication module, detection mould
Block and smart mobile phone, the main control module are communicated by wireless/Bluetooth communication with the smart mobile phone, and user passes through described
Smart mobile phone send wheelchair control order, the main control module generate instruction code be sent to described in drive module
Driving motor is controlled to complete corresponding actions, meanwhile, the status information of the detection module detection wheelchair, and be sent to
The main control module, the main control module receives, it is described to will send information to after processing by wireless/bluetooth communication
Smart mobile phone.
3. a kind of multifunctional intellectual wheelchair according to claim 1, which is characterized in that the distant bar part imitates Hall
The data that formula handle acquires is answered to be transferred to the industrial personal computer, the phonological component includes background denoising module, end-point detection
Speech enhan-cement module, Feature Extraction Feature compensating module, matching search module, post-processing module, recognition result module.
A kind of 4. multifunctional intellectual wheelchair according to claim 1, which is characterized in that the sense of the ultrasonic sensor
Angle >=18 ° are answered, effective detection range is 40 to 60 centimeters, and precision is 0.2 centimeter.
5. a kind of multifunctional intellectual wheelchair according to claim 1, which is characterized in that the button part includes wheelchair
Stopping switch control button, wheel-chair running environment select button, wheel-chair operational mode select button, GPS position information are sent
Button, mobile communication short message delete button, the display screen part for show working environment, operating mode, environment temperature,
Real-time speed, location information.
6. a kind of multifunctional intellectual wheelchair according to claim 1, which is characterized in that the accumulator and the drive
Dynamic motor（12）Between be additionally provided with current overload detecting system, the current overload detecting system includes voltage comparator, institute
State with make comparisons two voltage when, negative terminal adds a fixed voltage to do threshold voltage, the signal voltage that anode reception is compared.
A kind of 7. multifunctional intellectual wheelchair according to claim 1, which is characterized in that the cushion（3）It is interior uniformly to set
There are several pressure sensors and electric massage spring, the pressure sensor is used to sense pressure distribution and the center of gravity of user
Collected electric signal is carried out the biography of data by variation, the pressure sensor by blue tooth interface with the industrial personal computer
It is defeated, so as to control the flexible equivalent of the electric massage spring.
A kind of 8. multifunctional intellectual wheelchair according to claim 1, which is characterized in that the handrail（2）It is equipped with and adjusts
Save height of armrests button（15）, the intelligent wheel chair rear portion is additionally provided with antirattle spring（16）With anti-dumping foot-driven lever（17）, it is described
Front-wheel（9）With the trailing wheel（10）It is inflated wheel, the multifunctional intellectual wheelchair further includes steering indicating light and whistle loudspeaker
, the steering indicating light is controlled by relay, and the circuit of the whistle loudspeaker includes integrated timer oscillator and power is put
Big device.
A kind of 9. multifunctional intellectual wheelchair according to claim 1, which is characterized in that two driving trailing wheels（10）
Pass through separate transmission device and the driving motor（12）Connection, the transmission device include front ring gear, preceding planetary gear, preceding
Rear sun gear component, rear planetary gear, rear planet carrier, preceding planet carrier and rear gear ring component, output shaft, wherein front-seat planet carrier is with after
Toothrow circle forms a whole.
10. a kind of differential application method of wheelchair driving motor, the wheelchair includes described in any one of claim 1-9
A kind of multifunctional intellectual wheelchair, which is characterized in that the differential of the driving motor be using step：
A）The displacement for the distance for needing barrier and/or target is measured according to ultrasonic sensor, infrared distance sensor
And the steering angle that visual sensor needs to run to wheelchair after image procossing；
B）By the steering angle of wheelchair to target and displacement are changed into after the information processing of direct current generator drive control plate
The rotating speed and angle that left and right sidesing driving wheel needs；
C）According to mounted in left and right driving trailing wheel it is coaxial on photoelectric encoder measure motor rotation angular speed and linear velocity；
D）The output speed and angle of left and right driving motor reality can be obtained by conversion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810155746.8A CN108143550A (en) | 2018-02-23 | 2018-02-23 | A kind of multifunctional intellectual wheelchair |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810155746.8A CN108143550A (en) | 2018-02-23 | 2018-02-23 | A kind of multifunctional intellectual wheelchair |
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| Publication Number | Publication Date |
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| CN108143550A true CN108143550A (en) | 2018-06-12 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810155746.8A Withdrawn CN108143550A (en) | 2018-02-23 | 2018-02-23 | A kind of multifunctional intellectual wheelchair |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109754785A (en) * | 2019-02-15 | 2019-05-14 | 临沂大学 | A kind of intelligence learning wheelchair and its phonetic study method |
| CN110333676A (en) * | 2019-07-03 | 2019-10-15 | 吉林大学 | Electric wheel-chair control device based on Android mobile phone |
| WO2020073168A1 (en) * | 2018-10-08 | 2020-04-16 | 苏州金瑞麒智能科技有限公司 | Wheelchair control method and system |
| CN113413278A (en) * | 2021-07-09 | 2021-09-21 | 毛盼 | Self-adjusting backrest of wheelchair based on real-time adjustment of human body state |
-
2018
- 2018-02-23 CN CN201810155746.8A patent/CN108143550A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020073168A1 (en) * | 2018-10-08 | 2020-04-16 | 苏州金瑞麒智能科技有限公司 | Wheelchair control method and system |
| CN112789019A (en) * | 2018-10-08 | 2021-05-11 | 苏州金瑞麒智能科技有限公司 | Wheelchair control method and system |
| CN109754785A (en) * | 2019-02-15 | 2019-05-14 | 临沂大学 | A kind of intelligence learning wheelchair and its phonetic study method |
| CN109754785B (en) * | 2019-02-15 | 2021-11-30 | 临沂大学 | Intelligent learning wheelchair and voice learning method thereof |
| CN110333676A (en) * | 2019-07-03 | 2019-10-15 | 吉林大学 | Electric wheel-chair control device based on Android mobile phone |
| CN113413278A (en) * | 2021-07-09 | 2021-09-21 | 毛盼 | Self-adjusting backrest of wheelchair based on real-time adjustment of human body state |
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