CN108309595A - intelligent wheel chair and control method - Google Patents
intelligent wheel chair and control method Download PDFInfo
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- CN108309595A CN108309595A CN201810305078.2A CN201810305078A CN108309595A CN 108309595 A CN108309595 A CN 108309595A CN 201810305078 A CN201810305078 A CN 201810305078A CN 108309595 A CN108309595 A CN 108309595A
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- Prior art keywords
- wheelchair
- threshold value
- safety belt
- state parameter
- wheel chair
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Classifications
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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
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/043—Mid wheel drive
-
- 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
- A61G5/1005—Wheelchairs having brakes
- A61G5/1021—Wheelchairs having brakes engaging specific brake elements
- A61G5/1024—Brake discs
-
- 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
- A61G5/1054—Large wheels, e.g. higher than the seat portion
-
- 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
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/30—Specific positions of the patient
- A61G2200/34—Specific positions of the patient sitting
Abstract
This application discloses a kind of intelligent wheel chair and control methods, including：The state of detection wheelchair obtains at least one state parameter, and state parameter includes one or more in the speed of wheelchair and the acceleration of wheelchair；When any state parameter reaches its corresponding predetermined threshold value, brake cable is wound.The present invention actively intervention brake in time, safety when raising wheelchair uses can protect the safety of user in any state abnormal parameters of wheelchair.
Description
Technical field
The present disclosure relates generally to medical instruments fields, and in particular to a kind of intelligent wheel chair and control method.
Background technology
Wheelchair is the apparatus used for people with mobility problems's action, and even this kind of crowd participates in the weight of social activity
Auxiliary tool is wanted, existing wheelchair is typically by electronic or manually driven, but wheelchair is in use, due to asking for road conditions
Topic, can have more security risk, such as wheelchair speed can be accelerated in descending, the center of gravity of user on wheelchair is caused to occur
Variation, user are easy to lean forward due to excessive velocities, and safety when descending is low；It is seated due to the use of person, the access before observation
When the front on road, the visual field has some limitations, has when avoiding barrier, causes to brake due to the use of the reaction carelessness of person
Not in time, it in addition brakes and is also easy so that user is injured suddenly；In addition, at present on the market seen in and the electric wheelchair sold
Antiskid system or it is anti-after to turn over system often more simple and crude, usually easy anti-skidding steamboat, in its adjusting of the larger occasion of the gradient
Range is often limited.
Invention content
In view of drawbacks described above in the prior art or deficiency, it is intended to provide a kind of intelligent wheel chair and control method.
In a first aspect, the present invention provides a kind of intelligent wheel chair, including：Wheelchair body, the wheelchair body include rack, set
Set seat and backrest in the rack；There are two driving wheels for the bottom of the frame connection, and two driving wheels are arranged
In the both sides of the seat, wherein
The detection device for being provided with control module in the rack and being electrically connected with the control module；On the driving wheel
It is provided with disk brake, the first motor that brake cable is connected with the disk brake, first electricity are provided in the rack
Machine is electrically connected with the control module；
The detection device includes state detection module, and the state for detecting wheelchair obtains at least one state parameter,
The state parameter includes one or more in the speed of wheelchair and the acceleration of wheelchair；
The control module is used for when any state parameter reaches its corresponding predetermined threshold value, control described first
Motor is rotated to wind the brake cable.
Preferably, the detection device further includes roadblock detecting module, for detecting front obstacle, obtains being detected
Barrier detecting distance；
The control module is additionally operable to, when the detecting distance is less than pre-determined distance threshold value, control the first motor and turn
It moves to wind the brake cable.
Preferably, described that back is provided with safety belt, fixing buckle and closing volume, the safety belt one ends wound is described
In closing volume, the safety belt passes through the fixing buckle and is slidably connected with the fixing buckle, and the other end of the safety belt is set
It is equipped with the first locking member, it is described that back is provided with the second locking member being detachably connected with first locking member；Described
The same side edge in the backrest is arranged with the closing volume in two locking members, and the fixing buckle and second locking member are split
In two side edges of the backrest, the fixing buckle is less than the closing volume；
The wheelchair further includes the second motor being connected with the closing volume, second motor and control module electricity
Connection；The control module is used for when any state parameter reaches its corresponding predetermined threshold value, control second electricity
Machine is rotated to wind the safety belt.
Preferably, the wheelchair further includes the piezoelectric transducer for detecting tension value when safety belt is wound；
The control module is additionally operable to when the tension value reaches pre-set tension threshold value, is controlled second motor and is stopped
Rotation is to stop winding safety belt.
Preferably, further include the third motor being arranged in the rack, the output shaft of the third motor is leaned on described
The bottom end of the back of the body is affixed；
The state parameter further includes the angle between wheelchair and horizontal plane, and the control module is additionally operable to any described
When state parameter reaches its corresponding predetermined threshold value, the third motor rotation is controlled, to drive backrest to rotate predetermined angle.
Preferably, the bottom of the frame is connected with overturning-preventing component, and the overturning-preventing component is located at two driving wheels
Between.
Preferably, the overturning-preventing component include the spring support being connected with the bottom of the frame and with the spring
The idler wheel that one end of support element is connected and is touched with ground；
The direction that the spring support faces away from the seat is obliquely installed, and the spring support includes Rigid Projectiles
Spring.
Second aspect, the present invention also provides a kind of control methods of intelligent wheel chair, including：
The state of detection wheelchair obtains at least one state parameter, and the state parameter includes the speed and wheelchair of wheelchair
It is one or more in acceleration；
When any state parameter reaches its corresponding predetermined threshold value, brake cable is wound.
Preferably, the control method of intelligent wheel chair further includes：
Wheelchair front obstacle is detected, the detecting distance of detected barrier is obtained；
When the detecting distance reaches pre-determined distance threshold value, the brake cable is wound.
Preferably, the control method of intelligent wheel chair further includes：
It is described when any state parameter reaches its corresponding predetermined threshold value, wind safety belt.
Preferably, the control method of intelligent wheel chair further includes：
In the winding safety belt, the tension of safety belt is detected, tension value is obtained；
When the tension value reaches pre-set tension threshold value, stop winding safety belt.
Preferably, the state parameter further includes the angle between wheelchair and horizontal plane；
The control method further includes：When any state parameter reaches its corresponding predetermined threshold value, backrest is adjusted
Rotate predetermined angle.
Compared with prior art, intelligent wheel chair provided by the invention and control method, can be in any state parameter of wheelchair
Actively intervention brake in time, improves safety when wheelchair uses, protects the safety of user when abnormal；
Illustratively, it can actively intervene brake in time when judging that barrier is located in pre-determined distance threshold value, improve wheelchair
The safety in use is protected in safety when use；Illustratively, safety is actively tightened in any state abnormal parameters of wheelchair
Band protects user；
Illustratively, backrest is adjusted in any state abnormal parameters of wheelchair, protects user；
Illustratively, it is connected by setting spring support and with one end of the spring support and is touched with ground
The overturning-preventing component that is constituted of idler wheel, increase the contact point of wheelchair and ground, especially pass through spring support in wheelchair during slope climbing
Its support angle is automatically adjusted, increases wheelbase, lowers the center of gravity, and then improves safety of the wheelchair in motion especially when going up a slope
Property.
Description of the drawings
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 is the structural schematic diagram of intelligent wheel chair provided in an embodiment of the present invention；
Fig. 2 is the rearview of intelligent wheel chair provided in an embodiment of the present invention；
Fig. 3 is the schematic flow chart of the control method of intelligent wheel chair provided in an embodiment of the present invention.
Specific implementation mode
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, is illustrated only in attached drawing and invent relevant part.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is the structural schematic diagram of intelligent wheel chair provided in an embodiment of the present invention.Fig. 2 is intelligence provided in an embodiment of the present invention
The rearview of energy wheelchair.With reference to figure 1 and Fig. 2, which includes：Wheelchair body 1, wheelchair body 1 include rack 2, setting
Seat 3 in rack 2 and backrest 4；There are two driving wheels 5 for the connection of 2 bottom of rack, and two driving wheels 5 are set to seat 3
Both sides are provided with control module (not shown) in rack 2 and the detection device being electrically connected with control module (are not shown in figure
Go out)；It is provided with disk brake 6 on driving wheel 5, is provided with what brake cable (not shown) was connected with disk brake 6 in rack 2
First motor (not shown), first motor are electrically connected with control module；
Detection device includes state detection module, and the state for detecting wheelchair obtains at least one state parameter, state
Parameter includes one or more in the speed of wheelchair and the acceleration of wheelchair；
Control module is used for when any state parameter reaches its corresponding predetermined threshold value, and control first motor rotation is to receive
Roll up brake cable.
It is preferred that a mounting box 7 is arranged in the bottom of seat 3, control module, detection device are arranged in mounting box 7；Installation
It is provided with opening on box 7, do not influence detection device transmitting and receives signal.
It is preferred that first motor is steering engine, the disk brake 6 on first motor, brake cable and driving wheel 5 constitutes brake gear,
Control module is preferably one kind in microcontroller, such as STM32 microcontrollers, 51 microcontrollers etc..
As an alternative embodiment, state detection module is preferably gyro sensor, (its is right for the speed of wheelchair
The predetermined threshold value answered is pre-set velocity threshold value) and the acceleration (its corresponding predetermined threshold value is predetermined acceleration) of wheelchair in one
Kind is a variety of.
The speed (for example, 2m/s) for the wheelchair that gyroscope measures is more than its corresponding pre-set velocity threshold value (such as 1m/s),
Brake gear is then intervened, control first motor movement winds brake cable.Alternatively, acceleration (the example for the wheelchair that gyroscope measures
Such as, 1m/s2) be more than its corresponding predetermined acceleration threshold value (for example, 0.5m/s2), then brake gear is intervened, first motor is controlled
Movement winds brake cable.
Intelligent wheel chair provided in this embodiment, when to reach its corresponding for any state parameter that state detection module detects
When predetermined threshold value, then brake gear is actively intervened, by controlling first motor movement, winds brake cable, disk brake 6 is driven to contact
Driving wheel 5 slows down the speed of wheelchair.
As a preferred embodiment, detection device further includes roadblock detecting module, for detecting front obstacle,
Obtain the detecting distance of detected barrier；
Control module is additionally operable to when detecting distance is less than pre-determined distance threshold value, and the rotation of control first motor is to wind brake
Line.
As an alternative embodiment, Obstacle detection module includes ultrasonic distance-measuring sensor and/or infrared distance measurement
Sensor.It is detected in pre-determined distance threshold value there are when barrier by roadblock detecting module, then actively intervenes brake gear, led to
The movement of control first motor is crossed, brake cable is wound, drives disk brake 6 to contact driving wheel 5, slows down the speed of wheelchair.
First motor is operated to first direction, winds brake cable；When state parameter (speed of wheelchair or the acceleration of wheelchair
Degree) it is normal when (when in corresponding preset threshold range), then first motor operates in the opposite direction to first party,
Unclamp tight brake cable.
Further, safety belt 8, fixing buckle 81 and closing volume are provided on backrest 4,8 one ends wound of safety belt is furling
On disk, safety belt 8 passes through fixing buckle 81 and is slidably connected with fixing buckle 81, and the other end of safety belt 8 is provided with the first locking member,
The second locking member being detachably connected with the first locking member is provided with by back；Second locking member is arranged with closing volume in backrest
Same side edge, fixing buckle 81 and the second locking member are placed in two side edges of backrest, and fixing buckle 81 is less than closing volume；
Wheelchair further includes the second motor being connected with closing volume, and the second motor is electrically connected with control module；Control module is used
In when any state parameter reaches its corresponding predetermined threshold value, control the second motor rotation is to wind safety belt 8.
As shown in fig. 1, closing volume and the second motor are set in box body 9, and safety belt passes through solid after closing volume comes out
Surely detain 81, then by the first locking member with by back by the second locking member is connected, be strapped in the shoulder and abdomen of user.
Wherein the second locking member preferably latches, and the first locking member is preferably bolt or lock tongue；First locking member is slidably
Ground is set on safety belt 8；Be additionally provided with the adjusting buckle of adjustable-tightness on safety belt 8, the tightening degree of safety belt 8 can by with
Family oneself is adjusted, and ensures the comfort of user.
Second motor is preferably winding motor, and closing volume is connected with the shaft of winding motor, when the speed of wheelchair reaches pre-
If the acceleration of threshold speed or wheelchair reaches predetermined acceleration threshold value, while intervening brake gear, second is also controlled
Motor is rotated to second direction, and closing volume rotates winding safety belt 8 to second direction simultaneously.
Further, intelligent wheel chair further includes the piezoelectric transducer for detecting tension value when safety belt 8 is wound；
Control module is additionally operable to when tension value reaches pre-set tension threshold value, and the second motor stalls of control are to stop receiving
Roll up safety belt 8.
Such as pressure sensor is attached on safety belt 8, safety belt 8 will produce deformation in winding, be passed by pressure
Sensor measures its tension value, and when tension value reaches pre-set tension threshold value, the second motor stalls, the then stopping of safety belt 8 is received
Volume, so that there is safety belt 8 pre-set tension threshold value to protect the peace of user so that preferably user to be strapped on wheelchair
Entirely.
When state parameter (speed of wheelchair or the acceleration of wheelchair) is normal (in corresponding preset threshold range
When), then the second motor operates in the opposite direction to second, unclamps safety belt 8；When the tension value that pressure sensor measures is
When zero, then stop unclamping safety belt 8.
As an alternative embodiment, intelligent wheel chair further includes the third motor 10 being arranged in rack 2, third electricity
The output shaft of machine 10 and the bottom end of backrest 4 are affixed；
State parameter further includes the angle between wheelchair and horizontal plane, i.e., state parameter includes wheelchair and between horizontal plane
Angle, the speed of wheelchair and wheelchair acceleration in it is one or more, control module is additionally operable to reach in any state parameter
When to its corresponding predetermined threshold value, control third motor 10 rotates, to drive backrest 4 to rotate predetermined angle.
For example, it is preferable to which two third motors, which are arranged, drives backrest rotation；When the angle between wheelchair and horizontal plane reaches pre-
If when angle threshold, control third motor 10 rotates, to drive backrest 4 to rotate predetermined angle.
Gyro sensor is additionally operable to the angle between detection wheelchair and horizontal plane, and (its corresponding predetermined threshold value includes first
Predetermined angle threshold value and the second predetermined angle threshold value, and the first predetermined threshold value is less than the second predetermined threshold value)；Gyro sensor is surveyed
Its angle value between horizontal plane is expressed as difference when its angle value and descending between horizontal plane when the wheelchair during slope climbing obtained
Digital morphological, such as angle value when wheelchair during slope climbing between wheelchair and horizontal plane is positive value, when wheelchair descending wheelchair with it is horizontal
Angle value between face is negative value, it is assumed that the first predetermined angle threshold value is -15 °, corresponds to the angle threshold of descending state；Second
Predetermined angle threshold value is 15 °, corresponds to the angle threshold of upward slope state.
Corresponding predetermined angle includes that the first predetermined angle (corresponds to descending state, to close to the direction of seat 3 rotation one
Determine angle, such as -5 °) and the second predetermined angle (correspond to upward slope state, to the direction far from seat 3 turn an angle as
5°).For example, it is 95 ° that when going up a slope, the angle value between backrest 4 and seat 3, which is arranged, in user, then between wheelchair and horizontal plane
When angle is 16 °, while intervening brake gear, third motor 10 rotates 5 °, then the angle between backrest 4 and seat 3 is
100 °, user is avoided excessively afterwards by overturning, to ensure the safety of user.
For example, it is 95 ° that the angle value between backrest 4 and seat 3, which is arranged, in user when descending slopes, then wheelchair and horizontal plane it
Between angle be -16 ° when, while intervene brake gear, third motor 10 rotation -5 °, then between backrest 4 and seat 3
Angle is 90 °, avoids tipping car before user, ensures the safety of user.
In addition, the wheelchair speed measured reaches pre-set velocity threshold value or when wheelchair acceleration reaches predetermined acceleration threshold value leans on
The adjustment mode of the back of the body 4, backrest 4 when angle when can refer to wheelchair descending between wheelchair and horizontal plane reaches predetermined angle threshold value
Adjustment mode avoids tipping car before user, ensures the safety of user.
As an alternative embodiment, 2 bottom of rack is connected with overturning-preventing component 11, overturning-preventing component 11 is located at two
Between a driving wheel 5.It is preferred that the central axes about two driving wheels 5, are symmetrical arranged two overturning-preventing components 11.
Further, overturning-preventing component 11 includes the spring support 111 and and spring supporting being connected with 2 bottom of rack
The idler wheel 112 that one end of part 111 is connected and is touched with ground；
The direction that spring support 111 faces away from seat 3 is obliquely installed, and spring support 111 includes stiffness spring.
The idler wheel 112 being connected with spring support 111 is touched with ground always, and spring support can be utilized when going up a slope
111 elasticity is contacted with ground always, and spring support 111 faces away from the direction of seat 3 and is obliquely installed, and increases on the whole
Contact site between the wheelchair and ground traveling wheel 12 and two idler wheels 112 of two driving wheels, 5 front (two driving wheels 5), wheel
Chair elastic supporting member for supporting optical member when going up a slope can automatically adjust support angle, increase wheelbase, lower the center of gravity, significantly improve wheelchair in motion
Safety especially when going up a slope.
As an implementation, which further includes supply unit (not shown), such as accumulator, gives control mould
Block, detection device, first motor, the second motor and third motor 10 are powered.
Fig. 3 is the schematic flow chart of the control method of intelligent wheel chair provided in an embodiment of the present invention.It turns on the power switch,
Supply unit is powered to control module, detection device, first motor, the second motor and third motor.The embodiment of the present invention also carries
A kind of control method for the intelligent wheel chair in any of the above-described embodiment has been supplied, including：
The state of detection wheelchair obtains at least one state parameter, and state parameter includes the speed of wheelchair and the acceleration of wheelchair
It is one or more in degree；
When any state parameter reaches its corresponding predetermined threshold value, brake cable is wound.
Availability status detection module, such as gyro sensor detect the state parameter (speed and wheel of wheelchair of wheelchair
It is one or more in the acceleration of chair), when to reach its corresponding default for any state parameter that state detection module detects
When threshold value, then brake gear is actively intervened, by controlling first motor movement, wind brake cable so that disk brake contact driving
Wheel, slows down the speed of wheelchair.
As a preferred embodiment, the control method of intelligent wheel chair further includes：
Wheelchair front obstacle is detected, the detecting distance of detected barrier is obtained；
When detecting distance reaches pre-determined distance threshold value, brake cable is wound.
Using roadblock detecting module, such as ultrasonic distance-measuring sensor and/or infrared distance sensor are in front of wheelchair
Barrier carry out ranging obtain detecting distance, when detecting distance reaches pre-determined distance threshold value, actively intervene brake gear, control
First motor rotates, to wind brake cable so that disk brake contacts driving wheel, slows down the speed of wheelchair.
As a preferred embodiment, the control method of intelligent wheel chair further includes：When any state parameter reaches it
When corresponding predetermined threshold value, safety belt is wound.
When the acceleration that the speed of wheelchair reaches pre-set velocity threshold value or wheelchair reaches predetermined acceleration threshold value, it is being situated between
It while entering brake gear, also controls the second motor and is rotated to second direction, closing volume rotates winding peace to second direction simultaneously
Full band.
As a preferred embodiment, the control method of intelligent wheel chair further includes：
When winding safety belt, the tension of safety belt is detected, tension value is obtained；
When tension value reaches pre-set tension threshold value, stop winding safety belt.
For example, pressure sensor is attached on safety belt measures its tension value, when tension value reaches pre-set tension threshold value,
Second motor stalls, then safety belt stops winding, so that safety belt has pre-set tension threshold value, will preferably use
Person is strapped on wheelchair, protects the safety of user.
As a preferred embodiment, state parameter further includes the angle between wheelchair and horizontal plane, i.e., state is joined
Number includes one or more in wheelchair and the speed of angle, wheelchair and the acceleration of wheelchair between horizontal plane；
Control method further includes：When any state parameter reaches its corresponding predetermined threshold value, adjustment backrest rotation is default
Angle.For example, gyro sensor measure wheelchair during slope climbing when its angle value and descending between horizontal plane when itself and level
Angle value between face is expressed as different digital morphologicals, such as angle value when wheelchair during slope climbing between wheelchair and horizontal plane is just
Value, angle value when wheelchair descending between wheelchair and horizontal plane are negative value, it is assumed that the first predetermined angle threshold value is -15 °, is corresponded to
The angle threshold of descending state；Second predetermined angle threshold value is 15 °, corresponds to the angle threshold of upward slope state.
Corresponding predetermined angle includes that the first predetermined angle (corresponds to descending state, to close to the direction of seat rotation one
Determine angle, such as -5 °) and the second predetermined angle (correspond to upward slope state, to far from seat direction turn an angle as
5°)。
For example, it is 95 ° that when going up a slope, the angle value between backrest and seat, which is arranged, in user, then between wheelchair and horizontal plane
Angle be 16 ° when, while intervene brake gear, third motor rotation 5 °, then the angle between backrest and seat be
100 °, user is avoided excessively afterwards by overturning, to ensure the safety of user.
For example, it is 95 ° that the angle value between backrest and seat, which is arranged, in user when descending slopes, then between wheelchair and horizontal plane
Angle be -16 ° when, while intervene brake gear, third motor rotation -5 °, then the angle between backrest and seat be
90 °, tipping car before user is avoided, ensures the safety of user.
In addition, the wheelchair speed measured reaches pre-set velocity threshold value or when wheelchair acceleration reaches predetermined acceleration threshold value leans on
The adjustment mode of the back of the body, the tune of backrest when angle when can refer to wheelchair descending between wheelchair and horizontal plane reaches predetermined angle threshold value
Perfect square formula avoids tipping car before user, ensures the safety of user.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature arbitrary
Other technical solutions of combination and formation.Such as features described above has similar functions with (but not limited to) disclosed herein
Technical characteristic is replaced mutually and the technical solution that is formed.
Claims (12)
1. a kind of intelligent wheel chair, including：Wheelchair body, the wheelchair body includes rack, the seat that is arranged in the rack
And backrest；There are two driving wheels for the bottom of the frame connection, and two driving wheels are set to the both sides of the seat, special
Sign is,
The detection device for being provided with control module in the rack and being electrically connected with the control module；It is arranged on the driving wheel
Have disk brake, be provided with the first motor that brake cable is connected with the disk brake in the rack, the first motor with
The control module electrical connection；
The detection device includes state detection module, and the state for detecting wheelchair obtains at least one state parameter, described
State parameter includes one or more in the speed of wheelchair and the acceleration of wheelchair；
The control module is used for when any state parameter reaches its corresponding predetermined threshold value, controls the first motor
Rotation is to wind the brake cable.
2. intelligent wheel chair according to claim 1, which is characterized in that the detection device further includes roadblock detecting module,
For detecting front obstacle, the detecting distance of detected barrier is obtained；
The control module is additionally operable to when the detecting distance is less than pre-determined distance threshold value, control first motor rotation with
Wind the brake cable.
3. intelligent wheel chair according to claim 1, which is characterized in that it is described by back be provided with safety belt, fixing buckle and
Closing volume, the safety belt one ends wound in the closing volume, the safety belt pass through the fixing buckle and with the fixation
Button is slidably connected, and the other end of the safety belt is provided with the first locking member, described to be provided with and first locking by back
The second locking member that part is detachably connected；Second locking member is arranged with the closing volume in the same side of the backrest
Place, the fixing buckle and second locking member are placed in two side edges of the backrest, and the fixing buckle is less than the volume
Closing quotation；
The wheelchair further includes the second motor being connected with the closing volume, and second motor is electrically connected with the control module
It connects；The control module is used for when any state parameter reaches its corresponding predetermined threshold value, controls second motor
Rotation is to wind the safety belt.
4. intelligent wheel chair according to claim 3, which is characterized in that further include for detecting tension when safety belt winding
The piezoelectric transducer of value；
The control module is additionally operable to when the tension value reaches pre-set tension threshold value, controls second motor stalls
To stop winding safety belt.
5. intelligent wheel chair according to claim 1, which is characterized in that further include the third electricity being arranged in the rack
The bottom end of machine, the output shaft and the backrest of the third motor is affixed；
The state parameter further includes the angle between wheelchair and horizontal plane, and the control module is additionally operable in any state
When parameter reaches its corresponding predetermined threshold value, the third motor rotation is controlled, to drive backrest to rotate predetermined angle.
6. intelligent wheel chair according to claim 1, which is characterized in that the bottom of the frame is connected with overturning-preventing component, institute
Overturning-preventing component is stated between two driving wheels.
7. intelligent wheel chair according to claim 6, which is characterized in that the overturning-preventing component includes and the bottom of the frame
Connected spring support and the idler wheel for being connected with one end of the spring support and being touched with ground；
The direction that the spring support faces away from the seat is obliquely installed, and the spring support includes stiffness spring.
8. a kind of control method of intelligent wheel chair, which is characterized in that including：
The state of detection wheelchair obtains at least one state parameter, and the state parameter includes the speed of wheelchair and the acceleration of wheelchair
It is one or more in degree；
When any state parameter reaches its corresponding predetermined threshold value, brake cable is wound.
9. the control method of intelligent wheel chair according to claim 8, which is characterized in that further include：
Wheelchair front obstacle is detected, the detecting distance of detected barrier is obtained；
When the detecting distance reaches pre-determined distance threshold value, the brake cable is wound.
10. the control method of intelligent wheel chair according to claim 8, which is characterized in that further include：
It is described when any state parameter reaches its corresponding predetermined threshold value, wind safety belt.
11. the control method of intelligent wheel chair according to claim 10, which is characterized in that further include：
In the winding safety belt, the tension of safety belt is detected, tension value is obtained；
When the tension value reaches pre-set tension threshold value, stop winding safety belt.
12. the control method of intelligent wheel chair according to claim 8, which is characterized in that the state parameter further includes wheel
Angle between chair and horizontal plane；
The control method further includes：When any state parameter reaches its corresponding predetermined threshold value, adjustment backrest rotation
Predetermined angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810305078.2A CN108309595A (en) | 2018-04-08 | 2018-04-08 | intelligent wheel chair and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN110646217A (en) * | 2019-09-23 | 2020-01-03 | 内蒙古机电职业技术学院 | Method and system for detecting stair climbing state of stair climbing wheelchair and readable storage medium |
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| CN112932822A (en) * | 2021-01-29 | 2021-06-11 | 西安交通大学 | Pose detection and control method of electric wheelchair |
| WO2023272772A1 (en) * | 2021-07-01 | 2023-01-05 | 浙江益恒悦医疗科技有限公司 | Control method and apparatus for smart walker, smart walker, and controller |
| CN117492451A (en) * | 2024-01-02 | 2024-02-02 | 小神童创新科技(广州)有限公司 | Safety threshold control method for electric wheelchair |
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