CN108478348A - A kind of intelligent wheelchair and control method of interior independent navigation Internet of Things - Google Patents
A kind of intelligent wheelchair and control method of interior independent navigation Internet of Things Download PDFInfo
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- CN108478348A CN108478348A CN201810527909.0A CN201810527909A CN108478348A CN 108478348 A CN108478348 A CN 108478348A CN 201810527909 A CN201810527909 A CN 201810527909A CN 108478348 A CN108478348 A CN 108478348A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 26
- 230000007613 environmental effect Effects 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims description 29
- 238000012545 processing Methods 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 10
- 241000239290 Araneae Species 0.000 claims description 6
- 230000005021 gait Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 230000010365 information processing Effects 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 241000282326 Felis catus Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000004378 air conditioning Methods 0.000 description 1
- 230000036772 blood pressure Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- 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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of intelligent wheelchairs and control method of indoor independent navigation Internet of Things, with establishing environmental map in the interior of no GPS, autonomous operation, autonomous exploration environment, autonomous positioning, independent navigation, the intelligence new function such as automatic obstacle-avoiding, other than alternative common wheelchair, wheel is pulled for powerless hand, anopsia judges environment, the user of incapability manipulation common electric wheelchair, and the occasion for thering is dynamic disorder flexibly need to judge and manipulate at the scene, with adaptivity outstanding, can also have remotely monitor and manipulation, with the advance of smart home Internet of Things；The intelligent wheelchair be using battery as power, take people automatic control can plane universal movement (advance on ground, retreat, turning, left and right transverse shifting and original place rotate), environmental map, independent navigation and automatic obstacle-avoiding can be established indoors and can be remotely controlled by internet and can Internet of Things control smart home.
Description
Technical field
The present invention relates to Smart Home technical fields, and in particular to a kind of intelligent wheelchair of interior independent navigation Internet of Things and
Control method.
Background technology
Wheelchair is the commonly used equipment of disabled person, the patient being short of physical strength and old man, but traditional push chairs are using there are many upper
Shortcoming：Hand, which pulls wheelchair, need to take the driving of people's both hands, be unable to automatic running, time-consuming and laborious, hand insufficiency disabled person or body
Branch patient, old man are not difficult to oneself manipulation to power；Although electric wheelchair drives not against manpower, there is a continuing need for seatings in operation
People manipulates speed and direction and parking, cannot be according to default destination automatic Pilot, also can not remotely monitor and manipulation；Hand is pulled
It all cannot laterally run with electric wheelchair and be rotated with original place.
Society increases the demand of wheelchair increasingly, is also improved increasingly to the functionality of wheelchair, in particular with society
Into ageing stage, demographic dividend is gradually lost, and nursing labour day is becoming tight.On the other hand, with manufacturing technology and calculating
The development of machine technology, robot technology, technology of Internet of things is based on these technology (plane universal movement platform, highly integrated microcomputers
Calculation machine, robot operating system of increasing income, laser and vision/depth and other environment sensing sensors, information wireless transmission, interconnection
Net etc.) innovation fusion, make the possibility that is implemented as of the new intelligent wheelchair of autonomous operation, and can using this intelligent wheelchair as
It can a component part of remote control smart home and the significant data acquisition of Internet of Things big data and application port.
Invention content
The purpose of the present invention is to solve drawbacks described above in the prior art, a kind of indoor independent navigation Internet of Things are provided
Intelligent wheelchair and control method, the intelligent wheelchair be using battery as power, take people automatic control can plane universal movement (on ground
In front into, retreat, turning, left and right transverse shifting and original place rotate), environmental map, independent navigation and automatic can be established indoors
Avoidance and can by internet be remotely controlled and can Internet of Things control smart home.
According to disclosed embodiment, the first aspect of the present invention discloses a kind of intelligent wheel chair of indoor independent navigation Internet of Things
Vehicle, the intelligent wheelchair include：Plane universal movement chassis 1, seat-assembly 2, under casing 3, environment sensing sensor module
4, manipulation component 5；
Wherein, the plane universal movement chassis 1 for load, Wheelchairs Available vehicle ground motion-promotion force, provide
The installation foundation of the seat-assembly 2 and the under casing 3；
The plane universal movement chassis 1 include universal wheel 6, closed loop servo motor and driver 7, rotary encoder 8,
Vehicle frame 9, the universal wheel 6 are mounted on the bottom of vehicle frame 9, by connected closed loop servo motor and driver 7 and rotary coding
Device 8 controls；
The plane universal movement chassis 1 further includes that seat fixed installation part 10 (hole pin, screw etc.) and under casing are fixed
Installation part 11 (hole pin, screw etc.)；
Wherein, the seat-assembly 2 is fixedly mounted on the plane ten thousand by the seat fixed installation part 10
To the top on movement chassis 1, for manned and the offer environment sensing sensor module 4 and manipulation component 5 installation base
Plinth；
Wherein, the under casing 3 is fixedly mounted on the universal fortune of plane by the under casing fixed installation part 11
The lower section on dynamic chassis 1 and the seat-assembly 2, transmitted for providing electric energy, control environmental sensor acquisition information and information,
The movement on the plane universal movement chassis 1 described in calculation process information, control；
Wherein, the environment sensing sensor module 4 includes sensor erector 26, laser radar 27, camera 28, institute
The environment sensing sensor module 4 stated is fixedly mounted on by the sensor erector 26 on the seat-assembly 2, is used
In obtaining dynamic environment information, the laser radar 27 and the camera 28 are fixed on the sensor erector 26
On；
Wherein, the manipulation component 5 is fixedly mounted on the seat-assembly 2, and manipulation wheelchair is provided for user
The medium of vehicle.
Further, the seat-assembly 2 includes seat support 12 and the seat being separately fixed on seat support 12
Plate 13, backrest 14, handrail 15, footrest 16 have on the seat support 12 and the fitting configuration of seat fixed installation part 10, solid
Dingan County fills the structure of environment sensing sensor module 4 and manipulation component 5.
Further, the universal wheel 6 is the Mecanum wheel (installation part containing suspension) of 4 symmetrical configurations, Mei Gemai
Ke Namu wheels are equipped with a closed loop servo motor and driver 7 and a rotary encoder 8 respectively；Or the universal wheel 6
It is two spider gears and one or two follower, wherein each spider gear is equipped with 7 He of a closed loop servo motor and driver
One rotary encoder 8.
Further, the laser radar 27 is one-dimensional linear laser emitter, is equipped with or is not equipped with rotary platform, or
Person is the 3D scanning radars of two-dimensional linear laser emitter composition；The camera 28 be black light depth information camera or
Visible light area array cameras.
Further, the under casing 3 include shell 17, highly integrated microcomputer (contain embedded controller) 18, on
Bit machine 19, information wireless transmission and the network port 20, battery 21, wherein the highly integrated microcomputer 18 is equipped with
It increases income robot operating system 22 and information collection and transmitting device 23 and data processing and electromechanical controlling device 24；Described
Host computer 19 is equipped with user's expanded application device 25 and partial information processing unit；17 outer surface of shell has and institute
The fitting configuration for the under casing fixed installation part 11 stated.
Further, the manipulation component 5 includes operation panel 29, display 30, microphone 31, flexible support 32,
Wherein, the operation panel 29 is finger key formula or touch (can be braille touch key-press to blind person user), peace
On the left or right side handrail 15 of seat support 12；The display 30 and the microphone 31 are fixed on soft
Property holder 32 on (share a flexible support or a flexible support respectively is applied alone)；Have on the flexible support 32 and seat
The equipped structure of holder 12.
Further, when the laser radar 27 is one-dimensional linear laser emitter, wheel-chair is advanced and laser radar
27 constitute flat scanning, create indoor environment two dimensional surface map；
When the laser radar 27 is two-dimensional linear laser emitter, wheel-chair is advanced and laser radar 27 constitutes three-dimensional
Scanning creates indoor environment 3 D stereo map；
Channel and occupy-place area are all shown on above-mentioned two dimensional surface map and 3 D stereo map.
Further, the intelligent wheelchair passes through the information wireless transmission and the network port 20 and external network
It is wirelessly connected.
According to disclosed embodiment, the second aspect of the present invention discloses a kind of intelligent wheel chair of indoor independent navigation Internet of Things
The control method of vehicle, the control method include the following steps：
Open intelligent wheelchair power supply, battery 21 to it is each need the device of electricity consumption power, each device parameter initialize；
In the wheel chair access more room rooms of no threshold, make intelligent wheel by manipulating the operation panel 29 on wheelchair vehicle handrail 15
Wheel-chair indoors advance by live accessible canal, goes to each one circle of room cruise and returns to starting point (to gait of march and path priority nothing
It is required that), environment detecting sensor component 4 in traveling (laser radar 27 or camera 28 individually or both simultaneously) scanning intelligent wheel chair
Front side environment communicates information to highly integrated microcomputer 18, while rotary encoder 8 also believes the rotation of universal wheel 6
Breath sends highly integrated microcomputer 18 to, by increase income robot operating system 22 and information collection and transmitting device 23 and
Data processing and electromechanical controlling device 24 quickly create running environment map simultaneously rasterizing subregion and mark area code, in display
Map generating process and result are shown on 30, wherein when the laser radar 27 is one-dimensional linear laser emitter, wheel-chair
It advances and constitutes flat scanning with laser radar 27, indoor environment two dimensional surface map is created, when the laser radar 27 is two
Dimensional linear laser emitter, wheel-chair is advanced constitutes 3-D scanning with laser radar 27, creates indoor environment 3 D stereo map,
Channel and occupy-place area are all shown on above-mentioned two dimensional surface map and 3 D stereo map；
Wheel-chair gait of march is transferred to the suitable degree of self-induction by operation panel 29, by the display screen tune of display 30
Save and facilitate observation position, the region to be gone then is specified by operation panel 29 or microphone 31, press bring into operation key or
The order that brings into operation is said, data processing goes out wheel-chair travelling route with 24 quick contexture by self of electromechanical controlling device, takes turns immediately
Wheel-chair automatic running；
The environment that data processing is arrived with electromechanical controlling device 24 according to laser radar 27 or 28 dynamic acquisition of camera in operation
Information provides wheelchair and positions in real time, shows the dynamic change of wheel-chair running orbit and positioning on the display 30；
When detecting having new obstacle on pass, intelligent wheelchair slows down the speed of travel or stopping automatically, to week
Collarette border is detected, automatic decision and find can bypass channel, programme path, then automatically continues towards target point row again
Into until arriving at, and stopping at regulation orientation.
Further, the control method further includes the following steps：
When needing to control intelligent wheelchair precise motion on the spot, manipulation is provided by operation panel 29 or microphone 31 and is referred to
It enables, the manipulation instruction includes " Forward ", " retrogressing ", " moving to left ", " moving to right ", " left-hand rotation ", " right-hand rotation ", and wheel-chair will step by step
It executes instruction, reaches the exact position that user specifies；If configuring mouse or touching display screen on wheel-chair, pass through behaviour
Make mouse or touching display screen to specify refined orientation to be reached.
The present invention has the following advantages and effects with respect to the prior art：
1), the present invention proposes a kind of intelligent wheelchair of indoor independent navigation Internet of Things, has and establishes ring in the interior of no GPS
The intelligence new function such as condition figure, autonomous operation, autonomous exploration environment, autonomous positioning, independent navigation, automatic obstacle-avoiding, in addition to can
It substitutes except common wheelchair, wheel is pulled for powerless hand, anopsia judges environment, the use of incompetent manipulation common electric wheelchair
People, and the occasion for having dynamic disorder flexibly need to judge and manipulate at the scene can also have long-range with adaptivity outstanding
Monitoring and manipulation, the advance with smart home Internet of Things；
2), intelligent wheelchair proposed by the present invention can be applied in family's indoor environment, can also be home for destitute, hospital room
Interior environment, including inside corridor and lifting type elevator environment；
3), the present invention can bring intelligent wheelchair user to enhance the personal self-service self-control moved indoors and increase
Its safety, reduce entourage, guardian can the notable benefit such as remotely monitor and manipulation.
Description of the drawings
Fig. 1 is intelligent wheelchair structure chart disclosed by the invention；
Fig. 2 is the plane universal movement chassis structure figure in the present invention；
Fig. 3 is the seat-assembly structure chart in the present invention；
Fig. 4 is the under casing structure chart in the present invention；
Fig. 5 is environment sensing and manipulation component structure chart in the present invention；
Fig. 6 is more room suite floor plans；
Fig. 7 is indoor running environment grating map；
Fig. 8 is that contexture by self goes out travelling route figure of the wheel-chair from current location to target area.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment
Present embodiment discloses a kind of intelligent wheelchair, essence is a kind of intelligent mobile robot, by as shown in Figure 1
Most of (the mould of plane universal movement chassis 1, seat-assembly 2, under casing 3, environment sensing sensor module 4, manipulation component 5 etc. five
Block) composition.
Plane universal movement chassis 1 by universal wheel 6 as shown in Figure 2, closed loop servo motor and driver and driver 7,
Rotary encoder 8, vehicle frame 9 form, and wherein universal wheel 6 is the Mecanum wheel (installation part containing suspension) of 4 symmetrical configurations, each
Mecanum wheel is equipped with a closed loop servo motor and driver 7 and a rotary encoder 8 respectively；Universal wheel 6 can also be
Two spider gears and two followers, each spider gear are equipped with a closed loop servo motor and driver 7 and a rotary coding
Device 8；Vehicle frame 9 includes seat fixed installation part 10 (hole pin, screw etc.), under casing fixed installation part 11 (hole pin, screw etc.).
Seat-assembly 2 is made of seat support 12 as shown in Figure 3, seat board 13, backrest 14, handrail 15, footrest 16 etc., seat
Have on chair holder 12 and the fitting configuration of seat fixed installation part 10, fixed installation environment sensing sensor module 4 and manipulation group
The structure of part 5.
Under casing 3 is by shell 17 as shown in Figure 4, highly integrated microcomputer (containing embedded controller) 18, upper calculating
Machine 19, information wireless transmission and the network port 20, battery 21 form, wherein highly integrated microcomputer 18 is equipped with the robot that increases income
Operating system 22 and information collection and transmitting device 23 and data processing and electromechanical controlling device 24；Host computer 19 is equipped with
User's expanded application device 25 and partial information processing unit；There is the equipped knot under casing fixed installation part 11 in 17 outer surface of shell
Structure.
Environment sensing sensor module 4 includes sensor erector 26, laser radar 27, camera 28, can also include it
His environment sensing sensor such as ultrasonic radar；There is the knot of installation fixed laser radar 27 and camera 28 on sensor erector 26
Structure, the structure being equipped with seat support 12；Laser radar 27 can be one-dimensional linear laser emitter, be equipped with or be not equipped with rotation
Holder can also be the 3D scanning radars of two-dimensional linear laser emitter composition；Camera 28 can be black light depth information
Camera or visible light area array cameras.
Manipulation component 5 includes operation panel 29 as shown in Figure 5, display 30, microphone 31, flexible support 32；Operation
Panel 29 can be finger key formula or touch (can be braille touch key-press to blind person user), may be mounted at seat
Left or right side handrail 15 on；Display 30 and microphone 31, which are fixed on flexible support 32, (shares a flexible branch
Respectively a flexible support is applied alone in frame), there is the structure being equipped with seat support 12 on flexible support 32.
The major function on plane universal movement chassis 1 be load, Wheelchairs Available vehicle ground movement, provide seat-assembly
2 and under casing 3 installation foundation；The major function of seat-assembly 2 is manned and provides installation environment detecting sensor component 4 and grasp
Control the basis of component 5；The major function of under casing 3 is to provide electric energy, control environmental sensor acquisition information and information transmission, operation
Handle information, control chassis 1 moves；The major function of environment sensing sensor module 4 is to obtain dynamic environment information；Manipulation group
The major function of part 5 is that the medium of manipulation wheel-chair is provided for user；It needs to have between the device of electricity consumption and between battery
Line connects.
A kind of workflow of the intelligent wheelchair of interior independent navigation Internet of Things disclosed in the present embodiment is initially to create
Indoor environment map.Open wheel-chair power supply, battery 21 to it is each need the device of electricity consumption power, each device parameter initialize；
In the wheel chair access more room rooms of no threshold, the person that multiplies by wheel-chair or other people first pass through the operation on wheelchair vehicle handrail 15
Panel 29 makes wheel-chair, and live accessible canal is advanced indoors, go to each one circle of room cruise return to starting point (to gait of march and
Path priority no requirement (NR)), environment detecting sensor component 4 in traveling (laser radar 27 or camera 28 individually or both simultaneously) is swept
Environment in front of wheel-chair is retouched, communicates information to highly integrated microcomputer 18, while rotary encoder 8 is also by universal wheel 6
Rotation information sends highly integrated microcomputer 18 to, passes through robot operating system 22 and information collection and the transmitting device of increasing income
23 and data processing and electromechanical controlling device 24, quickly create running environment map and rasterizing subregion and mark area code,
Visual map generating process and result on display 30；If the laser radar 27 of installation is that one-dimensional laser is linear, wheel-chair
It advances and constitutes flat scanning with laser radar 27, establishment is indoor environment plane map；If the laser radar 27 of installation is
Two-dimensional linear, or camera 28 is housed, then wheel-chair movement synthesizes 3-D scanning therewith, establishment be indoor environment dimensionally
Figure；Channel and occupy-place area can be all shown on two and three dimensions map.
Wheel-chair autonomous operation can be used later by creating indoor environment map.User first passes through operation panel 29 will
Wheel-chair gait of march is transferred to the suitable degree of self-induction, and display screen is adjusted to facilitating observation position；Then pass through operation panel
29 or microphone 31 specify the region to be gone, press and bring into operation key or say the order that brings into operation, data processing and Electrical Control
24 quick contexture by self of device processed goes out wheel-chair travelling route, immediately wheel-chair automatic running；Data processing and electromechanics in operation
Control device 24 according to laser radar 27 or 28 dynamic acquisition of camera to environmental information provide wheelchair and position in real time, in display
The dynamic change of visual wheel-chair running orbit and positioning on 30；When detecting having new obstacle on pass, wheel-chair
Automatically slow down the speed of travel or stopping, ambient enviroment detected, automatic decision and find can bypass channel, plan road again
Then line automatically continues and advances towards target point, until arriving at, and stops at regulation orientation.
It, can be by operation panel 29 or microphone 31 to being gone out for drill when user needs control wheel Wheel-chair precise motion on the spot
Control instruction, such as " Forward ", " retrogressing ", " moving to left ", " moving to right ", " left-hand rotation ", " right-hand rotation ", wheel-chair will be executed instruction, be arrived step by step
The exact position specified up to user；If configuring computer mouse or touching display screen, user on wheel-chair can also lead to
Operation mouse or touching display screen are crossed to specify refined orientation to be reached.
Indoor environment map and wheel-chair autonomous operation process created above is not required for indoor with wireless telecommunications and net
Network condition；When needing remotely monitor and manipulation wheel-chair, or need to manipulate other intelligent things household effects and Intelligent medical
Instrument is set, and just needs WiFi conditions, to use information wireless transmission and the network port 20, host computer 19 and user's expanded application
Device 25 and partial information processing unit；Host computer 19 can be detached from wheel-chair and place any ground being conveniently operated for other people indoors
Side, robot operating system 22 of increasing income make highly integrated microcomputer 18 that can be communicated with WiFi with host computer 19；By means of
Internet, outdoor remote monitoring and manipulation people can also be realized by remote computer or using mobile terminal APP to wheel-chair
Remotely monitor and manipulation.
Illustrate the application method and flow of intelligent wheelchair of the present invention by taking more room suites shown in fig. 6 as an example.Intelligence wheel
Wheel-chair arbitrary orientation blank disposed within ground, for example from corridor into indoor doorway A from；Open wheel-chair power supply, wheel-chair
Initialize parameters；Since at A, the person that multiplies by wheel-chair or other people pass through the operation panel on wheelchair vehicle handrail 15
29 make wheel-chair indoors corridor and it is each between the accessible canal in room/Room cruise one time (to gait of march and path successively without wanting
Ask), it is then return at A, laser radar 27 and/or camera 28 scan environment in front of wheel-chair in cruise, communicate information to height
Integrated micro computer 18, while rotary encoder 8 also sends the rotation information of universal wheel 6 to highly integrated microcomputer
18, data processing will be created quickly with electromechanical controlling device 24 first using A as the entire indoor running environment map of origin, then will
Origin moves to map vertex O (as shown in Figure 7), and the region in map is corresponding with indoor practical every facility occupy-place and channel,
And entire room area is divided into several ranks grid zonule, it indicates and is compiled by each grid zonule ranks of origin of O
Number, user observable map and zone number on the display 30；Then user by operation panel 29 by wheelchair garage
It is transferred to the suitable degree of self-induction into speed, display screen is adjusted to facilitating observation position, so that it may to take wheel-chair autonomous operation；
It is inputted by operation panel 29 or microphone 31 specifies the region labeling to be gone (for example balcony outside master bedroom, region C, grid
Label 1301), it presses and brings into operation key or say " beginning " order, data processing will be quickly autonomous with electromechanical controlling device 24
Cook up wheel-chair from be currently located region (for example kitchen, region B, grid label 0509) arrive target area travelling route
(as shown in Figure 8), wheel-chair is towards specified region automatic running immediately；Data processing and electromechanical controlling device 24 are according to sharp in operation
Optical radar 27,28 continuous dynamic acquisition of camera wheel-chair nearby environmental information provide wheelchair truck position and control wheel Wheel-chair in real time
Running orbit, the dynamic change of user visual wheel-chair running orbit and positioning on the display 30；When detecting passage
When having new obstacle on path, for example cat and dog stand or crouch on a passage, and wheel-chair slows down the speed of travel or stopping automatically, to ring around
Border is detected, automatic decision and find can bypass channel, then programme path again automatically continues and advances towards target area C,
Until reaching region C, and stop at regulation orientation；It, can be with when user thinks to need more accurately to reach some orientation nearby
The manipulations such as " Forward ", " retrogressing ", " moving to left ", " moving to right ", " left-hand rotation ", " right-hand rotation " are provided by operation panel 29 or microphone 31 to refer to
It enables, wheel-chair adjust automatically will be run step by step, reach the exact position that user specifies；If being configured with electricity on wheel-chair
Brain mouse or touching display screen, user can be intended to come specified up to accurate side before operation by operating mouse or touching display screen
Position.
Above examples of implementation are not required for indoor with wireless communication and network condition.But it is lacked when taking wheelchair people itself
Weary manipulation ability and when needing guardian's remotely monitor and manipulation wheel-chair, or take wheelchair people and need to manipulate other intelligent objects
Connection household effects and Intelligent medical instrument are set, and are for example sitting in the remote-controlled headlamp in wheelchair upper switch room or air-conditioning, the connection Internet of Things heart
When the intelligence instruments such as rate instrument, blood pressure device, it is necessary to which there are WiFi conditions in interior, can use information wireless transmission and network on wheelchair
Port 20, installation relative users expanded application software and messaging software in host computer 19；It is outdoor by means of internet
Remotely monitor and manipulation people can be realized by remote computer or using mobile terminal APP to the remotely monitor of intelligent wheelchair and
Manipulation.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications,
Equivalent substitute mode is should be, is included within the scope of the present invention.
Claims (10)
1. a kind of intelligent wheelchair of interior independent navigation Internet of Things, which is characterized in that the intelligent wheelchair includes：Plane ten thousand
To movement chassis (1), seat-assembly (2), under casing (3), environment sensing sensor module (4), manipulation component (5)；
Wherein, the plane universal movement chassis (1) for load, Wheelchairs Available vehicle ground motion-promotion force, provide institute
The installation foundation of the seat-assembly (2) and the under casing (3) stated；
The plane universal movement chassis (1) includes universal wheel (6), closed loop servo motor and driver (7), rotary encoder
(8), vehicle frame (9), the universal wheel (6) are mounted on the bottom of vehicle frame (9), by connected closed loop servo motor and driver
(7) it is controlled with rotary encoder (8)；
The plane universal movement chassis (1) further includes seat fixed installation part (10) and under casing fixed installation part (11)；
Wherein, the seat-assembly (2) is fixedly mounted on the plane ten thousand by the seat fixed installation part (10)
To the top of movement chassis (1), for manned and described offer environment sensing sensor module (4) and manipulation component (5)
Installation foundation；
Wherein, the under casing (3) is fixedly mounted on the universal fortune of plane by the under casing fixed installation part (11)
The lower section of dynamic chassis (1) and the seat-assembly (2), for providing electric energy, control environmental sensor acquisition information and information
Transmission, the movement of calculation process information, plane universal movement chassis (1) described in control；
Wherein, the environment sensing sensor module (4) includes sensor erector (26), laser radar (27), camera
(28), the environment sensing sensor module (4) is fixedly mounted on the seat by the sensor erector (26)
On chair component (2), for obtaining dynamic environment information, the laser radar (27) and the camera (28) are fixed on described
Sensor erector (26) on；
Wherein, the manipulation component (5) is fixedly mounted on the seat-assembly (2), and manipulation wheelchair is provided for user
The medium of vehicle.
2. a kind of intelligent wheelchair of indoor independent navigation Internet of Things according to claim 1, which is characterized in that the seat
Chair component (2) includes seat support (12) and the seat board (13) being separately fixed on seat support (12), backrest (14), handrail
(15), footrest (16) have on the seat support (12) and the fitting configuration of seat fixed installation part (10), ring are fixedly mounted
The structure of border detecting sensor component (4) and manipulation component (5).
3. a kind of intelligent wheelchair of indoor independent navigation Internet of Things according to claim 1, which is characterized in that described ten thousand
It is the Mecanum wheel of 4 symmetrical configurations to wheel (6), each Mecanum wheel is equipped with a closed loop servo motor and driving respectively
Device (7) and a rotary encoder (8)；Or the universal wheel (6) is two spider gears and one or two follower,
In, each spider gear is equipped with a closed loop servo motor and driver (7) and a rotary encoder (8).
4. a kind of intelligent wheelchair of indoor independent navigation Internet of Things according to claim 1, which is characterized in that described swashs
Optical radar (27) is one-dimensional linear laser emitter, is equipped with or is not equipped with rotary platform or two-dimensional linear laser emitter
The 3D scanning radars of composition；The camera (28) is black light depth information camera or visible light area array cameras.
5. a kind of intelligent wheelchair of indoor independent navigation Internet of Things according to claim 1, which is characterized in that the bottom
Case (3) includes shell (17), highly integrated microcomputer (18), host computer (19), information wireless transmission and the network port
(20), battery (21), wherein the highly integrated microcomputer (18) is equipped with increase income robot operating system (22) and information
Acquisition and transmitting device (23) and data processing with；The host computer (19) is equipped with user's expanded application device (25)
With partial information processing unit；There is the equipped knot with the under casing fixed installation part (11) in described shell (17) outer surface
Structure.
6. a kind of intelligent wheelchair of indoor independent navigation Internet of Things according to claim 2, which is characterized in that the behaviour
It includes operation panel (29), display (30), microphone (31), flexible support (32) to control component (5), wherein the operation
Panel (29) is finger key formula or touch, is mounted on the left or right side handrail (15) of seat support (12)；Described
Display (30) and the microphone (31) are fixed on flexible support (32)；
There is the structure being equipped with seat support (12) on the flexible support (32).
7. a kind of intelligent wheelchair of indoor independent navigation Internet of Things according to claim 4, which is characterized in that when described
Laser radar (27) is one-dimensional linear laser emitter, and wheel-chair is advanced constitutes flat scanning with laser radar (27), creates room
Interior environment two dimensional surface map；
When the laser radar (27) is two-dimensional linear laser emitter, wheel-chair is advanced constitutes three-dimensional with laser radar (27)
Scanning creates indoor environment 3 D stereo map；
Channel and occupy-place area are all shown on above-mentioned two dimensional surface map and 3 D stereo map.
8. a kind of intelligent wheelchair of indoor independent navigation Internet of Things according to claim 5, which is characterized in that the intelligence
Energy wheel-chair is wirelessly connected by the information wireless transmission and the network port (20) with external network.
9. a kind of control method of the intelligent wheelchair of interior independent navigation Internet of Things, which is characterized in that the control method packet
Include the following steps：
Open intelligent wheelchair power supply, battery (21) to it is each need the device of electricity consumption power, each device parameter initialize；
In the wheel chair access more room rooms of no threshold, make intelligent wheel by manipulating the operation panel (29) on wheelchair vehicle handrail (15)
Wheel-chair indoors advance by live accessible canal, goes to each one circle of room cruise and returns to starting point, environment detecting sensor group in traveling
Part (4) scans intelligent wheel chair front side environment, communicates information to highly integrated microcomputer (18), while rotary encoder
(8) it also sends the rotation information of universal wheel (6) to highly integrated microcomputer (18), passes through robot operating system of increasing income
(22) and information collection and transmitting device (23) and data processing and electromechanical controlling device (24), with quickly creating running environment
Scheme simultaneously rasterizing subregion and mark area code, map generating process and result are shown on display (30), wherein when described swashs
Optical radar (27) is one-dimensional linear laser emitter, and wheel-chair is advanced constitutes flat scanning with laser radar (27), creates indoor
Environment two dimensional surface map, when the laser radar (27) is two-dimensional linear laser emitter, wheel-chair is advanced and laser thunder
3-D scanning is constituted up to (27), indoor environment 3 D stereo map is created, on above-mentioned two dimensional surface map and 3 D stereo map
All show channel and occupy-place area；
Wheel-chair gait of march is transferred to the suitable degree of self-induction by operation panel (29), by the display screen tune of display (30)
It saves and facilitates observation position, the region to be gone then is specified by operation panel (29) or microphone (31), presses and brings into operation
Key says the order that brings into operation, and quickly contexture by self goes out wheel-chair travelling route with electromechanical controlling device (24) for data processing,
Wheel-chair automatic running immediately；
The ring that data processing is arrived with electromechanical controlling device (24) according to laser radar (27) or camera (28) dynamic acquisition in operation
Border information provides wheelchair and positions in real time, and the dynamic change of wheel-chair running orbit and positioning is shown on display (30)；
When detecting having new obstacle on pass, intelligent wheelchair slows down the speed of travel or stopping automatically, to ring around
Border is detected, automatic decision and find can bypass channel, then programme path again automatically continues and advances towards target point, directly
To arriving at, and stop at regulation orientation.
10. a kind of control method of the intelligent wheelchair of indoor independent navigation Internet of Things according to claim 9, feature exist
In the control method further includes the following steps：
When needing to control intelligent wheelchair precise motion on the spot, provides manipulation by operation panel (29) or microphone (31) and refer to
It enables, the manipulation instruction includes " Forward ", " retrogressing ", " moving to left ", " moving to right ", " left-hand rotation ", " right-hand rotation ", and wheel-chair will step by step
It executes instruction, reaches the exact position that user specifies；If configuring mouse or touching display screen on wheel-chair, pass through behaviour
Make mouse or touching display screen to specify refined orientation to be reached.
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