CN108478348B - Intelligent wheelchair with indoor autonomous navigation Internet of things and control method - Google Patents
Intelligent wheelchair with indoor autonomous navigation Internet of things and control method Download PDFInfo
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- CN108478348B CN108478348B CN201810527909.0A CN201810527909A CN108478348B CN 108478348 B CN108478348 B CN 108478348B CN 201810527909 A CN201810527909 A CN 201810527909A CN 108478348 B CN108478348 B CN 108478348B
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- 238000011065 in-situ storage Methods 0.000 claims abstract description 6
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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
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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
- A61G5/10—Parts, details or accessories
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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
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
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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
- 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
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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
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
Abstract
The invention discloses an intelligent wheelchair of an indoor autonomous navigation Internet of things and a control method thereof, which have the intelligent new functions of building an environment map, autonomous running, autonomous detection environment, autonomous positioning, autonomous navigation, automatic obstacle avoidance and the like in a GPS-free indoor, can replace a common wheelchair, and have outstanding adaptability on the occasions of flexible judgment and control of a powerless manual wheel, a powerless judgment environment and incapacity of controlling a common electric wheelchair, and have the advantages of remote monitoring and control and intelligent household Internet of things; the intelligent wheelchair is an intelligent home which takes a battery as power, can automatically control passengers to move in a plane in a universal way (move forwards, backwards, turn, move left and right transversely and rotate in situ on the ground), can establish an environment map indoors, can automatically navigate and avoid obstacles, and can be controlled by Internet remote control and Internet of things.
Description
Technical Field
The invention relates to the technical field of intelligent home furnishing, in particular to an intelligent wheelchair of an indoor autonomous navigation internet of things and a control method.
Background
Wheelchairs are common equipment for disabled persons, physically handicapped patients and elderly people, but conventional wheelchairs have many disadvantages in application: the hand-pulling wheelchair is driven by both hands of a rider, cannot automatically run, is time-consuming and labor-consuming, and is difficult for the disabled or the elderly with disabled hand functions to operate; although the electric wheelchair is not driven by manpower, the electric wheelchair always needs to control the speed and the direction of passengers and stop in operation, cannot automatically drive according to a preset destination, and cannot be remotely monitored and controlled; neither the hand lever nor the electric wheelchair can be operated laterally nor rotated in situ.
The demand of society for wheelchairs is increasing, the functionality of wheelchairs is also increasing, and especially as society enters an aging stage, the population is lost in a bonus gradually, and nursing labor is becoming tense. On the other hand, with the development of manufacturing technology, computer technology, robot technology and Internet of things technology, based on the innovative fusion of the technologies (a planar universal motion platform, a high-integration microcomputer, an open-source robot operating system, laser, visual/depth and other environment sensing sensors, information wireless transmission, the Internet and the like), the realization of an intelligent novel wheelchair capable of running autonomously is possible, and the intelligent wheelchair can be used as an important data acquisition and application port capable of remotely controlling one component part of an intelligent home and big data of the Internet of things.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provide an intelligent wheelchair with an indoor autonomous navigation internet of things and a control method, wherein the intelligent wheelchair is an intelligent home which takes a battery as power, can automatically control a passenger to move in a plane and in a universal manner (forward, backward, turning, left and right lateral movement and in-situ rotation on the ground), can establish an environment map indoors, can autonomously navigate and automatically avoid obstacles, and can be controlled by the internet in a remote control manner and the internet of things.
According to a disclosed embodiment, a first aspect of the present invention discloses an intelligent wheelchair of an indoor autonomous navigation internet of things, the intelligent wheelchair comprising: the seat comprises a plane universal motion chassis 1, a seat assembly 2, a bottom box 3, an environment sensing sensor assembly 4 and a control assembly 5;
wherein the plane universal motion chassis 1 is used for bearing force, providing motion power of a wheelchair on the ground and providing a mounting foundation of the seat assembly 2 and the bottom box 3;
the plane universal motion chassis 1 comprises universal wheels 6, a closed-loop servo motor and driver 7, a rotary encoder 8 and a frame 9, wherein the universal wheels 6 are arranged at the bottom of the frame 9 and controlled by the closed-loop servo motor and driver 7 and the rotary encoder 8 which are connected;
the planar universal motion chassis 1 also comprises a seat fixed mounting piece 10 (hole pin, screw and the like) and a bottom box fixed mounting piece 11 (hole pin, screw and the like);
wherein the seat assembly 2 is fixedly arranged above the planar universal motion chassis 1 through the seat fixing and mounting piece 10 and is used for carrying people and providing a mounting foundation of the environment sensing sensor assembly 4 and the control assembly 5;
the bottom box 3 is fixedly arranged below the plane universal motion chassis 1 and the seat assembly 2 through the bottom box fixing and mounting piece 11 and is used for providing electric energy, controlling an environment sensor to collect information and transmit information, processing information through operation and controlling the motion of the plane universal motion chassis 1;
the environment sensing sensor assembly 4 comprises a sensor installer 26, a laser radar 27 and a camera 28, wherein the environment sensing sensor assembly 4 is fixedly arranged on the seat assembly 2 through the sensor installer 26 and is used for acquiring environment dynamic information, and the laser radar 27 and the camera 28 are fixed on the sensor installer 26;
wherein, the control assembly 5 is fixedly arranged on the seat assembly 2 to provide a medium for controlling the wheelchair for a user.
Further, the seat assembly 2 includes a seat support 12, and a seat plate 13, a backrest 14, armrests 15, and pedals 16 respectively fixed to the seat support 12, wherein the seat support 12 has a structure for assembling with the seat fixing and mounting member 10, a structure for fixedly mounting the environmental sensor assembly 4, and the operating and controlling assembly 5.
Further, the universal wheel 6 is 4 Mecanum wheels (comprising hanging installation parts) with symmetrical structures, and each Mecanum wheel is respectively provided with a closed-loop servo motor and driver 7 and a rotary encoder 8; or the universal wheel 6 is two differential wheels and one or two driven wheels, wherein each differential wheel is provided with a closed-loop servo motor and driver 7 and a rotary encoder 8.
Further, the laser radar 27 is a one-dimensional linear laser emitter, a rotary tripod head assembled or not assembled, or a 3D scanning radar consisting of two-dimensional linear laser emitters; the camera 28 is an invisible light depth information camera or a visible light area array camera.
Further, the base box 3 comprises a shell 17, a high-integration microcomputer (including an embedded controller) 18, an upper computer 19, an information wireless transmission and network port 20 and a battery 21, wherein the high-integration microcomputer 18 is provided with an open source robot operating system 22, an information acquisition and transmission device 23 and a data processing and electromechanical control device 24; the upper computer 19 is provided with a user expansion application device 25 and a part of information processing device; the outer surface of the shell 17 is provided with a fitting structure with the bottom box fixing and mounting piece 11.
Further, the control assembly 5 includes an operation panel 29, a display 30, a microphone 31, and a flexible support 32, wherein the operation panel 29 is a finger button or touch button (for the blind user, a braille touch button) mounted on the left or right armrest 15 of the seat support 12; the display 30 and the microphone 31 are mounted and fixed on a flexible support 32 (sharing a flexible support or using a flexible support individually); the flexible support 32 has structure for mating with the seat support 12.
Further, when the laser radar 27 is a one-dimensional linear laser emitter, the wheelchair is driven to travel and the laser radar 27 form plane scanning, and a two-dimensional plane map of the indoor environment is created;
when the laser radar 27 is a two-dimensional linear laser transmitter, the wheelchair is driven to travel and the laser radar 27 form three-dimensional scanning, and a three-dimensional map of the indoor environment is created;
the two-dimensional plane map and the three-dimensional map are respectively provided with a channel and a space occupation area.
Further, the intelligent wheelchair is wirelessly connected to an external network through the information wireless transmission and network port 20.
According to a second aspect of the present invention, a control method for an intelligent wheelchair of an indoor autonomous navigation internet of things is disclosed, the control method comprising the following steps:
starting an intelligent wheelchair power supply, supplying power to all devices needing power by a battery 21, and initializing parameters of all devices;
in a multi-room without steps of a threshold, an intelligent wheelchair is enabled to travel in a field passable channel in the room by controlling an operation panel 29 on a wheelchair armrest 15, the intelligent wheelchair is moved to a round of cruising and returns to a starting point (no requirement on the traveling speed and the path), an environment sensing sensor assembly 4 (a laser radar 27 or a camera 28 are singly or simultaneously) scans the front environment of the intelligent wheelchair during traveling, information is transmitted to a high-integration microcomputer 18, a rotary encoder 8 also transmits rotation information of a universal wheel 6 to the high-integration microcomputer 18, an operation environment map is quickly created and a region and a marking region number are rasterized through an open source robot operation system 22 and an information acquisition and transmission device 23 and a data processing and electromechanical control device 24, and a map generating process and a result are displayed on a display 30, wherein when the laser radar 27 is a one-dimensional linear laser radar 27, a two-dimensional plane map of the indoor environment is created, and when the laser radar 27 is a two-dimensional linear laser radar 27, the vehicle travels and the laser radar 27 forms a three-dimensional scanning, a three-dimensional plane map of the indoor environment is created, and a three-dimensional plane map and a three-dimensional map of the three-dimensional plane map and the three-dimensional region map are displayed on the display region and the three-dimensional channel is displayed on the display device;
the traveling speed of the wheelchair is adjusted to a self-inductance suitable degree through the operation panel 29, the display screen of the display 30 is adjusted to a convenient observation position, then an area to be moved is designated through the operation panel 29 or the microphone 31, a start operation key is pressed or a start operation command is spoken, the data processing and electromechanical control device 24 rapidly and autonomously plans a traveling route of the wheelchair, and then the wheelchair automatically operates;
the running data processing and electromechanical control device 24 gives out real-time wheelchair positioning according to the environmental information dynamically acquired by the laser radar 27 or the camera 28, and the dynamic changes of wheelchair running track and positioning are displayed on the display 30;
when a new obstacle is detected on the passing path, the intelligent wheelchair automatically slows down or stops, detects the surrounding environment, automatically judges and finds a detourable channel, re-plans the route, automatically continues to travel towards the target point until reaching the destination and stops at a specified direction.
Further, the control method further comprises the following steps:
when the intelligent wheelchair is required to be controlled to accurately move in situ, a control instruction is given through the operation panel 29 or the microphone 31, wherein the control instruction comprises an advancing instruction, a retreating instruction, a left movement instruction, a right movement instruction, a left rotation instruction and a right rotation instruction, and the wheelchair executes the instruction step by step to reach an accurate position appointed by a user; if a mouse or a touch display screen is arranged on the wheelchair, the accurate direction to be achieved is designated by operating the mouse or the touch display screen.
Compared with the prior art, the invention has the following advantages and effects:
1) The invention provides an intelligent wheelchair with an indoor autonomous navigation Internet of things, which has the intelligent new functions of building an environment map, autonomous running, autonomous detection environment, autonomous positioning, autonomous navigation, automatic obstacle avoidance and the like in a GPS-free indoor space, can replace a common wheelchair, has outstanding self-adaptability on the occasions that a powerless hand-operated wheel, a powerless judgment environment and a common electric wheelchair cannot be operated, and has flexible judgment and operation on the scene with dynamic obstacle, and can also have the advantages of remote monitoring and operation and intelligent household Internet of things;
2) The intelligent wheelchair provided by the invention can be applied to a household indoor environment, a nursing home and a hospital indoor environment, and comprises an inner corridor and a lifting elevator environment;
3) The invention can bring the remarkable benefits that the intelligent wheelchair user enhances the self-help self-control capability of the individual in indoor movement, increases the safety of the intelligent wheelchair user, reduces the remote monitoring and control of accompanying personnel and guardianship, and the like.
Drawings
FIG. 1 is a block diagram of an intelligent wheelchair of the present disclosure;
FIG. 2 is a block diagram of a planar gimbal chassis in accordance with the present invention;
FIG. 3 is a block diagram of a seat assembly according to the present invention;
FIG. 4 is a block diagram of the base box of the present invention;
FIG. 5 is a block diagram of an environmental awareness and control component of the present invention;
FIG. 6 is a plan view of a multi-dwelling house suite;
FIG. 7 is an indoor running environment grid map;
fig. 8 is a route map of autonomous planning of the travel of the wheelchair from the current location to the target zone.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
The embodiment discloses an intelligent wheelchair, which is essentially an intelligent mobile robot, and consists of five parts (modules) of a planar universal motion chassis 1, a seat assembly 2, a bottom box 3, an environment sensing sensor assembly 4 and a control assembly 5 shown in fig. 1.
The plane universal motion chassis 1 is composed of universal wheels 6, closed-loop servo motors, drivers and drivers 7, rotary encoders 8 and a frame 9 shown in fig. 2, wherein the universal wheels 6 are 4 Mecanum wheels (comprising hanging installation parts) with symmetrical structures, and each Mecanum wheel is respectively provided with one closed-loop servo motor, one driver 7 and one rotary encoder 8; the universal wheel 6 can also be two differential wheels and two driven wheels, and each differential wheel is provided with a closed-loop servo motor and driver 7 and a rotary encoder 8; the frame 9 includes a seat mount 10 (hole pin, screw, etc.), a floor box mount 11 (hole pin, screw, etc.).
The seat assembly 2 is composed of a seat bracket 12, a seat pan 13, a backrest 14, armrests 15, pedals 16, etc. as shown in fig. 3, and the seat bracket 12 has a structure for fitting with the seat fixing mount 10, a structure for fixedly mounting the environment sensing sensor assembly 4, and the operating assembly 5.
The base box 3 is composed of a shell 17, a high-integration microcomputer (including an embedded controller) 18, an upper computer 19, an information wireless transmission and network port 20 and a battery 21, wherein the high-integration microcomputer 18 is provided with an open source robot operating system 22, an information acquisition and transmission device 23 and a data processing and electromechanical control device 24; the upper computer 19 is provided with a user expansion application device 25 and a part of information processing device; the outer surface of the housing 17 has a fitting structure with the bottom case fixing mount 11.
The environment sensing sensor assembly 4 comprises a sensor installer 26, a laser radar 27, a camera 28, and may also comprise other environment sensing sensors such as ultrasonic radars; the sensor installer 26 is provided with a structure for installing and fixing the laser radar 27 and the camera 28 and a structure assembled with the seat bracket 12; the laser radar 27 can be a one-dimensional linear laser emitter, a rotary tripod head is assembled or not, and can also be a 3D scanning radar consisting of two-dimensional linear laser emitters; camera 28 may be an invisible light depth information camera or a visible light area array camera.
The control assembly 5 comprises an operation panel 29, a display 30, a microphone 31, a flexible support 32 as shown in fig. 5; the operation panel 29 may be a finger button type or a touch type (a braille touch button for a blind user) and may be mounted on the left or right armrest 15 of the seat; the display 30 and the microphone 31 are mounted and fixed on a flexible support 32 (sharing one flexible support or using one flexible support each), and the flexible support 32 is provided with a structure assembled with the seat support 12.
The main functions of the plane universal motion chassis 1 are bearing force, providing motion of a wheelchair on the ground and providing a mounting foundation for the seat assembly 2 and the bottom box 3; the primary function of the seat assembly 2 is to carry a person and provide a basis for installing the context-aware sensor assembly 4 and the steering assembly 5; the main functions of the bottom box 3 are providing electric energy, controlling the environment sensor to collect information and transmit information, calculating and processing information and controlling the chassis 1 to move; the main function of the context-aware sensor assembly 4 is to obtain context dynamic information; the main function of the steering assembly 5 is to provide a medium for the user to steer the wheelchair; and the devices needing electricity are connected with the battery in a wired way.
The working flow of the intelligent wheelchair of the indoor autonomous navigation internet of things disclosed in the embodiment begins with the creation of an indoor environment map. Turning on a wheelchair power supply, and enabling a battery 21 to supply power to all devices needing power and initializing parameters of all devices; in a multi-room without a threshold and steps, a wheelchair occupant himself or other people firstly travel through an operation panel 29 on a wheelchair armrest 15 to enable the wheelchair to pass through a passageway in the room, go to each room to cruise round to return to a starting point (no requirement on the travel speed and the path), the traveling environment perception sensor assembly 4 (a laser radar 27 or a camera 28 singly or simultaneously) scans the environment in front of the wheelchair, transmits information to the high-integration microcomputer 18, simultaneously the rotary encoder 8 also transmits rotation information of the universal wheel 6 to the high-integration microcomputer 18, rapidly creates an operation environment map and rasterizes a partition and a marking area code through an open source robot operation system 22 and an information acquisition and transmission device 23 and a data processing and electromechanical control device 24, and the map generation process and result are visible on a display 30; if the installed laser radar 27 is one-dimensional laser linear, the wheelchair travel and the laser radar 27 form plane scanning, and an indoor environment plane map is created; if the installed lidar 27 is two-dimensionally linear or is equipped with a camera 28, the wheelchair motion and it are combined into a three-dimensional scan, creating a three-dimensional map of the indoor environment; channels and footprints can be displayed on both two-dimensional and three-dimensional maps.
The wheelchair can be used for autonomous operation after the indoor environment map is created. The user firstly adjusts the travelling speed of the wheelchair to the self-sensing proper degree through the operation panel 29, and adjusts the display screen to a convenient observation position; then the operation panel 29 or the microphone 31 is used for designating the area to be moved, the start operation key is pressed or the start operation command is spoken, the data processing and electromechanical control device 24 rapidly and autonomously plans the travel route of the wheelchair, and then the wheelchair automatically operates; the running data processing and electromechanical control device 24 gives out real-time wheelchair positioning according to the environmental information dynamically acquired by the laser radar 27 or the camera 28, and the running track and the dynamic change of positioning of the wheelchair are visible on the display 30; when a new obstacle is detected on the passing path, the wheelchair automatically slows down or stops, detects the surrounding environment, automatically judges and finds a detourable channel, re-plans the route, automatically continues to travel towards the target point until reaching the destination and stops at a specified direction.
When the user needs to control the wheelchair to move accurately in situ, the operation panel 29 or the microphone 31 can be used for giving control instructions such as 'forward moving', 'backward', 'left moving', 'right moving', 'left turning', 'right turning', and the wheelchair can execute the instructions step by step to reach the accurate position designated by the user; if a computer mouse or a touch display screen is arranged on the wheelchair, a user can also designate the precise direction to be achieved by operating the mouse or the touch display screen.
The indoor environment map is created and the autonomous running process of the wheelchair does not require indoor wireless communication and network conditions; when the wheelchair is required to be remotely monitored and controlled, or other intelligent Internet of things home facilities and intelligent medical instruments are required to be controlled, the WiFi condition is required, and the information wireless transmission and network port 20, the upper computer 19, the user expansion application device 25 and part of the information processing device are required to be used; the upper computer 19 can be separated from the wheelchair and placed in any place in the room for other people to conveniently operate, and the open source robot operating system 22 enables the high-integration microcomputer 18 and the upper computer 19 to communicate with each other through WiFi; by means of the internet, the outdoor remote monitoring and controlling person can also realize remote monitoring and controlling of the wheelchair through a remote computer or by adopting a mobile terminal APP.
Taking the multi-room suite as shown in fig. 6 as an example, the use method and flow of the intelligent wheelchair of the invention are described. The intelligent wheelchair is arranged on the blank ground in any direction in the room, such as a doorway A where the intelligent wheelchair enters the room from a corridor; turning on a wheelchair power supply, and initializing various parameters by the wheelchair; starting from the position A, a wheelchair occupant himself or others cruises the wheelchair through the passable channels of the indoor corridor and each room/hall through the operation panel 29 on the wheelchair armrest 15 (no requirement on the travelling speed and the path), then returns to the position A, the cruises the laser radar 27 and/or the camera 28 to scan the environment in front of the wheelchair, the information is transmitted to the high-integration microcomputer 18, the rotary encoder 8 also transmits the rotation information of the universal wheel 6 to the high-integration microcomputer 18, the data processing and electromechanical control device 24 quickly creates a map of the whole indoor running environment taking the A as the origin firstly, then moves the origin to the map vertex O (shown in figure 7), the area in the map corresponds to the occupied space and the channel of each indoor facility, divides the whole indoor area into a plurality of grid small areas, marks the grid small area serial numbers taking the O as the origin, and uses the display 30 to observe the map and the area serial numbers; then, the user adjusts the travelling speed of the wheelchair to a self-sensing proper degree through the operation panel 29, and adjusts the display screen to a convenient observation position, so that the wheelchair can run autonomously; by inputting or microphone 31 to designate the desired area label (e.g. balcony outside the bedroom, area C, grid label 1301) through the operation panel 29, pressing the start operation key or speaking the "start" command, the data processing and electromechanical control device 24 will quickly and autonomously plan the travel route of the wheelchair from the current area (e.g. kitchen, area B, grid label 0509) to the target area (as shown in fig. 8), whereupon the wheelchair automatically operates towards the designated area; the in-operation data processing and electromechanical control device 24 gives out the wheelchair position and control wheelchair running track in real time according to the wheelchair nearby environment information continuously and dynamically acquired by the laser radar 27 and the camera 28, and the user can observe the wheelchair running track and the dynamic change of positioning on the display 30; when a new obstacle is detected on the passing path, such as a cat or a dog standing or lying on a channel, the wheelchair automatically slows down the walking speed or stops, detects the surrounding environment, automatically judges and finds a detourable channel, re-plans the route, automatically continues to travel towards the target area C until reaching the area C and stops at a specified direction; when the user considers that a certain nearby direction needs to be more accurately reached, the operation panel 29 or the microphone 31 can be used for giving operation instructions such as forward movement, backward movement, left movement, right movement, left rotation, right rotation and the like, and the wheelchair can automatically adjust and run step by step to reach the accurate position designated by the user; if a computer mouse or a touch display screen is arranged on the wheelchair, a user can designate the precise direction to be achieved by operating the mouse or the touch display screen before running.
The above examples of implementation do not require wireless communication and network conditions in the room. However, when the wheelchair occupant lacks the control capability and needs the guardian to remotely monitor and control the wheelchair, or the wheelchair occupant needs to control other intelligent things-connected home facilities and intelligent medical instruments, such as a remotely controllable lighting lamp or an air conditioner which can be opened and closed in a wheelchair, a connecting things-connected cardiotachometer, a blood pressure device and other intelligent instruments, a WiFi condition is required indoors, the wireless transmission and network port 20 of information on the wheelchair can be used, and corresponding user expansion application software and information processing software are installed in the upper computer 19; by means of the internet, the outdoor remote monitoring and controlling person can realize remote monitoring and controlling of the intelligent wheelchair through a remote computer or by adopting the mobile terminal APP.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (6)
1. An intelligent wheelchair of indoor autonomous navigation thing allies oneself with, its characterized in that, intelligent wheelchair include: the device comprises a plane universal motion chassis (1), a seat assembly (2), a bottom box (3), an environment sensing sensor assembly (4) and a control assembly (5);
the plane universal motion chassis (1) is used for bearing force, providing motion power of a wheelchair on the ground and providing a mounting foundation of the seat assembly (2) and the bottom box (3);
the plane universal motion chassis (1) comprises universal wheels (6), a closed-loop servo motor, a driver (7), a rotary encoder (8) and a frame (9), wherein the universal wheels (6) are arranged at the bottom of the frame (9) and controlled by the closed-loop servo motor, the driver (7) and the rotary encoder (8) which are connected;
the universal wheel (6) is 4 Mecanum wheels with symmetrical structures, and each Mecanum wheel is respectively provided with a closed-loop servo motor, a driver (7) and a rotary encoder (8); or the universal wheel (6) is two differential wheels and one or two driven wheels, wherein each differential wheel is provided with a closed-loop servo motor, a driver (7) and a rotary encoder (8);
the base box (3) comprises a shell (17), a high-integration microcomputer (18), an upper computer (19), an information wireless transmission and network port (20) and a battery (21), wherein the high-integration microcomputer (18) is provided with an open-source robot operating system (22), an information acquisition and transmission device (23) and a data processing and electromechanical control device (24); the upper computer (19) is provided with a user expansion application device (25) and a part of information processing device; the outer surface of the shell (17) is provided with a fitting structure which is fixedly arranged on the mounting piece (11) of the bottom box;
the plane universal motion chassis (1) further comprises a seat fixed mounting piece (10) and a bottom box fixed mounting piece (11);
wherein the seat assembly (2) is fixedly arranged above the planar universal motion chassis (1) through the seat fixing and mounting piece (10) and is used for carrying people and providing a mounting foundation of the environment sensing sensor assembly (4) and the control assembly (5);
the base box (3) is fixedly arranged below the plane universal motion chassis (1) and the seat assembly (2) through the base box fixing and mounting piece (11) and is used for providing electric energy, controlling an environment sensor to collect information and information transmission, calculating and processing information and controlling the motion of the plane universal motion chassis (1);
the environment sensing sensor assembly (4) comprises a sensor installer (26), a laser radar (27) and a camera (28), wherein the environment sensing sensor assembly (4) is fixedly arranged on the seat assembly (2) through the sensor installer (26) and is used for acquiring environment dynamic information, and the laser radar (27) and the camera (28) are fixed on the sensor installer (26);
the laser radar (27) is a one-dimensional linear laser emitter, a rotary tripod head is assembled or not assembled, or a 3D scanning radar consisting of two-dimensional linear laser emitters; the camera (28) is an invisible light depth information camera or a visible light array camera;
when the laser radar (27) is a one-dimensional linear laser emitter, the wheelchair is driven to travel and the laser radar (27) form plane scanning, and a two-dimensional plane map of the indoor environment is created;
when the laser radar (27) is a two-dimensional linear laser transmitter, the wheelchair is driven to travel and the laser radar (27) form three-dimensional scanning, and a three-dimensional map of the indoor environment is created;
the two-dimensional plane map and the three-dimensional map are respectively provided with a channel and a space occupation area;
wherein, the control component (5) is fixedly arranged on the seat component (2) and provides a medium for controlling the wheelchair for a user.
2. An indoor autonomous navigator internet of things intelligent wheelchair according to claim 1, wherein the seat assembly (2) comprises a seat support (12), a seat plate (13), a backrest (14), an armrest (15) and a pedal (16) respectively fixed on the seat support (12), and the seat support (12) is provided with a structure for assembling with a seat fixing and mounting part (10), a structure for fixing and mounting an environment sensing sensor assembly (4) and a control assembly (5).
3. The intelligent wheelchair of the indoor autonomous navigation internet of things according to claim 2, wherein the control assembly (5) comprises an operation panel (29), a display (30), a microphone (31) and a flexible bracket (32), wherein the operation panel (29) is a finger button type or a touch type, and is arranged on a left side or a right side handrail (15) of the seat bracket (12); the display (30) and the microphone (31) are arranged and fixed on the flexible bracket (32); the flexible support (32) is provided with a structure matched with the seat support (12).
4. The intelligent wheelchair of the indoor autonomous navigation internet of things according to claim 1, wherein the intelligent wheelchair is wirelessly connected with an external network through the information wireless transmission and network port (20).
5. A control method of an intelligent wheelchair of an indoor autonomous navigator internet of things according to any one of claims 1 to 4, characterized in that the control method comprises the following steps:
starting an intelligent wheelchair power supply, and supplying power to all devices needing power by a battery (21) and initializing parameters of all devices;
in a multi-room without steps and a threshold, an intelligent wheelchair is enabled to travel in an indoor field passable channel by controlling an operation panel (29) on a wheelchair armrest (15), the intelligent wheelchair is enabled to travel to a round of starting point when the intelligent wheelchair is cruised to each room, an environment sensing sensor assembly (4) scans the front environment of the intelligent wheelchair and transmits information to a high-integration microcomputer (18), meanwhile, a rotary encoder (8) also transmits rotation information of a universal wheel (6) to the high-integration microcomputer (18), an operation environment map is quickly created and a region and a mark region number are rasterized through an open source robot operation system (22) and an information acquisition and transmission device (23) and a data processing and electromechanical control device (24), a map generation process and a result are displayed on a display (30), wherein when the laser radar (27) is a one-dimensional linear laser, the wheelchair travels and the laser radar (27) form a plane scan, and when the laser radar (27) is a two-dimensional linear laser emitter, the wheelchair travels and the laser radar (27) forms a three-dimensional plane map, the three-dimensional plane map and the three-dimensional plane map occupy the three-dimensional plane map and the three-dimensional region;
the travelling speed of the wheelchair is adjusted to a self-sensing proper degree through an operation panel (29), the display screen of a display (30) is adjusted to a convenient observation position, then an area to be moved is designated through the operation panel (29) or a microphone (31), a start operation key is pressed or a start operation command is spoken, a data processing and electromechanical control device (24) rapidly and autonomously plans a travelling route of the wheelchair, and then the wheelchair automatically operates;
the data processing and electromechanical control device (24) in operation gives out real-time positioning of the wheelchair according to the environmental information dynamically acquired by the laser radar (27) or the camera (28), and the running track of the wheelchair and the dynamic change of the positioning are displayed on the display (30);
when a new obstacle is detected on the passing path, the intelligent wheelchair automatically slows down or stops, detects the surrounding environment, automatically judges and finds a detourable channel, re-plans the route, automatically continues to travel towards the target point until reaching the destination and stops at a specified direction.
6. The control method of the intelligent wheelchair of the indoor autonomous navigation internet of things according to claim 5, wherein the control method further comprises the following steps:
when the intelligent wheelchair is required to be controlled to accurately move in situ, a control instruction is given through an operation panel (29) or a microphone (31), wherein the control instruction comprises an instruction of forward movement, backward movement, left movement, right movement, left rotation and right rotation, and the wheelchair is subjected to one-step execution to reach an accurate position appointed by a user; if a mouse or a touch display screen is arranged on the wheelchair, the accurate direction to be achieved is designated by operating the mouse or the touch display screen.
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| CN110025437A (en) * | 2019-03-28 | 2019-07-19 | 房歆哲 | A kind of intelligent wheel chair |
| CN110200766A (en) * | 2019-05-30 | 2019-09-06 | 中奕智创医疗科技有限公司 | Nursing robot |
| CN110977999A (en) * | 2019-11-21 | 2020-04-10 | 广州赛特智能科技有限公司 | Nuclear power station nuclear instrument source test intelligent robot |
| WO2021108959A1 (en) * | 2019-12-02 | 2021-06-10 | 深圳职业技术学院 | Intelligent traveling wheelchair used in small area |
| CN112327836B (en) * | 2020-10-27 | 2021-10-01 | 南宁市第一人民医院 | Wheelchair automatic driving control method based on 5G technology and automatic driving wheelchair |
| CN112882475A (en) * | 2021-01-26 | 2021-06-01 | 大连华冶联自动化有限公司 | Motion control method and device of Mecanum wheel type omnibearing mobile robot |
| CN113288608B (en) * | 2021-05-27 | 2022-10-18 | 中国科学院心理研究所 | Indoor automatic driving method of electric wheelchair |
| CN116880514B (en) * | 2023-09-06 | 2023-11-21 | 小舟科技有限公司 | Intelligent wheelchair control method, intelligent wheelchair and storage medium |
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