CN108618910A - A kind of wheelchair using intelligence control system - Google Patents
A kind of wheelchair using intelligence control system Download PDFInfo
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- CN108618910A CN108618910A CN201810218952.9A CN201810218952A CN108618910A CN 108618910 A CN108618910 A CN 108618910A CN 201810218952 A CN201810218952 A CN 201810218952A CN 108618910 A CN108618910 A CN 108618910A
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- 230000000007 visual effect Effects 0.000 claims description 26
- 238000013016 damping Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005236 sound signal Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000005021 gait Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000037230 mobility Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- 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
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/063—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels
- A61G5/065—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with eccentrically mounted wheels with three or more wheels mounted on a rotary cross member, e.g. spiders or spoked wheels with small wheels at the end of the spokes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
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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)
- Handcart (AREA)
Abstract
The present invention relates to machinery fields, and in particular to wheelchair.A kind of wheelchair using intelligence control system, including an intelligent wheel chair, intelligent wheel chair includes a wheelchair frame, at least three positioned on the wheel of wheelchair frame lower part, the drive system of a control module, one driving wheel of control module connection, and the lower part of wheelchair frame is equipped with a caterpillar chassis；Control module connects a control panel, and control panel includes a display；Display connects a signal processing module, and signal processing module connects at least two cameras.When in use, information of road surface is shot by camera, and then information of road surface is shown by display, the information of road surface operation and control panel that user shows according to display, the operation information of user is transferred to control module by control panel, control module control lifting gear rises or falls wheel, and then controls whether to advance using crawler belt.Reach intelligence switching traveling mode, the mode that more wheel change is advanced automatically or crawler belt is advanced.
Description
Technical field
The present invention relates to machinery fields, and in particular, to wheelchair.
Background technology
Wheelchair is the important walking-replacing tool of limbs the disabled and people with mobility problems.Common wheelchair is generally by wheelchair frame, vehicle
Wheel and leans against composition at brake gear.Electric wheelchair increases electric booster on the basis of common wheelchair, alleviates use
The physical demands of person increases the scope of activities of user.Intelligent wheel chair increased on the basis of electric wheelchair positioning it is mobile,
The function for the assisted living that standing is mobile, remote-controlled movement and internet coordinate.Existing wheelchair technology has been proposed climbing building
The solution of ladder, but there are stability and safety are inadequate, user is difficult to control the advance of wheelchair under some complex road conditions,
Passability is not strong, this problem has seriously affected the convenience that wheelchair user goes out.
Invention content
The object of the present invention is to provide a kind of wheelchairs using intelligence control system, are asked with solving above-mentioned at least one technology
Topic.
In order to achieve the above object, the present invention uses following technical proposals：
A kind of wheelchair using intelligence control system, including an intelligent wheel chair, the intelligent wheel chair include a wheelchair frame, at least three
A drive system that wheel is driven positioned on the wheel of wheelchair frame lower part, a control module, control module connection one, feature
It is, the lower part of the wheelchair frame is equipped with a caterpillar chassis, and the caterpillar chassis includes at least two crawler belts, described in two
Crawler belt is arranged in the outside of the wheel, and the wheel connects the wheelchair frame by a lifting gear；
The caterpillar chassis is all connected with the control module with the lifting gear, and the control module connects a control plane
Plate, the control panel include a display；
One signal processing module of the display connection, at least two cameras of the signal processing module connection, at least two
The front side of one in the camera lower part for being mounted on the wheelchair frame, another at least two cameras are mounted on described
The rear side of the lower part of wheelchair frame.
The signal processing module connects a memory module, a wireless signal transceiver.
The wheelchair frame is equipped with a seat, and the lower part of the seat is equipped with a hydraulic cylinder, and the top of the hydraulic cylinder is solid
It is scheduled on the lower part of the seat, the lower part of the hydraulic cylinder is fixed on the wheelchair frame, the control module control connection institute
State the control terminal of hydraulic cylinder；
A gyroscope is equipped on the seat, the signal output end of the gyroscope connects the signal processing module, the letter
Number processing module connects the control module.
The hydraulic cylinder is two, and two hydraulic cylinders are separately positioned on the front of the seat, rear portion.Or, described
Hydraulic cylinder is four, and four hydraulic cylinders are separately positioned on the front of the seat, rear portion, left part, right part.
An obliquity sensor is equipped on the wheelchair frame, the signal output end of the obliquity sensor connects at the signal
Manage module.
The control panel is equipped with control button.The control panel is equipped with a radio equipment, the audio signal reception device
Connect the signal processing module.The display uses touch display screen.The seat side is equipped with an operation handle, described
Operation handle connects the control module.
The present invention by judging pavement behavior and wheelchair posture by equipment such as camera, gyroscope, obliquity sensors, into
And by the walking and stopping of control module controling wheelchair, seat posture is adjusted, improves wheelchair stair-climbing ladder and on complicated road
The comfortableness and security walked under condition.
Description of the drawings
Fig. 1 is the part-structure schematic diagram of the present invention；
Fig. 2 is the partial circuit block diagram of the present invention.
Specific implementation mode
The specific implementation mode of the present invention is further described below in conjunction with attached drawing.
As depicted in figs. 1 and 2, a kind of wheelchair using intelligence control system, including an intelligent wheel chair, intelligent wheel chair include
One wheelchair frame, at least three are positioned on the wheel 4 of wheelchair frame lower part, the drive of a control module 7, one driving wheel of control module connection
The lower part of dynamic system 12, wheelchair frame is equipped with a caterpillar chassis 2, and caterpillar chassis includes at least two crawler belts 3, and two crawler belts are set
It sets in the outside of wheel, wheel connects wheelchair frame by a lifting gear；Caterpillar chassis is all connected with control mould with lifting gear
Block, control module connect a control panel, and control panel includes a display 5；Display connects a signal processing module 6, letter
Number processing module connects at least two cameras 8, the front side of a lower part for being mounted on wheelchair frame at least two cameras,
In at least two cameras another be mounted on wheelchair frame lower part rear side.When in use, road surface is shot by camera
Information, and then information of road surface is shown by display, the information of road surface operation and control panel that user shows according to display, it controls
The operation information of user is transferred to control module by panel processed, and control module control lifting gear rises or falls wheel, in turn
It controls whether to advance using crawler belt.Lifting gear uses electric telescopic rod, one end of electric telescopic rod to connect wheel, electric expansion
The other end of bar connects wheelchair frame.
Caterpillar chassis includes an accumulator, the driving wheel for driving crawler belt, two crawler belts, a mounting bracket, installation
The top of holder is fixed on the lower part of wheelchair frame, and accumulator, driving wheel, crawler belt are installed in mounting bracket, the electricity of accumulator
Energy output end connects the electrical energy inputs of a motor, and the shaft of motor is linked with driving wheel by chain；Control module control connects
Connect motor.Convenient for ensureing to use crawler belt normally travel.At least two groups that forward and backward setting is equipped in two crawler belts are used to support shoe
The traveling wheel of belt shape, at least two groups traveling wheel include the first traveling wheel group, the second traveling wheel group, the first traveling wheel group, second
Traveling wheel group includes at least two traveling wheels for being used to support crawler belt, and the traveling wheel in the first traveling wheel group is horizontally installed on the
On one fixing piece, the traveling wheel in the second traveling wheel group is horizontally installed on the second fixing piece；The front of first fixing piece passes through
One shaft is fixed in the mounting bracket of caterpillar chassis, and the rear portion of the first fixing piece is fixed on installation by the first damping
On holder；The front of second fixing piece is fixed on by the second damping in mounting bracket, and the rear portion of the second fixing piece passes through
One shaft is fixed in mounting bracket.Specifically, in speeling stairway or barrier, crawler type maximum by apex pressure
Chassis turns forward, and due to gravity, the front pressure of the first fixing piece tapers into, rear portion is born pressure and become larger, and first
Damping is compressed, and the first fixing piece front is rotated by shaft, makes the first fixing piece by horizontal position to turning forward, into
And the front bending of crawler belt, it is bonded ground；Likewise, when crossing the vertex of stair or barrier, the front pressure of the second fixing piece
Power becomes larger, rear pressure tapers into, and the second damping is compressed, and the second fixing piece rear portion is rotated by shaft, is made
For second fixing piece by horizontal position to tilting backwards, and then the rear portion bending of crawler belt is bonded ground.This design effectively increases shoe
The effect that is bonded of band and ground, not will produce and falls, improve stability.
Signal processing module connects a memory module, a wireless signal transceiver 9.Wireless signal transceiver can be passed through
The content in module is updated storage, the operations such as also can be positioned, be communicated by wireless signal transceiver.
Specifically, signal processing module connects a visual identity module, the road conditions picture of shooting is passed through signal by camera
Processing module is transferred to visual identity module, and road gradient is more than 5 ° in the road conditions picture of visual identity module identification shooting, into
And visual identity module transmits road gradient signal to control module by signal processing module, control module controls lifting gear
Retractable wheels, control module are controlled caterpillar chassis and are advanced using crawler belt；In the road conditions picture of visual identity module identification shooting
Road gradient is less than 5 °, and then visual identity module transmits road gradient signal to control module, control by signal processing module
Molding block control lifting gear falls wheel, and control module controls drive system driving wheel and advances.
Staircase structure picture is stored in memory module, signal processing module connects a visual identity module, and camera will
The road conditions picture of shooting is transferred to visual identity module by signal processing module, and the road conditions of visual identity module identification shooting are drawn
There are staircase structures in face, and then there are staircase structure signals to give control mould by signal processing module transmission for visual identity module
Block, control module control lifting gear retractable wheels, and control module is controlled caterpillar chassis and advanced using crawler belt；Visual identity mould
Staircase structure is not present in the road conditions picture of block identification shooting, and then visual identity module is not deposited by signal processing module transmission
In staircase structure signal to control module, control module control lifting gear falls lower wheel, and control module controls drive system
Wheel is driven to advance.Reach intelligence switching traveling mode, the mode that more wheel change is advanced automatically or crawler belt is advanced.
Wheelchair frame is equipped with a seat 1, and the lower part of seat is equipped with a hydraulic cylinder 13, and the top of hydraulic cylinder is fixed on seat
The lower part of lower part, hydraulic cylinder is fixed on wheelchair frame, and control module controls the control terminal of connection liquid cylinder pressure；A top is equipped on seat
Spiral shell instrument 10, the signal output end connection signal processing module of gyroscope, signal processing module link control module.Pass through gyroscope
Seat posture is detected, judges whether seat is inclined, the seat tilt signals detected are sent at signal by gyroscope
Module is managed, signal processing module transmits a signal to control module, and control module controls the lifting of hydraulic cylinder, adjusts inclining for seat
Rake angle, and then ensure that seat is horizontal, improve stability and comfort.Reach the work(that intelligence adjusts chair angle
Energy.
Hydraulic cylinder is two, and two hydraulic cylinders are separately positioned on the front of seat, rear portion.Or, hydraulic cylinder is four, four
Hydraulic cylinder is separately positioned on the front of seat, rear portion, left part, right part.To adjust the different angle of inclination of seat, reach comfortable
Effect.
An obliquity sensor 11, the signal output end connection signal processing module of obliquity sensor are equipped on wheelchair frame.Into
And the angle of inclination of wheelchair frame is monitored by obliquity sensor, judge whether road surface is smooth by angle of inclination, if there is slope
Degree, and then be that wheel is advanced or crawler belt is advanced by control module control.By that visual identity module can be assisted to identify from design
Road gradient.Signal processing module connects a timing module.When road surface slope in the road conditions picture of visual identity module identification shooting
When degree is less than 5 °, the angle of inclination for the wheelchair frame that obliquity sensor detects changes repeatedly in 15 seconds, and signal processing module passes
For the defeated rugged signal in road surface to control module, control module controls lifting gear retractable wheels, and control module controls caterpillar chassis
It is advanced using crawler belt.It is small convenient for working as road gradient, but when pavement roughness, automatically switch traveling mode.
Control panel is equipped with control button.Switch traveling mode convenient for user's control, can pass through intelligence in the present invention
Control system independently switches traveling mode, can also be adjusted by user's manual switching traveling mode, gait of march, direction of travel,
Chair angle.
Control panel is equipped with a radio equipment, audio signal reception device connection signal processing module.It adjusts and takes turns convenient for voice control
The traveling mode of chair, direction of travel, gait of march, chair angle.
Display uses touch display screen.Convenient for user's visual control.
Seat side is equipped with an operation handle.Convenient for manipulating, simplify gait of march, the steer mode of direction of travel.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. a kind of wheelchair using intelligence control system, including an intelligent wheel chair, the intelligent wheel chair includes a wheelchair frame, at least
Three positioned on the wheel of wheelchair frame lower part, the drive system of a control module, one driving wheel of control module connection, spy
Sign is that the lower part of the wheelchair frame is equipped with a caterpillar chassis, and the caterpillar chassis includes at least two crawler belts, two institutes
It states crawler belt to be arranged in the outside of the wheel, the wheel connects the wheelchair frame by a lifting gear；
The caterpillar chassis is all connected with the control module with the lifting gear, and the control module connects a control plane
Plate, the control panel include a display；
One signal processing module of the display connection, at least two cameras of the signal processing module connection, at least two
The front side of one in the camera lower part for being mounted on the wheelchair frame, another at least two cameras are mounted on described
The rear side of the lower part of wheelchair frame.
2. a kind of wheelchair using intelligence control system as described in claim 1, which is characterized in that the signal processing module
Connect a memory module, a wireless signal transceiver.
3. a kind of wheelchair using intelligence control system as described in claim 1, which is characterized in that the wheelchair frame is equipped with
The lower part of one seat, the seat is equipped with a hydraulic cylinder, and the top of the hydraulic cylinder is fixed on the lower part of the seat, the liquid
The lower part of cylinder pressure is fixed on the wheelchair frame, and the control module control connects the control terminal of the hydraulic cylinder；
A gyroscope is equipped on the seat, the signal output end of the gyroscope connects the signal processing module, the letter
Number processing module connects the control module.
4. a kind of wheelchair using intelligence control system as described in claim 1, which is characterized in that be equipped on the wheelchair frame
The signal output end of one obliquity sensor, the obliquity sensor connects the signal processing module.
5. a kind of wheelchair using intelligence control system as described in claim 1, which is characterized in that set on the control panel
There is control button.
6. a kind of wheelchair using intelligence control system as described in claim 1, which is characterized in that set on the control panel
There are a radio equipment, the audio signal reception device to connect the signal processing module.
7. a kind of wheelchair using intelligence control system as described in claim 1, which is characterized in that in two crawler belts
At least two groups equipped with forward and backward setting are used to support the traveling wheel of crawler belt shape, and at least two groups traveling wheel includes the first traveling wheel
Group, the second traveling wheel group, the first traveling wheel group, the second traveling wheel group are used to support crawler belt including at least two
Traveling wheel, the traveling wheel in the first traveling wheel group is horizontally installed on the first fixing piece, in the second traveling wheel group
Traveling wheel is horizontally installed on the second fixing piece；The front of first fixing piece is fixed on caterpillar chassis by a shaft
In mounting bracket, the rear portion of first fixing piece is fixed on by the first damping in the mounting bracket；Described second
The front of fixing piece is fixed on by the second damping in the mounting bracket, and the rear portion of second fixing piece passes through one turn
Axis is fixed in the mounting bracket.
8. a kind of wheelchair using intelligence control system as described in claim 1, which is characterized in that the signal processing module
A visual identity module is connected, the road conditions picture of shooting is transferred to described regard by the camera by the signal processing module
Feel identification module, the visual identity module identifies that road gradient is more than 5 ° in the road conditions picture shot, and then the vision is known
Other module transmits a signal to the control module by the signal processing module, and the control module controls the lifting gear
The wheel is packed up, the control module is controlled the caterpillar chassis and advanced using crawler belt；The visual identity module identification
Road gradient is less than 5 ° in the road conditions picture of shooting, and then the visual identity module is transmitted by the signal processing module and believed
Number the control module, the control module is given to control the lifting gear and fall the wheel, the control module control is driven
Wheel is advanced described in dynamic system drive.
9. a kind of wheelchair using intelligence control system as claimed in claim 2, which is characterized in that the memory module memory
Staircase structure picture is contained, the signal processing module connects a visual identity module, and the camera draws the road conditions of shooting
Face is transferred to the visual identity module by the signal processing module, and the road conditions of the visual identity module identification shooting are drawn
There are staircase structures in face, and then the visual identity module transmits a signal to the control module by signal processing module,
The control module controls lifting gear retractable wheels, and the control module control caterpillar chassis is advanced using crawler belt；It is described
Staircase structure is not present in the road conditions picture of visual identity module identification shooting, and then the visual identity module passes through the letter
Number processing module transmits a signal to the control module, and the control module control lifting gear puts down wheel, the control mould
Block controls drive system and the wheel is driven to advance.
10. a kind of wheelchair using intelligence control system as claimed in claim 8, which is characterized in that the signal processing mould
Block connects a timing module；When road gradient is less than 5 ° in the road conditions picture of visual identity module identification shooting, the inclination angle
The angle of inclination for the wheelchair frame that sensor detects changes repeatedly in 15 seconds, and the signal processing module transmission rugged signal in road surface is given
Control module, the control module control lifting gear retractable wheels, and the control module control caterpillar chassis uses crawler belt
It advances.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810218952.9A CN108618910A (en) | 2018-03-16 | 2018-03-16 | A kind of wheelchair using intelligence control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810218952.9A CN108618910A (en) | 2018-03-16 | 2018-03-16 | A kind of wheelchair using intelligence control system |
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| CN108618910A true CN108618910A (en) | 2018-10-09 |
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| CN201810218952.9A Pending CN108618910A (en) | 2018-03-16 | 2018-03-16 | A kind of wheelchair using intelligence control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334795A (en) * | 2018-11-07 | 2019-02-15 | 屈子涵 | A kind of accessible traveler car |
| CN109874431A (en) * | 2018-12-26 | 2019-06-14 | 丰疆智慧农业股份有限公司 | Intelligent agricultural machinery with adjustable base |
| CN113805589A (en) * | 2021-08-31 | 2021-12-17 | 中煤科工集团重庆研究院有限公司 | Mobile platform control system and method based on multi-source sensor data |
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