CN108639161A - A kind of auxiliary intelligent wheel chair passes in and out carrier system and its control method automatically - Google Patents
A kind of auxiliary intelligent wheel chair passes in and out carrier system and its control method automatically Download PDFInfo
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- CN108639161A CN108639161A CN201810455309.8A CN201810455309A CN108639161A CN 108639161 A CN108639161 A CN 108639161A CN 201810455309 A CN201810455309 A CN 201810455309A CN 108639161 A CN108639161 A CN 108639161A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/14—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts
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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
- A61G3/00—Ambulance aspects of vehicles; Vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances, e.g. for facilitating access of, or for loading, wheelchairs
- A61G3/02—Loading or unloading personal conveyances; Facilitating access of patients or disabled persons to, or exit from, vehicles
- A61G3/06—Transfer using ramps, lifts or the like
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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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Abstract
The present invention relates to intelligent wheel chair fields, and in particular to a kind of auxiliary intelligent wheel chair passes in and out carrier system and its control method automatically, and the system of the disengaging carrier includes：Electric wheelchair system and two groups of assistance with hill trigger structures being symmetricly set on frame chassis or boat deck；The electric wheelchair system includes：Electric wheelchair main body is separately positioned on preceding auxiliary camera in electric wheelchair main body, rear auxiliary camera, touch display screen, wheelchair processor chips, distance measuring sensor, wheelchair signal transmitting and receiving device, it is an advantage of the invention that：The process that driving electric wheelchair main body enters carrier is more intelligent, more convenient, it avoided collision during upper and lower assistance with hill trigger structure, ensure safety, positioning of the electric wheelchair main body on carrier is more acurrate, and the carriers such as vehicle, ship are more convenient up and down when lower limb physical disabilities being made to go on a journey.
Description
Technical field
The present invention relates to intelligent wheel chair fields, and in particular to a kind of auxiliary intelligent wheel chair passes in and out carrier system and its control automatically
Method processed.
Background technology
With the aggravation of modern society's aging and the raising of people's quality of life, with lower limb individuals with disabilities and old age
A series of social concerns of the lower limb obstacle person such as personage also show increasingly, in order to meet the trip needs of lower limb disability personage, electricity
Wheelchair is gradually popularized, and during disabled person takes wheelchair trip, is frequently run onto and is needed to take wheelchair disengaging to vehicle, ship etc.
The case where carrier.But the prior art does not well solve how disabled person automatically drives electric wheelchair vehicles passing in and out, ship
The problem of equal carriers.
Such as patent（CN201410033301）, provide a kind of special automobile for person with lower limb disability apparatus for getting on/down and its control
Method processed, the control method are that vehicle receives when getting on the bus signal, and vehicle puts down auxiliary device of getting on or off the bus, and driver takes wheelchair
By getting on or off the bus, auxiliary device is got on the bus；Then wheelchair is fixed, withdraws auxiliary device of getting on or off the bus.The control method can be real
Existing driver's autonomous driving wheelchair enters special-purpose vehicle, but the auxiliary due to lacking the first-class equipment of distance measuring sensor, second camera,
And process is driven into only by the manually handle of driver, the precise degrees of position, which are overly dependent upon, when wheelchair drives into special-purpose vehicle drives
The experience for the person of sailing.If operator's careless manipulation, in some instances it may even be possible to fall from special-purpose vehicle, there are security risks.
Such as patent again（CN204147195U）, provide a kind of full-automatic accessible system of the upper and lower motor vehicle of Convenient wheelchair
System, the full-automatic obstacleless system discuss a kind of upper and lower mechanism of car of auxiliary, propose using distance measuring sensor, infrared sensor etc.
Several sensors judge position and the state of wheelchair, whether vehicle are put down or withdrawn auxiliary device of getting on or off the bus.But this is complete certainly
The intelligence that dynamic obstacleless system only can be achieved on auxiliary device of getting on or off the bus is put down and is withdrawn, and wheelchair is got on or off the bus, and there is still a need for behaviour for process
Author is manually operated, and cannot achieve and gets on or off the bus automatically, also lacks the control method that control auxiliary is got on or off the bus, in addition, auxiliary is up and down
The main body of mechanism of car is mounted in compartment mostly, occupies the use space in compartment.
In addition, about the relevant researches of ship above and below wheelchair, patent inspection is carried out using " wheelchair, ship " as keyword
Rope does not retrieve related patent.
Invention content
The object of the present invention is to provide a kind of auxiliary intelligent wheel chairs to pass in and out carrier system automatically, for assisting wheelchair smoothly
It is inconvenient, position inaccuracy to solve lower limb disability person's manually handle wheelchair disengaging special-purpose vehicle for the carriers such as vehicles passing in and out, ship
Problem.
To solve the above problems, a kind of auxiliary intelligent wheel chair provided by the invention passes in and out carrier system automatically includes：It is electronic
Wheelchair system and two groups of assistance with hill trigger structures being symmetricly set on frame chassis or boat deck；
Wherein, the electric wheelchair system includes：Electric wheelchair main body, the preceding auxiliary being separately positioned in electric wheelchair main body are taken the photograph
As head, rear auxiliary camera, touch display screen, wheelchair processor chips, distance measuring sensor, the transmitting of wheelchair signal and receive dress
It sets, the wheelchair processor chips are arranged inside touch display screen and are electrically connected with touch display screen, the wheelchair processor
Chip is used to location information, image information, control instruction etc. being shown to touch display screen, and the touch display screen is used for will
The driver's touch signal received is sent in wheelchair processor chips；The wheelchair signal transmitting and receiving device setting exists
It is electrically connected inside touch display screen and with touch display screen and wheelchair processor chips respectively, the wheelchair signal emits and receives
The information that device is used to receive wheelchair processor chips is being sent out by wireless signal or is emitting and receive by wheelchair signal
Device receives extraneous wireless signal and is passing to wheelchair processor chips；
Wherein, the assistance with hill trigger structure includes：Motor, planetary reduction gear, winding mechanism, guide rail, sliding block, slope board, four
A fixed pulley, four steel wire ropes, the motor drive the winding mechanism to rotate by the planetary reduction gear, the motor,
The planetary reduction gear and the winding mechanism are connected on vehicle chassis crossbeam, and the guide rail is connected along the length direction of automobile
Enter in the frame chassis below car door close to wheelchair, the sliding block is slidably connected in the sliding slot of the guide rail, described oblique
The fixing end of ramp is hinged on the sliding block, and four two one group of fixed pulleys, fixed pulley described in two groups passes through company respectively
Spindle is rotatably connected on two fixed pulley fixed frames, and two fixed pulley fixed frames are symmetricly set on the guide rail far from volume
On one end of line mechanism, one end of four two one group of steel wire ropes, steel wire rope described in one of which is rolled up along counterclockwise in institute
It states on the reel of winding mechanism, the other end is connected in across the fixed pulley on the both sides of the sliding block, steel wire described in another group
One end of rope along volume clockwise on the reel of the winding mechanism, the other end be connected in the slope board across the fixed pulley
Free end on；
Wherein, it is provided on the assistance with hill trigger structure for controlling at the opening of assistance with hill trigger structure and the carrier of closing
Reason device chip and for send and receive information Carrier-information receive and sending device, the carrier processor chips respectively with
Carrier-information reception is electrically connected with sending device and motor, and the Carrier-information is received passes through wireless signal and wheel with sending device
Chair signal transmitting and receiving device connects.
Preferably, the wheelchair processor chips include：Wheelchair processor chips module, preceding second camera head module,
Second camera head module, touch display screen module, distance measuring sensor module, wheelchair ability of posture control module and the transmitting of wheelchair signal afterwards
With reception device module, the wheelchair processor chips module respectively with preceding second camera head module, rear second camera head module,
Touch display screen module, distance measuring sensor module, wheelchair ability of posture control module and wheelchair signal transmitting and receiving device module electricity
Connection.
Preferably, the carrier processor chips include：Carrier processor chips module, Carrier-information are received and are sent
Apparatus module, motor module；The carrier processor chips module receives and sending device module and electricity with Carrier-information respectively
Machine module is electrically connected.
Preferably, there are one triangle cushion blocks for the setting of the link position of the guide rail and slope board.
The control method that the present invention also provides a kind of to pass in and out carrier system automatically for controlling above-mentioned auxiliary intelligent wheel chair,
For controlling above-mentioned carrier system, which includes：It gets on the bus and rate-determining steps and gets off rate-determining steps：
Control method of getting on the bus is specific as follows：
Step S1：When electric wheelchair main body close to when being mounted on assistance with hill trigger structure, forward and backward auxiliary camera and ranging are utilized
Sensor is identified assistance with hill trigger structure and the signal of identification is transferred to carrier processor chips and handles；
Step S2：The signal for discharging assistance with hill trigger structure is sent to the transmitting of wheelchair signal and receives dress by wheelchair processor chips
It sets and is sent out signal by wheelchair signal transmitting and receiving device；
Step S3：Carrier-information is received receives the release assistance with hill that wheelchair signal transmitting and receiving device is sent out with sending device
The signal of trigger structure, carrier processor chips processing Carrier-information receive the release assistance with hill trigger received with sending device
The signal of structure；
Step S4：According to the signal for the release assistance with hill trigger structure that carrier processor chips in step S3 are handled, carrier processing
Device chip controls motor rotates counterclockwise, and motor drives the reel of winding mechanism to rotate counterclockwise by planetary reduction gear, to
One group of steel wire rope winding along volume counterclockwise on the reel of winding mechanism, steel wire rope is driven to change direction post-tensioning by fixed pulley
Movable slider slides on guide rail to fixed pulley direction, meanwhile, one group along steel wire rope of the volume on the reel of winding mechanism clockwise
The free end of release, the slope board connected with steel wire rope is contacted due to gravity, finally with ground；
Step S5：Carrier processor chips control Carrier-information and receive with sending device to wheelchair signal transmitting and receiving device hair
Go out signal, remind electric wheelchair main body that can get on the bus, wherein alerting signal is shown in touch display by wheelchair processor chips
On screen；
Step S6：The surrounding road condition of electric wheelchair main body is identified using preceding auxiliary camera and rear auxiliary camera, it is preceding
Auxiliary camera and rear auxiliary camera will be oblique with auxiliary in auxiliary guiding in the image information display to touch display screen of identification
Ramp mechanism；
Step S7：Before electric wheelchair main body is driven to assistance with hill trigger structure, preceding auxiliary camera and distance measuring sensor observation
To after slope board, wheelchair processor chips enter automatic boarding program；
Step S8：Electric wheelchair main body is detected on assistance with hill trigger structure using forward and backward auxiliary camera and distance measuring sensor
Current location and be sent to wheelchair processor chips, wheelchair processor chips are sensed according to forward and backward auxiliary camera and ranging
Device detects current location of the electric wheelchair main body on assistance with hill trigger structure and is adjusted to wheelchair posture, wherein works as inspection
Measure electric wheelchair main body it is to the left relative to predeterminated position when, wheelchair processor chips control electric wheelchair main body adjust to the right,
It is on the contrary then adjust to the left, ensure electric wheelchair main body relative to the accurate of assistance with hill trigger structure lateral position；
Step S9：After electric wheelchair main body enters railway carriage by assistance with hill trigger structure, preceding auxiliary camera and rear auxiliary are utilized
Camera observes the docking locking mechanism in railway carriage, and wheelchair processor chips control electric wheelchair main body slowly traveling extremely docking lock
Determine in mechanism, docking locking mechanism locks electric wheelchair main body, completes electric wheelchair main body and gets on the bus process；
Step S10：Wheelchair processor chips pack up assistance with hill trigger structure using the transmission of wheelchair signal transmitting and receiving device
Signal, carrier processor chips control motor 1 rotate clockwise, and motor 1 drives the volume of winding mechanism 3 by planetary reduction gear 2
Cylinder rotates clockwise, to drive one group of steel wire rope winding along volume clockwise on the reel of winding mechanism 3, steel wire rope to pass through
Fixed pulley pulls sliding block to be slided to winding mechanism direction on guide rail, meanwhile, one group along volume counterclockwise in the reel of winding mechanism
On steel wire rope release, to facilitate sliding block on guide rail to winding mechanism direction slide, complete assistance with hill trigger structure pack up
Process.
Control method of getting off is specific as follows：
Step S1：After vehicle parking, unlock docking locking mechanism simultaneously starts program of getting off, and wheelchair processor chips are believed using wheelchair
Number transmitting and receiving device is sent to Carrier-information and receives signal with sending device release assistance with hill trigger structure；
Step S2：Carrier processor chips processing Carrier-information receives the release assistance with hill trigger structure received with sending device
Signal；
Step S3：According to the signal for the release assistance with hill trigger structure that carrier processor chips in step S2 are handled, carrier processing
Device chip controls motor rotates counterclockwise, and motor drives the reel of winding mechanism to rotate counterclockwise by planetary reduction gear, to
One group of steel wire rope winding along volume counterclockwise on the reel of winding mechanism, steel wire rope is driven to change direction post-tensioning by fixed pulley
Movable slider slides on guide rail to fixed pulley direction, meanwhile, one group along steel wire rope of the volume on the reel of winding mechanism clockwise
The free end of release, the slope board connected with steel wire rope is contacted due to gravity, finally with ground；
Step S4：Carrier processor chips control Carrier-information and receive with sending device to wheelchair signal transmitting and receiving device hair
Go out signal, remind electric wheelchair main body that can get off, wherein alerting signal is shown in touch display by wheelchair processor chips
On screen；
Step S5：The surrounding road condition of electric wheelchair main body is identified using preceding auxiliary camera and rear auxiliary camera, it is preceding
Auxiliary camera and rear auxiliary camera will guide lower auxiliary oblique in the image information display to touch display screen of identification with auxiliary
Ramp mechanism；
Step S6：Before electric wheelchair main body is driven to assistance with hill trigger structure, rear auxiliary camera and distance measuring sensor observation
To after slope board, wheelchair processor chips enter program of getting off automatically；
Step S7：Electric wheelchair main body is detected on assistance with hill trigger structure using forward and backward auxiliary camera and distance measuring sensor
Current location and be sent to wheelchair processor chips, wheelchair processor chips are sensed according to forward and backward auxiliary camera and ranging
Device detects being adjusted to wheelchair posture for current location of the electric wheelchair main body on assistance with hill trigger structure, wherein works as inspection
Measure electric wheelchair main body it is to the left relative to predeterminated position when, wheelchair processor chips control electric wheelchair main body adjust to the right,
It is on the contrary then adjust to the left, ensure electric wheelchair main body relative to the accurate of assistance with hill trigger structure lateral position；
Step S8：Electric wheelchair main body is got off by assistance with hill trigger structure and far from after vehicle, utilizes forward and backward auxiliary camera
Assistance with hill trigger structure is identified with distance measuring sensor and the signal of identification is transferred at carrier processor chips
Reason；Wheelchair processor chips using wheelchair signal transmitting and receiving device be sent to Carrier-information receive pack up with sending device it is auxiliary
Help the signal of slope board mechanism；
Step S9：Carrier processor chips control motor rotates clockwise, and motor drives winding mechanism by planetary reduction gear
Reel rotates clockwise, to drive one group of steel wire rope winding along volume clockwise on the reel of winding mechanism, steel wire rope warp
Crossing fixed pulley pulls sliding block to be slided to winding mechanism direction on guide rail, meanwhile, one group along volume counterclockwise in the volume of winding mechanism
Steel wire rope release on cylinder is completed assistance with hill trigger structure and is received to facilitate sliding block to be slided to winding mechanism direction on guide rail
The process of rising.
Advantages of the present invention and good effect are：
1, the present invention in drive electric wheelchair main body enter carrier process it is more intelligent, more convenient, in upper and lower assistance with hill trigger
It avoided collision during structure, ensure safety, positioning of the electric wheelchair main body on carrier is more acurrate, and lower limb physical disabilities is made to go on a journey
When up and down the carriers such as vehicle, ship it is more convenient, have a extensive future.
2, middle assistance with hill trigger structure of the invention is directly installed on vehicle chassis, to account for middle interior
Use space, in addition, assistance with hill trigger structure the space occupied when discharging or packing up it is smaller and simple in structure, peace
Fill the installation assistance with hill trigger structure that convenient, manufacturing cost is relatively low, contributes to existing vehicle.
3, the control method of the automatic disengaging carrier system of the present invention can ensure to keep away during assistance with hill trigger structure up and down
Exempt from collision, ensure safety, can fast and accurately vehicle up and down, solving previous wheelchair, vehicle, the technology of ship are difficult up and down
Topic has widened channel in the fields such as vehicle, ship up and down for wheelchair.
Description of the drawings
Fig. 1 is one of the assistance with hill trigger structure structural schematic diagram of the present invention.
Fig. 2 is the assistance with hill trigger structure second structural representation of the present invention.
Fig. 3 is structural schematic diagram after the assistance with hill trigger structure of the present invention is packed up on vehicle chassis.
Fig. 4 is structural schematic diagram after the assistance with hill trigger structure of the present invention discharges on vehicle chassis.
The assistance with hill trigger structure and the stereogram after vehicle installation that Fig. 5 is the present invention.
Fig. 6 is the control method flow chart of getting on the bus of the present invention.
Fig. 7 is the control method flow chart of getting off of the present invention.
Fig. 8 is the electric wheelchair system and assistance with hill trigger structure structure diagram of the present invention.
Description of the drawings：Motor 1, planetary reduction gear 2, winding mechanism 3, guide rail 4, sliding block 5,6, four fixed pulleys 7 of slope board,
8,9,10, four steel wire ropes 11,12,13,14, crossbeam 15, frame chassis 16, fixed pulley fixed frames 17, triangle cushion blocks 18.
Specific implementation mode
The system that a kind of auxiliary intelligent wheel chair described in inventive embodiments passes in and out carrier automatically, below with specific experiment case
For illustrate specific implementation mode, it should be understood that the specific embodiments described herein are merely illustrative of the present invention, not
For limiting the present invention.
Embodiment 1
Refering to fig. 1, a kind of auxiliary intelligent wheel chair described in the present embodiment passes in and out carrier system and includes automatically：Electric wheelchair system and
Two groups of assistance with hill trigger structures being symmetricly set in frame chassis；
Wherein, the electric wheelchair system includes：Electric wheelchair main body, the preceding auxiliary being separately positioned in electric wheelchair main body are taken the photograph
As head, rear auxiliary camera, touch display screen, wheelchair processor chips, distance measuring sensor, the transmitting of wheelchair signal and receive dress
It sets, the wheelchair processor chips are arranged inside touch display screen and are electrically connected with touch display screen, the wheelchair processor
Chip is used to location information, image information, control instruction etc. being shown to touch display screen, and the touch display screen is used for will
The driver's touch signal received is sent in wheelchair processor chips；The wheelchair signal transmitting and receiving device setting exists
It is electrically connected inside touch display screen and with touch display screen and wheelchair processor chips respectively, the wheelchair signal emits and receives
The information that device is used to receive wheelchair processor chips is being sent out by wireless signal or is emitting and receive by wheelchair signal
Device receives extraneous wireless signal and is passing to wheelchair processor chips；
Wherein, the assistance with hill trigger structure includes：Motor 1, planetary reduction gear 2, winding mechanism 3, guide rail 4, sliding block 5, slope
6, four fixed pulleys 7 of plate, 8,9,10, four steel wire ropes 11,12,13,14, the motor 1 are driven by the planetary reduction gear 2
The winding mechanism 3 rotates, and the motor 1, the planetary reduction gear 2 and the winding mechanism 3 are connected in vehicle chassis crossbeam
On 15, the guide rail 4 is connected in the frame chassis 16 entered close to electric wheelchair main body below car door along the length direction of automobile
On, the sliding block 5 is slidably connected in the sliding slot of the guide rail 4, and the fixing end of the slope board 6 is hinged on the sliding block 5,
The fixed pulley 7,8 is first group, and the fixed pulley 9,10 is second group, and fixed pulley is rotated by connecting shaft respectively described in two groups
It is connected on two fixed pulley fixed frames 17, two fixed pulley fixed frames 17 are symmetricly set on the guide rail 4 far from spiral
On one end of mechanism 3, four steel wire ropes 11,12,13,14 two one group, the steel wire rope 11,12 is first group, described
Steel wire rope 13,14 is second group, and one end of steel wire rope 11,12 described in first group is along the volume counterclockwise rolled up in the winding mechanism 3
On cylinder, the other end be connected on the both sides of the sliding block 5 across the fixed pulley 7,8, the one of steel wire rope 13,14 described in second group
End along volume clockwise on the reel of the winding mechanism 3, the other end be connected in the slope board 6 across the fixed pulley 9,10
Free end on；
Wherein, it is provided on the assistance with hill trigger structure for controlling at the opening of assistance with hill trigger structure and the carrier of closing
Reason device chip and for send and receive information Carrier-information receive and sending device, the carrier processor chips respectively with
Carrier-information reception be electrically connected with sending device and motor 1, the Carrier-information receive and sending device by wireless signal and
Wheelchair signal transmitting and receiving device connects.
Refering to Fig. 8, the wheelchair processor chips include：Wheelchair processor chips module, preceding second camera head module, after
Second camera head module, touch display screen module, wheelchair processor chips module, distance measuring sensor module, wheelchair ability of posture control
Module and wheelchair signal transmitting and receiving device module, the wheelchair processor chips module respectively with preceding second camera head mould
Block, rear second camera head module, touch display screen module, wheelchair processor chips module, distance measuring sensor module, wheelchair posture
Control module and the electrical connection of wheelchair signal transmitting and receiving device module.The carrier processor chips include：Carrier processor
Chip module, Carrier-information receive and sending device module, motor module；The carrier processor chips module respectively with carrier
Information reception is electrically connected with sending device module and motor module.
There are one triangle cushion blocks for the setting of the link position of the guide rail and slope board.
Embodiment 2
It is a kind of for controlling the control method that above-mentioned auxiliary intelligent wheel chair passes in and out carrier system automatically, the control refering to Fig. 6, Fig. 7
Method includes：It gets on the bus and rate-determining steps and gets off rate-determining steps：
Control method of getting on the bus is specific as follows：
Step S1：When electric wheelchair main body close to when being mounted on assistance with hill trigger structure, forward and backward auxiliary camera and ranging are utilized
Sensor is identified assistance with hill trigger structure and the signal of identification is transferred to carrier processor chips and handles；
Step S2：The signal for discharging assistance with hill trigger structure is sent to the transmitting of wheelchair signal and receives dress by wheelchair processor chips
It sets and is sent out signal by wheelchair signal transmitting and receiving device；
Step S3：Carrier-information is received receives the release assistance with hill that wheelchair signal transmitting and receiving device is sent out with sending device
The signal of trigger structure, carrier processor chips processing Carrier-information receive the release assistance with hill trigger received with sending device
The signal of structure；
Step S4：According to the signal for the release assistance with hill trigger structure that carrier processor chips in step S3 are handled, carrier processing
Device chip controls motor 1 rotates counterclockwise, and motor 1 drives the reel of winding mechanism 3 to rotate counterclockwise by planetary reduction gear 2,
To drive one group to be wound along steel wire rope 11,12 of the volume on the reel of winding mechanism 3 counterclockwise, steel wire rope 11,12 is by fixed
Pulley 7,8 changes direction post-tensioning movable slider 5 and is slided to fixed pulley direction on guide rail 4, meanwhile, one group along volume clockwise in spiral
Steel wire rope 13,14 on the reel of mechanism 3 discharges, the free end of the slope board 6 being connected with steel wire rope 13,14 due to gravity, most
It is contacted eventually with ground；
Step S5：Carrier processor chips control Carrier-information and receive with sending device to wheelchair signal transmitting and receiving device hair
Go out signal, remind electric wheelchair main body that can get on the bus, wherein alerting signal is shown in touch display by wheelchair processor chips
On screen；
Step S6：The surrounding road condition of electric wheelchair main body is identified using preceding auxiliary camera and rear auxiliary camera, it is preceding
Auxiliary camera and rear auxiliary camera will be oblique with auxiliary in auxiliary guiding in the image information display to touch display screen of identification
Ramp mechanism；
Step S7：Before electric wheelchair main body is driven to assistance with hill trigger structure, preceding auxiliary camera and distance measuring sensor observation
To after slope board, wheelchair processor chips enter automatic boarding program；
Step S8：Electric wheelchair main body is detected on assistance with hill trigger structure using forward and backward auxiliary camera and distance measuring sensor
Current location and be sent to wheelchair processor chips, wheelchair processor chips are sensed according to forward and backward auxiliary camera and ranging
Device detects current location of the electric wheelchair main body on assistance with hill trigger structure and is adjusted to wheelchair posture, wherein works as inspection
Measure electric wheelchair main body it is to the left relative to predeterminated position when, wheelchair processor chips control electric wheelchair main body adjust to the right,
It is on the contrary then adjust to the left, ensure electric wheelchair main body relative to the accurate of assistance with hill trigger structure lateral position；
Step S9：After electric wheelchair main body enters railway carriage by assistance with hill trigger structure, preceding auxiliary camera and rear auxiliary are utilized
Camera observes the docking locking mechanism in railway carriage, and wheelchair processor chips control electric wheelchair main body slowly traveling extremely docking lock
Determine in mechanism, docking locking mechanism locks electric wheelchair main body, completes electric wheelchair main body and gets on the bus process；
Step S10：Wheelchair processor chips pack up assistance with hill trigger structure using the transmission of wheelchair signal transmitting and receiving device
Signal, carrier processor chips control motor 1 rotate clockwise, and motor 1 drives the volume of winding mechanism 3 by planetary reduction gear 2
Cylinder rotates clockwise, to drive one group to be wound along steel wire rope 13,14 of the volume on the reel of winding mechanism 3 clockwise, steel wire
Rope 13,14 pulls sliding block 5 to be slided to 3 direction of winding mechanism on guide rail 4 by fixed pulley 9,10, meanwhile, one group along counterclockwise
The steel wire rope release 11,12 on the reel of winding mechanism 3 is rolled up, to facilitate sliding 5 to be slided to 3 direction of winding mechanism on guide rail 4
It is dynamic, it completes assistance with hill trigger structure and packs up process.
Control method of getting off is specific as follows：
Step S1：After vehicle parking, unlock docking locking mechanism simultaneously starts program of getting off, and wheelchair processor chips are believed using wheelchair
Number transmitting and receiving device is sent to Carrier-information and receives signal with sending device release assistance with hill trigger structure；
Step S2：Carrier processor chips processing Carrier-information receives the release assistance with hill trigger structure received with sending device
Signal；
Step S3：According to the signal for the release assistance with hill trigger structure that carrier processor chips in step S2 are handled, carrier processing
Device chip controls motor 1 rotates counterclockwise, and motor 1 drives the reel of winding mechanism 3 to rotate counterclockwise by planetary reduction gear 2,
To drive one group to be wound along steel wire rope 11,12 of the volume on the reel of winding mechanism 3 counterclockwise, steel wire rope 11,12 is by fixed
Pulley 7,8 changes direction post-tensioning movable slider 5 and is slided to fixed pulley direction on guide rail 4, meanwhile, one group along volume clockwise in spiral
Steel wire rope 13,14 on the reel of mechanism 3 discharges, the free end of the slope board 6 being connected with steel wire rope 13,14 due to gravity, most
It is contacted eventually with ground；
Step S4：Carrier processor chips control Carrier-information and receive with sending device to wheelchair signal transmitting and receiving device hair
Go out signal, remind electric wheelchair main body that can get off, wherein alerting signal is shown in touch display by wheelchair processor chips
On screen；
Step S5：The surrounding road condition of electric wheelchair main body is identified using preceding auxiliary camera and rear auxiliary camera, it is preceding
Auxiliary camera and rear auxiliary camera will guide lower auxiliary oblique in the image information display to touch display screen of identification with auxiliary
Ramp mechanism；
Step S6：Before electric wheelchair main body is driven to assistance with hill trigger structure, rear auxiliary camera and distance measuring sensor observation
To after slope board, wheelchair processor chips enter program of getting off automatically；
Step S7：Electric wheelchair main body is detected on assistance with hill trigger structure using forward and backward auxiliary camera and distance measuring sensor
Current location and be sent to wheelchair processor chips, wheelchair processor chips are sensed according to forward and backward auxiliary camera and ranging
Device detects being adjusted to wheelchair posture for current location of the electric wheelchair main body on assistance with hill trigger structure, wherein works as inspection
Measure electric wheelchair main body it is to the left relative to predeterminated position when, wheelchair processor chips control electric wheelchair main body adjust to the right,
It is on the contrary then adjust to the left, ensure electric wheelchair main body relative to the accurate of assistance with hill trigger structure lateral position；
Step S8：Electric wheelchair main body is got off by assistance with hill trigger structure and far from after vehicle, utilizes forward and backward auxiliary camera
Assistance with hill trigger structure is identified with distance measuring sensor and the signal of identification is transferred at carrier processor chips
Reason；Wheelchair processor chips using wheelchair signal transmitting and receiving device be sent to Carrier-information receive pack up with sending device it is auxiliary
Help the signal of slope board mechanism；
Step S9：Carrier processor chips control motor 1 rotates clockwise, and motor 1 drives winding mechanism by planetary reduction gear 2
3 reel rotates clockwise, to drive one group to be wound along steel wire rope 13,14 of the volume on the reel of winding mechanism 3 clockwise,
Steel wire rope 13,14 pulls sliding block 5 to be slided to 3 direction of winding mechanism on guide rail 4 by fixed pulley 9,10, meanwhile, one group along inverse
Steel wire rope release 11,12 of the hour hands volume on the reel of winding mechanism 3,5 are slided on guide rail 4 to 3 side of winding mechanism to facilitate
To sliding, completes assistance with hill trigger structure and pack up process.
Embodiment 3
Assistance with hill trigger structure is installed on the deck of ship first, after ship pulls in shore, using the control of getting on the bus in embodiment 2
Method processed and control method of getting off realize electric wheelchair main body ship up and down.
Claims (5)
1. a kind of system that auxiliary intelligent wheel chair passes in and out carrier automatically, which is characterized in that including：Electric wheelchair system and two groups pairs
Claim the assistance with hill trigger structure being arranged in frame chassis or boat deck；
Wherein, the electric wheelchair system includes：Electric wheelchair main body, the preceding auxiliary being separately positioned in electric wheelchair main body are taken the photograph
As head, rear auxiliary camera, touch display screen, wheelchair processor chips, distance measuring sensor, the transmitting of wheelchair signal and receive dress
It sets, the wheelchair processor chips are arranged inside touch display screen and are electrically connected with touch display screen, the wheelchair processor
Chip is used to location information, image information, control instruction etc. being shown to touch display screen, and the touch display screen is used for will
The driver's touch signal received is sent in wheelchair processor chips；The wheelchair signal transmitting and receiving device setting exists
It is electrically connected inside touch display screen and with touch display screen and wheelchair processor chips respectively, the wheelchair signal emits and receives
The information that device is used to receive wheelchair processor chips is being sent out by wireless signal or is emitting and receive by wheelchair signal
Device receives extraneous wireless signal and is passing to wheelchair processor chips；
Wherein, the assistance with hill trigger structure includes：Motor, planetary reduction gear, winding mechanism, guide rail, sliding block, slope board, four
A fixed pulley, four steel wire ropes, the motor drive the winding mechanism to rotate by the planetary reduction gear, the motor,
The planetary reduction gear and the winding mechanism are connected on vehicle chassis crossbeam, and the guide rail is connected along the length direction of automobile
Enter in the frame chassis below car door close to wheelchair, the sliding block is slidably connected in the sliding slot of the guide rail, described oblique
The fixing end of ramp is hinged on the sliding block, and four two one group of fixed pulleys, fixed pulley described in two groups passes through company respectively
Spindle is rotatably connected on two fixed pulley fixed frames, and two fixed pulley fixed frames are symmetricly set on the guide rail far from volume
On one end of line mechanism, one end of four two one group of steel wire ropes, steel wire rope described in one of which is rolled up along counterclockwise in institute
It states on the reel of winding mechanism, the other end is connected in across the fixed pulley on the both sides of the sliding block, steel wire described in another group
One end of rope along volume clockwise on the reel of the winding mechanism, the other end be connected in the slope board across the fixed pulley
Free end on；
Wherein, it is provided on the assistance with hill trigger structure for controlling at the opening of assistance with hill trigger structure and the carrier of closing
Reason device chip and for send and receive information Carrier-information receive and sending device, the carrier processor chips respectively with
Carrier-information reception is electrically connected with sending device and motor, and the Carrier-information is received passes through wireless signal and wheel with sending device
Chair signal transmitting and receiving device connects.
2. a kind of system that auxiliary intelligent wheel chair passes in and out carrier automatically according to claim 1, which is characterized in that the wheel
Chair processor chips include：Wheelchair processor chips module, preceding second camera head module, rear second camera head module, touch are aobvious
Display screen module, distance measuring sensor module, wheelchair ability of posture control module and wheelchair signal transmitting and receiving device module, the wheelchair
Processor chips module is sensed with preceding second camera head module, rear second camera head module, touch display screen module, ranging respectively
Device module, wheelchair ability of posture control module and the electrical connection of wheelchair signal transmitting and receiving device module.
3. a kind of system that auxiliary intelligent wheel chair passes in and out carrier automatically according to claim 1, which is characterized in that the load
Having processor chips includes：Carrier processor chips module, Carrier-information receive and sending device module, motor module；It is described
Carrier processor chips module receives with Carrier-information be electrically connected with sending device module and motor module respectively.
4. a kind of system that auxiliary intelligent wheel chair passes in and out carrier automatically according to claim 1, which is characterized in that described to lead
There are one triangle cushion blocks for the setting of the link position of rail and slope board.
5. a kind of auxiliary intelligent wheel chair passes in and out the control method of the system of carrier automatically, which is characterized in that including：It gets on the bus or goes on board
Control method and control method of getting off or go ashore：
Control method of getting on the bus is specific as follows：
Step S1：When electric wheelchair main body close to when being mounted on assistance with hill trigger structure, forward and backward auxiliary camera and ranging are utilized
Sensor is identified assistance with hill trigger structure and the signal of identification is transferred to carrier processor chips and handles；
Step S2：The signal for discharging assistance with hill trigger structure is sent to the transmitting of wheelchair signal and receives dress by wheelchair processor chips
It sets and is sent out signal by wheelchair signal transmitting and receiving device；
Step S3：Carrier-information is received receives the release assistance with hill that wheelchair signal transmitting and receiving device is sent out with sending device
The signal of trigger structure, carrier processor chips processing Carrier-information receive the release assistance with hill trigger received with sending device
The signal of structure；
Step S4：According to the signal for the release assistance with hill trigger structure that carrier processor chips in step S3 are handled, carrier processing
Device chip controls motor rotates counterclockwise, and motor drives the reel of winding mechanism to rotate counterclockwise by planetary reduction gear, to
One group of steel wire rope winding along volume counterclockwise on the reel of winding mechanism, steel wire rope is driven to change direction post-tensioning by fixed pulley
Movable slider slides on guide rail to fixed pulley direction, meanwhile, one group along steel wire rope of the volume on the reel of winding mechanism clockwise
The free end of release, the slope board connected with steel wire rope is contacted due to gravity, finally with ground；
Step S5：Carrier processor chips control Carrier-information and receive with sending device to wheelchair signal transmitting and receiving device hair
Go out signal, remind electric wheelchair main body that can get on the bus, wherein alerting signal is shown in touch display by wheelchair processor chips
On screen；
Step S6：The surrounding road condition of electric wheelchair main body is identified using preceding auxiliary camera and rear auxiliary camera, it is preceding
Auxiliary camera and rear auxiliary camera will be oblique with auxiliary in auxiliary guiding in the image information display to touch display screen of identification
Ramp mechanism；
Step S7：Before electric wheelchair main body is driven to assistance with hill trigger structure, preceding auxiliary camera and distance measuring sensor observation
To after slope board, wheelchair processor chips enter automatic boarding program；
Step S8：Electric wheelchair main body is detected on assistance with hill trigger structure using forward and backward auxiliary camera and distance measuring sensor
Current location and be sent to wheelchair processor chips, wheelchair processor chips are sensed according to forward and backward auxiliary camera and ranging
Device detects current location of the electric wheelchair main body on assistance with hill trigger structure and is adjusted to wheelchair posture, wherein works as inspection
Measure electric wheelchair main body it is to the left relative to predeterminated position when, wheelchair processor chips control electric wheelchair main body adjust to the right,
It is on the contrary then adjust to the left, ensure electric wheelchair main body relative to the accurate of assistance with hill trigger structure lateral position；
Step S9：After electric wheelchair main body enters railway carriage by assistance with hill trigger structure, preceding auxiliary camera and rear auxiliary are utilized
Camera observes the docking locking mechanism in railway carriage, and wheelchair processor chips control electric wheelchair main body slowly traveling extremely docking lock
Determine in mechanism, docking locking mechanism locks electric wheelchair main body, completes electric wheelchair main body and gets on the bus process；
Step S10：Wheelchair processor chips pack up assistance with hill trigger structure using the transmission of wheelchair signal transmitting and receiving device
Signal, carrier processor chips control motor rotate clockwise, and motor drives the reel of winding mechanism suitable by planetary reduction gear
Hour hands rotate, and to drive one group of steel wire rope winding along volume clockwise on the reel of winding mechanism, steel wire rope is by fixed sliding
Wheel pulls sliding block to be slided to winding mechanism direction on guide rail, meanwhile, one group along volume counterclockwise on the reel of winding mechanism
Steel wire rope discharges, and to facilitate sliding block to be slided to winding mechanism direction on guide rail, completes assistance with hill trigger structure and packs up process；
Control method of getting off is specific as follows：
Step S1：After vehicle parking, unlock docking locking mechanism simultaneously starts program of getting off, and wheelchair processor chips are believed using wheelchair
Number transmitting and receiving device is sent to Carrier-information and receives signal with sending device release assistance with hill trigger structure；
Step S2：Carrier processor chips processing Carrier-information receives the release assistance with hill trigger structure received with sending device
Signal；
Step S3：According to the signal for the release assistance with hill trigger structure that carrier processor chips in step S2 are handled, carrier processing
Device chip controls motor rotates counterclockwise, and motor drives the reel of winding mechanism to rotate counterclockwise by planetary reduction gear, to
One group of steel wire rope winding along volume counterclockwise on the reel of winding mechanism, steel wire rope is driven to change direction post-tensioning by fixed pulley
Movable slider slides on guide rail to fixed pulley direction, meanwhile, one group along steel wire rope of the volume on the reel of winding mechanism clockwise
The free end of release, the slope board connected with steel wire rope is contacted due to gravity, finally with ground；
Step S4：Carrier processor chips control Carrier-information and receive with sending device to wheelchair signal transmitting and receiving device hair
Go out signal, remind electric wheelchair main body that can get off, wherein alerting signal is shown in touch display by wheelchair processor chips
On screen；
Step S5：The surrounding road condition of electric wheelchair main body is identified using preceding auxiliary camera and rear auxiliary camera, it is preceding
Auxiliary camera and rear auxiliary camera will guide lower auxiliary oblique in the image information display to touch display screen of identification with auxiliary
Ramp mechanism；
Step S6：Before electric wheelchair main body is driven to assistance with hill trigger structure, rear auxiliary camera and distance measuring sensor observation
To after slope board, wheelchair processor chips enter program of getting off automatically；
Step S7：Electric wheelchair main body is detected on assistance with hill trigger structure using forward and backward auxiliary camera and distance measuring sensor
Current location and be sent to wheelchair processor chips, wheelchair processor chips are sensed according to forward and backward auxiliary camera and ranging
Device detects being adjusted to wheelchair posture for current location of the electric wheelchair main body on assistance with hill trigger structure, wherein works as inspection
Measure electric wheelchair main body it is to the left relative to predeterminated position when, wheelchair processor chips control electric wheelchair main body adjust to the right,
It is on the contrary then adjust to the left, ensure electric wheelchair main body relative to the accurate of assistance with hill trigger structure lateral position；
Step S8：Electric wheelchair main body is got off by assistance with hill trigger structure and far from after vehicle, utilizes forward and backward auxiliary camera
Assistance with hill trigger structure is identified with distance measuring sensor and the signal of identification is transferred at carrier processor chips
Reason；Wheelchair processor chips using wheelchair signal transmitting and receiving device be sent to Carrier-information receive pack up with sending device it is auxiliary
Help the signal of slope board mechanism；
Step S9：Carrier processor chips control motor rotates clockwise, and motor drives winding mechanism by planetary reduction gear
Reel rotates clockwise, to drive one group of steel wire rope winding along volume clockwise on the reel of winding mechanism, steel wire rope warp
Crossing fixed pulley pulls sliding block to be slided to winding mechanism direction on guide rail, meanwhile, one group along volume counterclockwise in the volume of winding mechanism
Steel wire rope release on cylinder is completed assistance with hill trigger structure and is received to facilitate sliding block to be slided to winding mechanism direction on guide rail
The process of rising.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810455309.8A CN108639161B (en) | 2018-05-14 | 2018-05-14 | Automatic carrier entering and exiting system for assisting intelligent wheelchair and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810455309.8A CN108639161B (en) | 2018-05-14 | 2018-05-14 | Automatic carrier entering and exiting system for assisting intelligent wheelchair and control method thereof |
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| Publication Number | Publication Date |
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| CN108639161A true CN108639161A (en) | 2018-10-12 |
| CN108639161B CN108639161B (en) | 2020-09-29 |
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| CN201810455309.8A Expired - Fee Related CN108639161B (en) | 2018-05-14 | 2018-05-14 | Automatic carrier entering and exiting system for assisting intelligent wheelchair and control method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110801352A (en) * | 2019-11-13 | 2020-02-18 | 大连大学 | Control system of intelligent sensing wheelchair and control method of intelligent wheelchair |
| CN111749571A (en) * | 2020-06-29 | 2020-10-09 | 中国重汽集团济南动力有限公司 | Automatic control protection system and method for electric turning step |
| CN112339641A (en) * | 2020-11-17 | 2021-02-09 | 重庆长安工业(集团)有限责任公司 | Special vehicle flow guiding system |
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| CN202537800U (en) * | 2012-04-24 | 2012-11-21 | 张瑞良 | Automobile wheelchair barrier-free access |
| CN103754272A (en) * | 2014-01-22 | 2014-04-30 | 安徽工程大学 | Automobile getting-on or getting-off device special for lower limb handicapped individuals and control method thereof |
| CN205108106U (en) * | 2015-11-02 | 2016-03-30 | 北汽福田汽车股份有限公司 | Passenger train is supplementary get on bus wheelchair guide rail and have its wheelchair guide Assembly and passenger train |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202537800U (en) * | 2012-04-24 | 2012-11-21 | 张瑞良 | Automobile wheelchair barrier-free access |
| CN103754272A (en) * | 2014-01-22 | 2014-04-30 | 安徽工程大学 | Automobile getting-on or getting-off device special for lower limb handicapped individuals and control method thereof |
| CN205108106U (en) * | 2015-11-02 | 2016-03-30 | 北汽福田汽车股份有限公司 | Passenger train is supplementary get on bus wheelchair guide rail and have its wheelchair guide Assembly and passenger train |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110801352A (en) * | 2019-11-13 | 2020-02-18 | 大连大学 | Control system of intelligent sensing wheelchair and control method of intelligent wheelchair |
| CN111749571A (en) * | 2020-06-29 | 2020-10-09 | 中国重汽集团济南动力有限公司 | Automatic control protection system and method for electric turning step |
| CN112339641A (en) * | 2020-11-17 | 2021-02-09 | 重庆长安工业(集团)有限责任公司 | Special vehicle flow guiding system |
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| Publication number | Publication date |
|---|---|
| CN108639161B (en) | 2020-09-29 |
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