CN108743260A - A kind of intelligence displacement public bus reserved for the disabled with multistage rocker structure - Google Patents
A kind of intelligence displacement public bus reserved for the disabled with multistage rocker structure Download PDFInfo
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- CN108743260A CN108743260A CN201810570686.6A CN201810570686A CN108743260A CN 108743260 A CN108743260 A CN 108743260A CN 201810570686 A CN201810570686 A CN 201810570686A CN 108743260 A CN108743260 A CN 108743260A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
-
- 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
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1013—Lifting of patients by
-
- 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
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1049—Attachment, suspending or supporting means for patients
- A61G7/1053—Rigid harnesses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36003—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of motor muscles, e.g. for walking assistance
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36014—External stimulators, e.g. with patch electrodes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
- A61H2201/5046—Touch screens
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5097—Control means thereof wireless
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/10—Electroencephalographic signals
- A61H2230/105—Electroencephalographic signals used as a control parameter for the apparatus
Abstract
The present invention relates to a kind of intelligence displacement public buses reserved for the disabled with multistage rocker structure, belong to medical assistance equipment technology field.Technical solution is：Vehicle body frame drives multistage rocking arm using multistage rocking arm and hoist cable suspended structure, using electric pushrod, pacifies sling device in the boom tip of hoist cable suspended structure, to loss of weight；Vehicle body frame is equipped with control system, and body-sensing pedal is installed in lower part, and the body-sensing signal of user is provided to control system；Sensor group is installed respectively in user's brain and leg, extracts brain wave and muscle signal characteristics value obtains the motor pattern and movement tendency of user using artificial intelligence neural networks algorithm.Beneficial effects of the present invention：Lifting, displacement, action support, security protection, recovering aid can be provided for the disability user that paralyses or take action.
Description
Technical field
The present invention relates to a kind of intelligence displacement public buses reserved for the disabled with multistage rocker structure, belong to medical assistance technique with the apparatus neck
Domain.
Technical background
Moving difficulty after old lower limb osteoarthritis and cerebral apoplexy user's illness, long-term bed can cause secondary disease,
It need restore locomitivity.But Bones and joints are degenerated or the damage of nervous system makes limb movement disturbance user only lean on self-ability
It stands, rise and retire very difficult, the even more hard hardly possible of recovery motor function.It is existing to be used to help old lower limb osteoarthritis and cerebral apoplexy
The instrument of user's illness recovery limb motion is mainly based on fixed conjuncted frame, wheelchair.These instruments are in use
User is difficult that oneself rises and retires, and loss of weight suspender belt used in user's rehabilitation is fixed on hanger, keeps rehabilitation course uninteresting and unrestrained
It is long, it is desirable that there is nursing staff to accompany and attend to, there are problems that inconvenient and security risk during use, occur user's hardly possible often
The case where to control body posture or even fall down.In prior art, the intelligence action controlled using body-sensing, brain wave assists vehicle knot
It is suitable to wear exoskeleton robot, such as Chinese patent notification number CN105213155, a kind of entitled " artificial intelligence motion's auxiliary
Equipment " can provide locomitivity that is a kind of identical as normal person or being better than normal person for user；But body-sensing, brain wave
The intelligence action auxiliary vehicle of control has the disadvantage that：Man-machine harmony is poor, and artificial intelligence degree is low, has a single function, and wearing is not
It is convenient, it cannot be satisfied human body recovery functional requirement.
Invention content
Present invention aims at providing a kind of intelligence displacement public bus reserved for the disabled with multistage rocker structure, after acquiring eeg data
Brain wave frequency band is extracted into multiple features and carries out tagsort, the different motion of limbs can be effectively distinguished after fusion body-sensing signal
Direction sends out activity control order to vehicle, driving vehicle traveling, can be paralysis or action disable user provide lifting,
Displacement, action support, security protection, recovering aid, solve the above problem existing for prior art.
The technical scheme is that：
A kind of intelligence displacement public bus reserved for the disabled with multistage rocker structure, vehicle body frame use multistage rocking arm and hoist cable suspended structure,
Multistage rocking arm is driven using electric pushrod, pacifies sling device in the boom tip of hoist cable suspended structure, to loss of weight；Vehicle of the present invention
Body frame is equipped with control system, and body-sensing pedal is installed in lower part, and the body-sensing signal of user is provided to control system；In user
Sensor group is installed in brain and leg respectively, brain wave and muscle signal characteristics value is extracted, using artificial intelligence neural networks
Algorithm obtains the motor pattern and movement tendency of user.
The control system is embedded control system, including processor, sensor interface, blue tooth interface, WIFI interface,
Sound identification module, display screen, driving circuit, power supply.
For the vehicle body frame equipped with the running gear for including front wheels and rear wheels, the front-wheels of left and right two are differential using bi-motor
It turns to, two front driving wheel hub motors receive the electric control signal of control system, the torque of two front-wheels of independent control or so, profit
Differential torque is generated with both sides motor driving force difference, driving vehicle body frame turns to；Trailing wheel is using servo-actuated universal wheel.
The vehicle body frame is equipped with pulsed electrode, using pulsed electrode low frequency stimulating user's Ipsilateral nerves and muscles,
It forms neural circuit and the rehabilitation of brain wave reflection is rebuild, user's Ipsilateral follows the direction of car body frame movement to move.
Beneficial effects of the present invention：Brain wave frequency band is extracted into multiple features after acquisition eeg data and carries out tagsorts,
The different motion direction that limbs can be effectively distinguished after fusion body-sensing signal sends out activity control order to vehicle, drives vehicle
Traveling can provide lifting, displacement, action support, security protection, recovering aid for the disability user that paralyses or take action.
Description of the drawings
Fig. 1 is body construction schematic diagram of the present invention；
Fig. 2 is control system composition figure of the present invention；
Fig. 3 is intelligence displacement public bus reserved for the disabled control system architecture figure of the invention；
Fig. 4 is vehicle operation control program chart of the present invention；
Fig. 5 is loss of weight arm operation control program chart of the present invention；
Fig. 6 is central control module program chart of the present invention；
Fig. 7 is BP intelligent networks algoritic module figure of the present invention；
Fig. 8 is gene database structure chart of the present invention；
Fig. 9 is that the present invention executes system diagram；
Figure 10 is electric pushrod driving of the present invention and installation diagram.
Specific implementation mode：
The invention will be further described below in conjunction with the accompanying drawings.
A kind of intelligence displacement public bus reserved for the disabled with multistage rocker structure, composition includes car body 1,
Car body 1：Including 1.1 vehicle body frames, 1.2 suspension arm support columns, 1.3 loss of weight arms, 1.4 height-adjustable handrails,
1.5 embedded system consoles, 1.6 hoist cable mechanisms.
Vehicle body frame 1.1, before fixing damper 1.1-1 connection bi-motor differential steerings by front axle by chassis 1.1-0
Wheel 3.2；Damper 1.1-2 connections, which are fixed, by rear axle is servo-actuated universal wheel 3.3；By suspension arm support column connecting plate 1.1-3, spiral shell is used
Bolt or articulated shaft are connected and fixed suspension arm support column 1.2；Articulated shaft is detachably with convenience in transport；Damping rubber block 1.1.4, by subtracting
Weight arm articulated shaft 1.1-5 connection losss of weight arm 1.3；Pass through hoist cable articulated shaft 1.1-6 connection hoist cables mechanism 1.6；Pass through legging
Thick stick 1.1-7, fixed electric pulse exciting bank 3.4；Pass through suspension arm support column upper support seat 1.1-8 connection suspension arm support columns upper end
1.2；Pass through support base 1.1-9 connection suspension arm support columns lower end 1.2 under suspension arm support column.
Wherein：Chassis 1.1-0 has I-shaped quadrilateral frame or the rock-steady structure of H-type or triangle, uses steel pipe, aluminium
The Metal Material Weldings such as compo pipe or carbon fibre material bonding manufacture.Ensure the distortionless deformation of 200KG heavy burdens；Front axle fixes damping
Device 1.1-1, using steel wire, air pressure or hydraulic spring grease cup, one end is fixed on vehicle body frame 1.1, and the other end is hinged spindle set and fixes
Dual-motors Driving steering group 3.2；Rear axle fixes damper 1.1-2 and uses steel wire, air pressure or hydraulic spring grease cup, and one end is fixed on
On vehicle body frame 1.1, the other end, which is fixed, is servo-actuated steering wheel group 3.3；Suspension arm support column connecting plate 1.1-3, uses thickness 8MM steel
The holes M10 are beaten in plate, centre, and one end is welded on vehicle body frame 1.1, with M10 bolts, are fastened by mesoporous and suspension arm support column 1.2；
Also can on connecting plate the mechanisms such as fixed ratchet wheel, so that suspension arm support column 1.2 is fluctuated；Damping rubber block 1.1-4 can be with
Snubber block height is raised and lowered, electronic or hydraulic lift can be also installed and adjusted；Loss of weight arm articulated shaft 1.1-5 is used
M10 or other specification steel shafts, can load 200KG, both ends are limited with spring card；Hoist cable articulated shaft 1.1.6 tool articulated shafts are adopted
With M10 steel shafts, 200KG can be loaded, both ends are limited with spring card；Legging thick stick 1.1-7 adjusts height by multiple bolts hole,
Electronic or hydraulic lift can be also installed to adjust；Push rod upper support seat 1.1-8 can pass through difference on suspension arm support column 1.2
Position mounting hole adjusts installation site；Support base 1.1-10 can be adjusted in chassis 1.1-0 different location mounting holes under push rod
Installation site.
Suspension arm support column 1.2：One end is fixed or is hinged on suspension arm support column connecting plate 1.1-3, another with easy disassembly
End is equipped in side and hole is mounted equidistant, propped up under push rod to adjust by loss of weight arm articulated shaft 1-5 connection losss of weight arm 1.3
Support the position of seat.
Loss of weight arm 1.3：By loss of weight arm articulated shaft 1.1-5 articulated booms support column 1.2, the other end is cut with scissors by hoist cable for one end
Spindle 1.1.6 is hinged hoist cable mechanism 1.6, is equipped in side and hole is mounted equidistant, to adjust the position of push rod upper support seat.
Height-adjustable handrail 1.4 wraps up flexible material, and the person of being conveniently operated holds, and can curve the various of suitable hand-type
Shape passes through the mounting hole adjusting position in 1.3 different location of loss of weight arm.
1.5 console of insertion module of control system can be manufactured with light materials such as PVC, synthetic plastic material, mounted on subtracting
On weight arm 1.3
Hoist cable mechanism 1.6 is the component that loss of weight arm 1.3 is contacted with user's chest and armpit, and surface has flexible material that can select
With PVC, leather, liner hard PVC, plastic material do the surface that forming shape is suitble to chest.
Control system 2：Including sensor group 2.1, body-sensing pedal 2.2, direction of motion console 2.3, scheme control screen
2.4, central control system plate 2.5；It is formed referring to Fig. 2 control systems.
Sensor group 2.1 receives and sends brain wave, muscle electric signal.Such as：Brain-wave sensor 2.1.0, will be collected
Eeg data is transferred to E.E.G processor 2.1.1 processing.Such as：Myoelectric sensor 2.1.2, by collected muscle telecommunications
Number electric data transmission is to muscle electric signal processor 2.1.3 processing.
Body-sensing pedal 2.2 collects a variety of body-sensing signals and manual control signal；Such as：Body-sensing pedal 2.2 is installed pressure and is passed
Sensor group 2.2.0, acquisition weight distribution signal transmission judge position of human body value to leg pressure signal processor 2.2.1；Such as：
Acceleration transducer 2.2-2 collects total balance of the body, acceleration of motion electric signal transmission to acceleration signal processor 2.2.2, comes
Judge athletic posture.
Direction of motion console 2.3 sends out the signal of the operation of control vehicle, control arm action；Such as：Direction of motion control
Platform 2.3 processed, user press button, switch or touch screen on fixed handle and complete that switching plurality of operating modes is selected to be sent to control
Signal processor 2.3.1 controls Velicle motion velocity, control arm action.Vehicle control signal processing module 2.3.1：It receives
The driving of central control module 2.5 executes the instruction that sub-module is sent out, and reads in the level value and human body appearance of acceleration signal 2.2-2
The center of gravity instantaneous value of state is compared.If center of gravity leans forward, two motors 3.2 rotate forward, vehicle forwards, on the contrary then to
Afterwards.When double-legged center of gravity has difference in torque, different PWM duty cycles is exported to motor D1/D2, drive hub motor D1/D2 is independently transported
It is dynamic.So that the rotating forward of side motor, offside motor is not turned or is inverted, to generate differential steering torque, vehicle is made to step on torsion to sole
The big relative direction of square turns to.
Scheme control screen 2.4 receives 2.5 data of central control module, is shown on display terminal.
Central control module 2-5, including：Brain wave processing module 2.1.1, muscle electronic signal processing module 2.1.3, leg pressure
Force signal processing module 2.2.1, acceleration signal processing module 2.2.2, vehicle control processing module 2.3.1, at arm control
It manages module 2.3.2, wireless E.E.G processing module 2.5.1, body-sensing signal processing module 2.5.2, motion-control module 2.5.3, show
Show module 2.5.4, central control module plate 2.5.5, APP application module 2.5.6, GPS module 2.5.7.Such as：Power supply is examined
Processing sub-module 2.5.1 is surveyed, reads in 4.2 signal of battery protecting circuit, cell voltage is higher than setting value then normal operation, if being less than
Setting value then sends out system short of electricity alarm to display module 2.4, is shown by LED, loudspeaker alarm.System self-test sub-module
2.5.2, at System self-test, system mistake alarm is sent out to display module 2.4 if abnormal.Communication processing sub-module is completed
PORT COM initialization, detection, processing multiple signals, are transferred to BP intelligent network algoritic modules.BP intelligent network algoritic modules
Signal is received, it is more to handle collected wireless brain wave data 2.1, body-sensing signal 2.2 and GPS long range positioning data 2.7 etc. in real time
Road signal carries out self-organizing, adaptive learning.The signal weight ratio recorded in sequence c1 ~ cn in extraction gene database 2.5.5,
Complete collection, the fusion calculation of multi signal.And then identify the different drive mode of user, to control signal processor 2.3.1
Or arm control process module 2.3.2 send instructions are controlled by the 2.3.1 driving vehicle operations of control signal processor by arm
Processing module 2.3.2 driving arm operations.Vehicular system is set to keep centre of body weight while meeting human body driving wish operation
Balance.
Wherein：Per sensor input signal all the way（Including 2.1., 2.2,2.7）A corresponding imitative neuron 2.5.4-1 is defeated
Enter a layer program granules.Program granules will be after sensor input signal and gene database 2.5.5 extraction feature weight coefficients 2.5.4-2
As a result fusion operation is sent to hidden layer 2.5.4-3 and calculates particle, multiple hidden layer 2.5.4-3 calculate particle according to feedback god
It is connected with each other through network 2.5.4-4 algorithms, mutual operation, constitutes adaptive nonlinear dynamical system, finally determine neural network
2.5.4-4 characteristic value.It is retrieved again in gene database 2.5.5 according to this characteristic value.Obtain with brain wave signal 2.1.1,
Body-sensing pedal signal 2.2-1, acceleration transducer signals 2.2-2 be corresponding and running state parameter 2.5.4-6.
It is dynamic that the three-dimensional gene Serial No. or matrix that gene database 2.5.5 is pre-deposited have recorded normal use person's difference
The corresponding feature of operation mode and wireless brain wave data 2.1, body-sensing signal data 2.2.Wherein, A axis gene Serial No. has recorded
Human body body-sensing posture is divided into a1 advances, a2 is retreated, a3 turns left, a4 turns right, a5 stands.B axle gene Serial No. records motor
Operation mode, the wherein driving direction of b1 sequential recordings motor 1, actuating speed, the patterns such as driving time, b2 sequential recording electricity
The pattern of machine 2, pattern, the pattern feature of b4 motors 4 of b3 record motors 3.C axis gene Serial No.s are distinguished
Weight coefficient, the trigger sequence of multiple wavelet characters in record description is wireless brain wave signal 2.1.Such as：A2 b2c2 have recorded
For human body in a2 forward travel state, No. 2 motors correspond to some brain wave feature and the operation characteristic value of body-sensing signal.
APP application program modules 2.6, mobile phone or mobile computing platform remotely connect control or display operating status, power supply
State, human parameters etc. realize remote monitoring and control operating status.
GPS module carries out long range positioning 2.7, can be based on positioning and carry out remote Mobile Control.
Execution system 3：Including electric pushrod group 3.1, Dual-motors Driving steering group 3.2, servo-actuated steering wheel group 3.3, electric arteries and veins
Rush exciting bank 3.4.Electric pushrod group 3.1 drives and installation site, such as：It is symmetrically installed using D3, D4 electric pushrod 3.1.1
Passed through by support base 1.1-9 connection electric pushrods end 3.1 under push rod in suspension arm support column 1.2,1.3 both sides of loss of weight arm
Push rod upper support seat 1.1-10 connection electric pushrods upper end 3.1.Such as：Using electric pushrod driver 3.1.2, executes loss of weight and hang
The instruction that arm 2.3.2 operation controls are sent out.Such as：When the 3.1.1 elongations of D3, D4 electric pushrod, loss of weight arm 1.3 is driven to raise up,
Otherwise decline.Such as：Support base 1.1-9 under push rod, push rod upper support seat 1.1-10 position can adjust, hung with changing loss of weight
The extreme position of arm 1.3.
Dual-motors Driving steering group 3.2；Such as：Use D1/D2 brushless DC hub motors 3.2.1（BLDC）, receive vehicle
The instruction operation of movement drive control module 2.3.1；Such as：It is driven using tri- DC brushless motor controller 3.2.2 of BLDC
Dynamic motor operating；Such as：The D1/D2 hall sensing signal 3.2.3 that vehicle control processing module 2.3.1 is sent out are received, output is not
Same PWM duty cycle makes motor be run according to set logical consecutive sequence；Such as：If center of gravity leans forward, vehicle control
Processing module 2.3.1 sends out D1/D2 selected signals, send out D1/D2 forward direction Halls coding two motors of 3.2.3, D1/D2 rotate forward,
Vehicle forward；Such as：If opposite center of gravity hypsokinesis, vehicle control processing module 2.3.1 send out D1/D2 selected signals,
The reversed 2 Hall coding 3.2.3 of D1/D are sent out, D1/D2 two motor reversals, vehicles move backward.Such as：In people before right crus of diaphragm center of gravity
When the weight heart, vehicle control processing module 2.3.1 sends out D1 and chooses, wheel hub motor D1/ output torques, and D2 is vacant.To generate
Differential steering torque to the right makes vehicle to the right（The direction that sole is stepped on）It turns to.Such as：Before left foot center of gravity when gravity center of human body,
Vehicle control processing module 2.3.1 sends out D2 and chooses, wheel hub motor D2/ output torques, and D1 is vacant.To generate differential turn to the left
To torque, make vehicle to the left（The direction that sole is stepped on）It turns to.
Servo-actuated steering wheel group 3.3, follows chassis 1.1-0 to move.
Electric pulse exciting bank 3.4 sends out low-frequency pulse after receiving human body body-sensing signal to Ipsilateral；Wherein：Because of left and right pair
Claim, only description is unilateral.
Battery and battery controller 4, including：One or more rechargeable battery pack 4.1, battery protecting circuit 4.2, charging
Circuit 4.3 and power supply adaptor 4.4.Such as：One or more 4.1 serial or parallel connection of rechargeable battery pack is placed in battery compartment
In.Such as：Battery protecting circuit 4.2 etc. is placed in battery compartment.When overvoltage or excess temperature error condition occur, which will be certainly
Dynamic shutdown, to protect the battery under charging equipment, control system and charged state.Such as：
Charging circuit 4.3 is placed in battery compartment, directly drives an external LED to indicate battery charging state.Device temperature
It is fully monitored with charged state, is occurred to prevent erroneous condition.Such as：Power supply adaptor 4.4 realize power-supply system with 110 ~
The connection of 220v alternating currents or vehicle-mounted 12V DC electricity, connecting hole are located at 4 battery compartments.
Specific embodiments of the present invention are as follows：
Embodiment one：Intelligence displacement public bus reserved for the disabled mode of learning.Refer to that user wants training smart to shift public bus reserved for the disabled, vehicle generation is made to make
User's athletic posture is remembered, and generates especially memory to user's Ipsilateral, forms the own artificial intelligence of vehicle.
1. reading in intelligence displacement public bus reserved for the disabled all the sensors signal, multilayer neural network parallel processing is carried out.By brain wave
Processing module 2.1.1, muscle electronic signal processing module 2.1.3, leg pressure signal processing module 2.2.1, acceleration signal processing
The signal of the generations such as module 2.2.2 forms input vector data, imports and imitates neuron 2.5.4-1 input layer program granules.
2. the extracted vector weight from the gene order of gene database 2.5.5.
3. the vectorial weight 2.5.4-1 data of extraction are subject to fusion calculation one by one with collected sensor signal, calculate
Go out currently imitative neuron 2.5.4-1 input layer program granules state thresholds and passes to hidden layer 2.5.4-3 calculating particles.
4. hidden layer 2.5.4-3 calculates particle by Feedback Neural Network algorithm 2.5.4-4, returns and hold back out neural network
2.5.4-5 feature.This feature reflects the non-linear dependencies between multiple sensor signals and human action.
5. by the gene order of neural network 2.5.4-5 write-in gene databases 2.5.5, record human body body-sensing appearance is formed
State, intelligence displacement public bus reserved for the disabled correspond to motor action pattern, record the three-dimensional record data of weight coefficient, trigger sequence.
6. going to the 1st step to be repeated, judges whether the characterizing gene data sequence of neural network 2.5.4-5 returns and hold back, directly
Until when obtaining ideal performance.
7. completing paralysis helps the original of vehicle motion state posture gene Serial No. corresponding with human brain electricity, body-sensing signal
Setting.Form the intelligence of intelligence displacement public bus reserved for the disabled.
Embodiment two：Intelligence displacement public bus reserved for the disabled rehabilitation exercise pattern.In this case, user's EEG signals, body-sensing letter
Number or acceleration signal activation intelligence displacement public bus reserved for the disabled artificial intelligence memory, system drive intelligently displacement public bus reserved for the disabled compounding practice person
Movement.Public bus reserved for the disabled sends out electric pulse excitation Ipsilateral, operator is driven to carry out rehabilitation action.
1. reading in intelligence displacement public bus reserved for the disabled sensor signal, multilayer neural network parallel processing is carried out.Brain wave is handled
Module 2.1.1, muscle electronic signal processing module 2.1.3, leg pressure signal processing module 2.2.1, acceleration signal processing module
2.2.2 the signal of equal generations forms input vector data, imports and imitates neuron 2.5.4-1 input layer program granules.
2. the vectorial weight 2.5.4-1 extracted from the gene order of gene database 2.5.5.
3. the vectorial weight 2.5.4-1 data of extraction are subject to fusion calculation one by one with collected sensor signal, calculate
Go out currently imitative neuron 2.5.4-1 input layer program granules state thresholds and passes to hidden layer 2.5.4-3 calculating particles.
4. hidden layer 2.5.4-3 calculates particle by Feedback Neural Network 2.5.4-4 algorithms, returns and hold back out neural network
2.5.4-5 feature.
5. extraction meets the B axle gene of the feature of neural network 2.5.4-5 from the gene order of gene database 2.5.5
Serial No., the Serial No. have recorded intelligence displacement public bus reserved for the disabled pattern..
6. passing to vehicle motion control drive module 2.3.1.
7. driving vehicle operation
8. electric pulse exciting bank 3.4 is driven to encourage user's Ipsilateral.
Embodiment three：Intelligence displacement public bus reserved for the disabled loss of weight arm can be locked with free movement, vehicle.
1. the driving for receiving central control module 2.5 executes the instruction that sub-module is sent out, the movement side of loss of weight arm is obtained
To movement velocity to instruction.
2. judging whether to be in transport condition in vehicle, non-driving state can unlock.
3. a pair instruction encodes, driving loss of weight arm D3/D4 motors rotation.
4. obtaining loss of weight arm D3/D4 motor photoelectric codings, turnning circle is recorded, judges whether operation in place.
5. out of service after in place
Example IV：Intelligence displacement public bus reserved for the disabled console controls driving mode.Arm is locked in this case, only traveling mechanism
Controlled traveling
1. the driving for receiving central control module 2.5 executes the instruction that sub-module is sent out, the movement of intelligence displacement public bus reserved for the disabled is obtained
Direction movement velocity is to instruction.
2. judging whether arm is in locking state, arm locking state can activate vehicle movement.
3. a pair instruction encodes, driving vehicle D1/D2 motors rotation.
4. obtaining D1/D2 motor photoelectric codings, turnning circle is recorded, intelligence displacement public bus reserved for the disabled operation is driven, judges whether
Operation is in place.
5. intelligence displacement public bus reserved for the disabled is out of service after in place.
Claims (3)
1. a kind of intelligence displacement public bus reserved for the disabled with multistage rocker structure, it is characterised in that vehicle body frame is using multistage rocking arm and hangs
Rope suspended structure drives multistage rocking arm using electric pushrod, pacifies sling device in the boom tip of hoist cable suspended structure, to subtract
Weight；Vehicle body frame is equipped with control system, and body-sensing pedal is installed in lower part, and the body-sensing signal of user is provided to control system；?
Sensor group is installed in user's brain and leg respectively, extracts brain wave and muscle signal characteristics value, using artificial intelligence god
Through network algorithm, the motor pattern and movement tendency of user are obtained.
2. a kind of intelligence displacement public bus reserved for the disabled with multistage rocker structure according to claim 1, it is characterised in that：It is described
Vehicle body frame be equipped with include front wheels and rear wheels running gear, two front-wheels in left and right are using bi-motor differential steering, before two platforms
Drive hub motor receives the electric control signal of control system, and the torque of two front-wheels of independent control or so utilizes both sides motor
Driving force difference generates differential torque, and driving vehicle body frame turns to；Trailing wheel is using servo-actuated universal wheel.
3. a kind of intelligence displacement public bus reserved for the disabled with multistage rocker structure according to claim 1, it is characterised in that：It is described
Vehicle body frame is equipped with pulsed electrode, using pulsed electrode low frequency stimulating user's Ipsilateral nerves and muscles, forms neural circuit
Rehabilitation with brain wave reflection is rebuild, and user's Ipsilateral follows the direction of car body frame movement to move.
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