CN108852655A - Intelligent and safe electric wheelchair with seat monitoring, pressure perception and speed monitoring - Google Patents
Intelligent and safe electric wheelchair with seat monitoring, pressure perception and speed monitoring Download PDFInfo
- Publication number
- CN108852655A CN108852655A CN201710321293.7A CN201710321293A CN108852655A CN 108852655 A CN108852655 A CN 108852655A CN 201710321293 A CN201710321293 A CN 201710321293A CN 108852655 A CN108852655 A CN 108852655A
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- wheelchair
- monitoring
- seat
- pressure
- speed
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 78
- 230000008447 perception Effects 0.000 title claims abstract description 16
- 230000009429 distress Effects 0.000 claims description 5
- 230000003068 static effect Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001351 cycling effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1043—Cushions specially adapted for wheelchairs
-
- 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
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/34—General characteristics of devices characterised by sensor means for pressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
Abstract
The present invention provides a kind of intelligent and safe electric wheelchair with seat monitoring, pressure perception and speed monitoring, belongs to intelligent wheel chair field.It is fed back and the modules such as control, emergency call including seat monitoring, foot pressure monitoring, speed monitoring, microcontroller, wheelchair.They are used to monitor whether wheelchair user to have taken one's seat and foot has been put well foot-operated.If so, then wheelchair is unlocked and can travel, it is otherwise in stagnation of movement locking state, reduces the risk that wheelchair travels suddenly；After wheelchair unlock, whether monitoring user stands up from wheelchair.If so, then wheelchair is automatically locked immediately, reduce because wheelchair does not lock, user stands up and wheelchair moves backward the risk for causing user to fall；In wheelchair operation, whether monitoring user sits straight and whether travel speed is too fast；Monitoring user, whether sitting is not dynamic etc..The present invention effectively guarantees the safety traffic of wheelchair by above-mentioned real time monitoring, has a very important significance to the safety trip of people with mobility problems.
Description
Technical field
The invention belongs to intelligent wheel chair fields.There is seat monitoring, pressure perception and speed monitoring specifically related to one kind
Intelligent and safe electric wheelchair.
Background technique
The United Nations delivers report and points out, world population's aging process is being accelerated.In 50 years from now on, 60 years old or more
Population ratio is estimated to double.The physical disabilities as caused by various disasters and disease also increase year by year, they exist not
With the Disability of degree, such as walking, eyesight, start and language.In order to provide superior performance to the elderly and physical disabilities
Walking-replacing tool, help them to improve freedom of action degree and reintegrate society, designing a kind of intelligent walking-replacing tool becomes
Urgent need.Therefore the active state of old man and disabled person can be monitored in real time, and old under the premise that security is guaranteed
People and disabled person can be autonomous control wheelchair direction of travel and speed.Design a kind of such intelligent and safe electric wheelchair
It has a very important significance.
Summary of the invention
The technical problem to be solved by the present invention is to：A kind of intelligence with seat monitoring, pressure perception and speed monitoring is provided
It can control system, realize through seat monitoring, pressure perception and speed monitoring technology, monitor the operating status of wheelchair in real time, have
The safety traffic of the guarantee wheelchair of effect.
The technical solution taken by the invention to solve the above technical problem is：One kind having seat monitoring, pressure perception
With the intelligent and safe electric wheelchair of speed monitoring, which is characterized in that it includes：
Seat monitoring modular, for monitoring on wheelchair, whether someone takes one's seat, from the wheelchair stands up and it is on wheelchair
State；
Foot pressure monitoring modular, for monitoring whether wheelchair user correctly places foot on the footrests；
Speed monitoring module, for monitoring wheelchair operation conditions；
Microprocessor module, for carrying out the information of seat monitoring modular, speed monitoring module and foot pressure monitoring modular
Processing, and processing result is sent to wheelchair feedback and control module；
Wheelchair feedback and control module, for receiving the data of microprocessor module, a kind of then master in a manner of intervening of intelligence
Current driving speed V, is reduced within safe speed Vsafe automatically, is allowed in a safe condition and releases by dynamic manipulation wheelchair
Alarm condition；
Emergency call module, for when emergency occurs, key calling for help can to position current address immediately, and send and ask
Information is rescued to relatives, hospital；
Alarm module, for existing when seat pressure>Unchanged or foot leaves the pedal time in the T1 time>Alarm signal is issued when T2.
By above system, the seat monitoring modular includes 4 pressure sensors being arranged on wheelchair seat.If
Setting 4 on wheelchair seat pressure sensor layout type is：Divide seat equally 4 equal parts, at each equal part seat center
A pressure sensor is arranged in position, and 4 pressure sensors are respectively designated as S1, S2, S3, S4.If 4 pressure sensors
Value be less than F1min simultaneously, then be judged as on wheelchair unmanned seating, be otherwise occupied.The F1min is preset
Without applying disturbed value caused by pressure on pressure sensor.Static and someone takes a seat under state, if 4 pressure of seat
The value of sensor exists>It is remained unchanged in the time range of T1, then issues alarm.The time T1 is to be preset in pressure sensing
Value on device.
By above system, the foot pressure monitoring modular is placed on the central location of 2 Wheel chair pedal plates, specifically
For collecting the value of be placed on wheelchair pedal 2 pressure sensors P1 and P2.If the pressure value of 2 pressure sensors
There is at least 1 to be less than F2min, then judges that the foot of the people on wheelchair is not correctly placed on foot-operated, be otherwise correct placement.Institute
The F2min stated does not apply disturbed value caused by pressure in pressure sensor to be preset.
By above system, only monitor occupied on wheelchair, and foot is correctly put on the footrests, and wheelchair could start
Otherwise traveling is in locking state；In driving status, if the value of 4 pressure sensors of seat exists>The time range of T1
It inside remains unchanged or foot leaves the foot pedal time>T2 then issues alarm and sends reduce-speed sign to wheelchair feedback and control module.
The time T1 and T2 is the value being preset on pressure sensor.
By above system, 4 pressure sensor monitorings on wheelchair seat are arranged in wheel in the seat monitoring modular
When chair is occupied state, if the value of 4 pressure sensors is less than F1min simultaneously, judge that wheelchair user just stands up
Leave wheelchair.If wheelchair is in the unlocked state, then wheelchair is locked immediately.
By above system, the speed monitoring module includes the sensing being mounted on the spoke of two driving wheel of wheelchair or so
Device.Wheel often turns over a circle, and then speed measuring module generates a switching signal, and main control module counts this switching signal
The circle number that wheel turns in the unit time is calculated, thus can be obtained the revolving speed of wheelchair or so two-wheeled, to obtain the speed of wheelchair
Degree.If speed is greater than threshold values V1, judge that wheelchair is overrun, and send reduce-speed sign to wheelchair feedback and control module, will go
It sails speed V to be reduced within safe speed Vsafe, and releases alarm condition.The threshold values V1 is to be preset in velocity sensor
On value.
By above system, the microprocessor module is specifically used for seat monitoring modular, foot pressure monitoring modular
It is handled with the information of speed monitoring module, and processing result is sent to wheelchair feedback and control module.
By above system, the wheelchair feedback is specifically used for receiving the data of microprocessor module with control module, so
Wheelchair is actively manipulated in a manner of a kind of intervening of intelligence afterwards, automatically by current driving speed V be reduced to safe speed Vsafe with
It is interior, it is allowed in a safe condition and releases alarm condition.
By above system, the emergency call module, for when emergency occurs, key calling for help can be determined immediately
Position current address, and distress signals are sent to relatives, hospital.
By above system, the alarm module, for existing when seat pressure>Unchanged or foot leaves the pedal time in the T1 time
>Alarm signal is issued when T2.
The beneficial effect comprise that：
1, by whether sitting people and whether foot is put well on the footrests on monitoring wheelchair, to lock or unlock the electronic manipulation system of wheelchair
System.This function can effectively solve not sit straight due to wheelchair user, but error starting wheelchair and cause it is unexpected there is a situation where；
2, by monitoring whether wheelchair user is just from the wheelchair standing up come automatic locking wheel chair.When user will stand from wheelchair
Body but when forgetting to lock it, usual wheelchair can move backward, cause user to sit cross-legged in meditation backward and injured.This function can effectively drop
It is low due to wheelchair moves back and cause user fall risk；
3, it in wheelchair driving process, is not moved for a long time by the people on monitoring wheelchair or foot is detached from foot pedal for a long time to judge
This person may be in unsafe condition and concurrently deliver newspaper police；
4, wheelchair under static state, if people takes one's seat on wheelchair, by monitoring this person whether on wheelchair for a long time do not move
It concurrently delivers newspaper police to judge that this person may be in unsafe condition；
5, by the key Help Point being mounted on wheelchair, current address can be positioned immediately, and sends distress signals to parent
Belong to, hospital.
Detailed description of the invention
Fig. 1 is the present invention --- the system program flow chart of embodiment；
Fig. 2 is the present invention --- the pressure sensor scheme of installation of the seat of embodiment；
Fig. 3 is the present invention --- the hardware block diagram of embodiment.
The present invention monitors logic
1, user does not take one's seat, and wheelchair is in locking state；
2, after taking one's seat, foot is not put well, and wheelchair keeps locking state；
3, it takes one's seat and after foot puts well, wheelchair unlocks and can star traveling；
4, after user takes one's seat but wheelchair judges whether people does not move for a long time under locking state, then alarms in this way, no just to repeat
Cycle detection；
5, wheelchair unlocks but under stationary state, if user stands up, wheelchair is locked at once, is not stood up, and is judged
Whether do not move for a long time；
6, wheelchair under driving status, judging people, for a long time whether do not put well, then sends alarm in this way and slows down, no by dynamic or foot
Repetitive cycling is detected.
Specific embodiment
In order to which the purpose of the present invention, technical solution is more clearly understood, with reference to the accompanying drawings and embodiments, to the present invention
It is further described.Described herein specific examples are only used to explain the present invention, is not intended to limit the present invention.
A kind of intelligent and safe electric wheelchair with seat monitoring, pressure perception and speed monitoring.As shown in Fig. 1, it
Intelligent control include the following steps：
1, monitoring programme starts；
2, judge whether that a key is needed to call for help, if it is desired, current location is then positioned, and sends distress signals to relatives, hospital,
Locked wheelchair, then system finishing exits, and otherwise enters step 3；
3, judge whether sit people on wheelchair, if it is not, wheelchair is in locking state, and reenters step 3 and judge wheelchair
On whether sit people, otherwise enter step 4；
4, judge whether foot is correctly put on the footrests, if it is not, then wheelchair is in locking state, and enter the 4.1st step, it is no
Then wheelchair unlocks and enters the 4.2nd step；
4.1 judge that seat pressure exists>It is unchanged in the T1 time, it alarms if it is, sending and reenters step 2, otherwise again
Into step 4；
4.2, judge whether manually to close wheelchair, if it is, closing wheelchair terminates to exit, otherwise enter step 5；
5, judge whether wheelchair travels, if it is not, then wheelchair is static but in the unlocked state, and enter the 5.1st step, otherwise into
Enter the 5.2nd step；
5.1, judge seat pressure while being less than F1min, if so, wheelchair is in locking state, and enter step 3, otherwise
Enter 4.1 steps；
5.2, judge that seat pressure exists>Unchanged or foot leaves the pedal time in the T1 time>T2, if it is not, then the normal row of wheelchair
It sails and comes back to the 5.2nd step and judged, otherwise enter step 6；
6, alarm signal is sent, sends reduce-speed sign to control module of slowing down；
7, judge whether travel speed is less than safe speed, if it is release alarm, otherwise normally travel is returned into 4.2 steps
To step 6.
Claims (8)
1. a kind of intelligent and safe electric wheelchair with seat monitoring, pressure perception and speed monitoring, which is characterized in that it is wrapped
It includes：
For monitoring on wheelchair, whether someone takes one's seat, from the wheelchair stands up and its shape on wheelchair seat monitoring modular
State；
Foot pressure monitoring modular is for monitoring whether wheelchair user correctly places foot on the footrests；
Speed monitoring module is for monitoring wheelchair operation conditions；
Seat monitoring modular, speed monitoring module and foot pressure monitoring modular are connect with micro controller module respectively；
Microprocessor module handles the information of seat monitoring modular, speed monitoring module and foot pressure monitoring modular,
And processing result is sent to wheelchair feedback and control module；
Wheelchair feedback is used to receive the data of microprocessor module with control module, then in a manner of a kind of intervening of intelligence actively
Wheelchair is manipulated, current driving speed V is reduced within safe speed Vsafe automatically, is allowed in a safe condition and releases report
Alert state；
Emergency call module is used for when emergency occurs, and a key is called for help, and positions current address immediately, and send distress signals
To relatives, hospital.
2. the intelligent and safe electric wheelchair with seat monitoring, pressure perception and speed monitoring according to claim 1,
It is characterized in that：The seat monitoring modular includes 4 pressure sensors being arranged on wheelchair seat, is arranged in wheelchair
4 pressure sensor layout type on seat are：Divide seat equally 4 equal parts, is installed in each equal part seat centre bit
A pressure sensor is set, 4 pressure sensors are respectively designated as S1, S2, S3, S4, if the value of 4 pressure sensors is same
When be less than F1min, then be judged as that nobody takes a seat on wheelchair, otherwise taken a seat for someone, the F1min be it is preset in pressure
Without applying disturbed value caused by pressure on sensor, under static and occupied state, if 4 pressure sensors of seat
Value exist>It is remained unchanged in the time range of T1, then issues alarm, the time T1 is to be preset on pressure sensor
Value.
3. the intelligent and safe electric wheelchair with seat monitoring, pressure perception and speed monitoring according to claim 1,
It is characterized in that：The foot pressure monitoring modular includes the pressure sensor that foot pedal middle position is arranged in, and is ordered respectively
Entitled P1 and P2, for acquiring the pressure value of 2 pressure sensors on two foot pedals, if 2 pressure sensors
Pressure value has at least 1 to be less than F2min, then judges that the foot of the people on wheelchair is not correctly placed on foot-operated, otherwise correctly to put
It sets, the F2min does not apply disturbed value caused by pressure in pressure sensor to be preset.
4. the intelligent and safe electric wheelchair according to claim 1 with seat monitoring, pressure perception and speed monitoring,
It is characterized in that：Only monitor occupied on wheelchair, and foot is correctly put on the footrests, and wheelchair could start traveling, otherwise
In locking state；In driving status, if the value of 4 pressure sensors of seat exists>It is kept not in the time range of T1
Become or foot leaves the foot pedal time>T2, then issue alarm and send reduce-speed sign to wheelchair feedback and control module, it is described
Time T1 and T2 are the value being preset on pressure sensor.
5. the intelligent and safe electric wheelchair according to claim 1 with seat monitoring, pressure perception and speed monitoring,
It is characterized in that：The seat monitoring modular be arranged in 4 pressure sensor monitorings on wheelchair seat to wheelchair be someone
When seating state, if the value of 4 pressure sensors is less than F1min simultaneously, judge that wheelchair user just stands up to leave wheelchair,
If wheelchair is in the unlocked state, then wheelchair is locked immediately.
6. the intelligent and safe electric wheelchair according to claim 1 with seat monitoring, pressure perception and speed monitoring,
It is characterized in that：The speed monitoring module includes the sensor being mounted on the spoke of two driving wheel of wheelchair or so, every turn of wheel
Crossing a circle, then speed measuring module generates a switching signal, and main control module, which counts this switching signal, can calculate the unit time
The circle number that interior wheel turns over, thus can be obtained the revolving speed of wheelchair or so two-wheeled, so that the speed of wheelchair is obtained, if speed is big
In threshold values V1, then judge that wheelchair is overrun, and send reduce-speed sign to wheelchair feedback and control module, travel speed V is reduced to
Within safe speed Vsafe, and alarm condition is released, the threshold values V1 is the value being preset on velocity sensor.
7. the intelligent and safe electric wheelchair according to claim 1 with seat monitoring, pressure perception and speed monitoring,
It is characterized in that：The emergency call module, for when emergency occurs, key calling for help can to position current position immediately
Location, and distress signals are sent to relatives, hospital.
8. a kind of intelligent and safe electric wheelchair, it includes wheelchair body, it is characterised in that：Wheelchair body is equipped with claim 1
To the intelligent and safe electric wheelchair described in any one of 7 with seat monitoring, pressure perception and speed monitoring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710321293.7A CN108852655A (en) | 2017-05-09 | 2017-05-09 | Intelligent and safe electric wheelchair with seat monitoring, pressure perception and speed monitoring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710321293.7A CN108852655A (en) | 2017-05-09 | 2017-05-09 | Intelligent and safe electric wheelchair with seat monitoring, pressure perception and speed monitoring |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108852655A true CN108852655A (en) | 2018-11-23 |
Family
ID=64287858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710321293.7A Pending CN108852655A (en) | 2017-05-09 | 2017-05-09 | Intelligent and safe electric wheelchair with seat monitoring, pressure perception and speed monitoring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108852655A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112472436A (en) * | 2020-12-09 | 2021-03-12 | 重庆大学 | Wheelchair for monitoring sitting posture abnormality and emergency control of patient |
| CN114099163A (en) * | 2020-08-31 | 2022-03-01 | 比亚迪股份有限公司 | Wheelchair fixing system of railway vehicle and railway vehicle |
| CN114937341A (en) * | 2022-04-07 | 2022-08-23 | 同济大学 | Wheelchair falling risk monitoring method and system based on multi-dimensional force |
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| CN206120586U (en) * | 2016-03-02 | 2017-04-26 | 倪建华 | Multi -function wheel chair |
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| TW201609075A (en) * | 2014-09-05 | 2016-03-16 | Univ Hungkuang | Wheelchair safety apparatus for detecting foot sliding off the footrest |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114099163A (en) * | 2020-08-31 | 2022-03-01 | 比亚迪股份有限公司 | Wheelchair fixing system of railway vehicle and railway vehicle |
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| CN114937341A (en) * | 2022-04-07 | 2022-08-23 | 同济大学 | Wheelchair falling risk monitoring method and system based on multi-dimensional force |
| CN114937341B (en) * | 2022-04-07 | 2023-09-26 | 同济大学 | Wheelchair fall risk monitoring method and system based on multidimensional force |
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Application publication date: 20181123 |