CN109765885A - The method and its system of Wheelchair indoor automatic Pilot - Google Patents
The method and its system of Wheelchair indoor automatic Pilot Download PDFInfo
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- CN109765885A CN109765885A CN201811392248.1A CN201811392248A CN109765885A CN 109765885 A CN109765885 A CN 109765885A CN 201811392248 A CN201811392248 A CN 201811392248A CN 109765885 A CN109765885 A CN 109765885A
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Abstract
The present invention is suitable for Wheelchair indoor automatic Pilot technical field, provides the method and its system of a kind of Wheelchair indoor automatic Pilot, which comprises obtains the coordinate in indoor at least three corner in sustained height；The indoor coordinate diagram is constructed according to three coordinates；The destination locations for obtaining the wheelchair calculate the first coordinate of the destination locations；The position for obtaining the place of the wheelchair calculates the second coordinate of the position at the place；Referring to the coordinate diagram, the travel route of the wheelchair is planned according to first coordinate and the second coordinate；Drive the wheelchair according to the travel route from the position automatic Pilot at the place to the destination locations.Whereby, the present invention, which can be convenient, uses wheelchair in user room.
Description
Technical field
The present invention relates to Wheelchair indoor automatic Pilot technical field more particularly to a kind of methods of Wheelchair indoor automatic Pilot
And its system.
Background technique
Many to all suffer from such situation using the users of wheelchair: user will go to charge after being finished wheelchair, wheelchair charging when
It waits, user will go otherwise, such as go to bed；Charged to wheelchair, user also needs to leave the bed, and goes to the ground of charging just now
Wheelchair can be driven.And the place of bed and charging has a distance to make user using very inconvenient.
In conclusion existing wheelchair use process is actually, it is clear that there is inconvenient and defect, it is therefore necessary to be subject to
It improves.
Summary of the invention
For above-mentioned defect, the purpose of the present invention is to provide a kind of method of Wheelchair indoor automatic Pilot and its it is
System, facilitates user to use wheelchair indoors.
To achieve the goals above, the present invention provides a kind of method of Wheelchair indoor automatic Pilot, which comprises
Obtain the coordinate in indoor at least three corner in sustained height；
The indoor coordinate diagram is constructed according to three coordinates；
The destination locations for obtaining the wheelchair calculate the first coordinate of the destination locations；
The position for obtaining the place of the wheelchair calculates the second coordinate of the position at the place；
Referring to the coordinate diagram, the travel route of the wheelchair is planned according to first coordinate and the second coordinate；
Drive the wheelchair according to the travel route from the position automatic Pilot at the place to the destination locations.
According to the method for the Wheelchair indoor automatic Pilot, the method also includes:
The position for obtaining the object of the indoor placement calculates the third coordinate of the position of the object of the indoor placement；
The travel route that the wheelchair is planned according to first coordinate, the second coordinate and third coordinate is avoided described
The position of the object of placement.
According to the method for the Wheelchair indoor automatic Pilot, the method also includes:
Detect the barrier in front of the wheelchair；
The position for obtaining the barrier calculates the 4-coordinate of the position of the barrier；
The barrier is judged whether in the travel route according to the 4-coordinate, if so, planning institute again
State travel route.
According to the method for the Wheelchair indoor automatic Pilot, the traveling road is planned according to the most short principle of travel route
Line.
According to the method for the Wheelchair indoor automatic Pilot, by the corner for being separately positioned on three sustained heights
Base sites, obtain the coordinate in indoor three corners in sustained height respectively.
In order to realize another goal of the invention of the invention, what it is the present invention also provides a kind of Wheelchair indoor automatic Pilot is
System, the system comprises:
Initial coordinate obtains module, for obtaining the coordinate in indoor at least three corner in sustained height；
Module is constructed, for constructing the indoor coordinate diagram according to three coordinates；
First coordinate setting module calculates the of the destination locations for obtaining the destination locations of the wheelchair
One coordinate；
Second coordinate setting module, the position at the place for obtaining the wheelchair calculate the of the position at the place
Two coordinates；
First route planning module, for being planned according to first coordinate and the second coordinate referring to the coordinate diagram
The travel route of the wheelchair；
Wheelchair drive module, for driving position automatic Pilot of the wheelchair according to the travel route from the place
To the destination locations.
According to the system, the system also includes:
Third coordinate setting module, the position of the object for obtaining the indoor placement, calculates the indoor placement
The third coordinate of the position of object；
Second route planning module, for planning the wheel according to first coordinate, the second coordinate and third coordinate
The travel route of chair avoids the position of the object of the placement.
According to the system, the system also includes:
Detection of obstacles module, for detecting the barrier in front of the wheelchair；
4-coordinate locating module calculates the 4th of the position of the barrier for obtaining the position of the barrier
Coordinate；
Judgment module, for judging the barrier whether in the travel route according to the 4-coordinate；
Third route planning module plans the travel route for the barrier again in the travel route.
According to the system, the first route planning module plans the traveling road according to the most short principle of travel route
Line.
According to the system, it is to be separately positioned on the corner of three sustained heights that the initial coordinate, which obtains module,
Base sites, for obtaining the coordinate in indoor three corners in sustained height respectively.
The present invention constructs indoor coordinate diagram by obtaining the coordinate points of the position of three indoor sustained heights, realizes net
It formats, determines that the destination locations of wheelchair, the indoor position and wheelchair that cannot be exercised due to placing article are currently located
Position etc., after carrying out route planning, driving wheelchair automatic Pilot to destination locations promotes user so that user is convenient to use
Experience.
Detailed description of the invention
Fig. 1 is the modular structure schematic diagram of the system of Wheelchair indoor automatic Pilot provided in an embodiment of the present invention；
Fig. 2 is indoor arrangement top view provided in an embodiment of the present invention；
Fig. 3 is the flow chart of the method for Wheelchair indoor automatic Pilot provided in an embodiment of the present invention；
Fig. 4 is the flow chart of the method for Wheelchair indoor automatic Pilot provided in an embodiment of the present invention；
Fig. 5 is the flow chart of the method for Wheelchair indoor automatic Pilot provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to FIG. 1 to FIG. 2, a kind of system of Wheelchair indoor automatic Pilot is provided in the first embodiment of the present invention
100, system 100 includes:
Initial coordinate obtains module 1, for obtaining the coordinate in indoor at least three corner in sustained height；
Module 2 is constructed, for constructing the indoor coordinate diagram according to three coordinates；
First coordinate setting module 3 calculates the of the destination locations for obtaining the destination locations of the wheelchair
One coordinate；
Second coordinate setting module 4, the position at the place for obtaining the wheelchair calculate the of the position at the place
Two coordinates；
First route planning module 5, for being planned according to first coordinate and the second coordinate referring to the coordinate diagram
The travel route of the wheelchair；
Wheelchair drive module 6, for driving the wheelchair to be driven automatically according to the travel route from the position at the place
It sails to the destination locations.
In this embodiment, module 1, building module 2, the first coordinate setting module 3, second is obtained by initial coordinate to sit
It marks locating module 4, the first route planning module 5 and wheelchair drive module 6 to cooperate, and the intercommunication of each module,
Realize automatic Pilot wheelchair to destination locations.Particularly, it is obtained first by initial coordinate acquisition module 1 described indoor
At least three the position of sustained height coordinate, building module 2 is flat according to three coordinates buildings indoor two dimension
The coordinate diagram in face realizes gridding.First coordinate setting module 3 includes indoor positioning device and calculator, indoor positioning device
The destination of the wheelchair is positioned, the destination locations of the wheelchair are obtained, the destination of wheelchair can be bed 14, door
The charge position 15 of the either wheelchair of mouth 13, these destination locations can be obtained and be stored in advance；Calculator is according to the coordinate
Figure calculates the first coordinate of the destination locations, realizes coordinatograph；Second coordinate setting module 4 include indoor positioning device and
Calculator, indoor positioning device are used to obtain the position at the place of the wheelchair, and calculator is according to coordinate diagram calculating
Second coordinate of the position at place；First route planning module 5 is referring to the coordinate diagram, according to first coordinate and second
Coordinate plans the travel route of the wheelchair, it is preferred that the first route planning module 5 is according to the most short principle of travel route
Plan the travel route；Drive the wheelchair according to the travel route from the place eventually by wheelchair drive module 6
Position automatic Pilot to the destination locations.Preferably, it is to be separately positioned on three that the initial coordinate, which obtains module 1,
The base sites in the corner of sustained height, for obtaining the coordinate in indoor three corners in sustained height respectively.
In the second embodiment of the present invention, the system also includes:
Third coordinate setting module 7, the position of the object for obtaining the indoor placement, calculates the indoor placement
The third coordinate of the position of object；
Second route planning module 8, for planning the wheel according to first coordinate, the second coordinate and third coordinate
The travel route of chair avoids the position of the object of the placement.
In this embodiment, the position for the object placed in 7 orientation room of third coordinate setting module simultaneously obtains third coordinate,
The object of indoor placement is the position that can not be travelled, and the second route planning module 8 is avoided when planning the travel route of the wheelchair
The position that placed object prevents that the wheelchair is hindered to travel.
In the third embodiment of the present invention, the system 100 further include:
Detection of obstacles module 9, for detecting the barrier in front of the wheelchair；
4-coordinate locating module 10 calculates the of the position of the barrier for obtaining the position of the barrier
4-coordinate；
Judgment module 11, for judging the barrier whether in the travel route according to the 4-coordinate；
Third route planning module 12 plans the traveling road for the barrier again in the travel route
Line.
In this embodiment, it is detected in front of wheelchair by analyte detection module 9 of placing obstacles or whether surrounding has barrier, hindered
Analyte detection module 9 is hindered to can be ultrasonic sensor, infrared sensor etc., when detection of obstacles module 9 detects barrier
When, 4-coordinate locating module 10 obtains the position of the barrier, calculates the 4-coordinate of the position of the barrier, then
Judge the barrier whether in the travel route according to the 4-coordinate by judgment module 11；When barrier is in institute
When stating in travel route, third route planning module 12 plans the travel route again, avoid wheelchair be obscured by an obstacle and
Destination locations can not be driven to.
Referring to Fig. 3, a kind of method of Wheelchair indoor automatic Pilot, the side are provided in the fourth embodiment of the present invention
Method includes:
Step S301 obtains the coordinate in indoor at least three corner in sustained height；The step is by initially sitting
Mark obtains module 1 and realizes；
Step S302 constructs the indoor coordinate diagram according to three coordinates；The step is realized by building module 2；
Step S303 obtains the destination locations of the wheelchair, calculates the first coordinate of the destination locations；The step
It is realized by the first coordinate setting module 3；
Step S304 obtains the position at the place of the wheelchair, calculates the second coordinate of the position at the place；The step
It is realized by the second coordinate setting module 4；
Step S305 plans the row of the wheelchair according to first coordinate and the second coordinate referring to the coordinate diagram
Sail route；The step is realized by the first route planning module 5；
Step S306 drives the wheelchair according to the travel route from the position automatic Pilot at the place to the mesh
Position；The step is realized by wheelchair drive module 6.
In this embodiment, initial coordinate obtains module 1 and obtains described indoor at least three in the corner of sustained height
Coordinate, it is preferred that by being separately positioned on the base sites in the corner of three sustained heights, obtain the interior respectively
Three corners in sustained height coordinate, and realized according to three coordinates buildings by constructing module 2
Indoor coordinate diagram；After determining the destination that wheelchair to be reached, the first coordinate and the position at place of destination locations are obtained
The second coordinate after, carry out the planning of travel route, it is preferred that the traveling road is planned according to travel route most short principle
Line, last drive module drive the wheelchair according to the travel route from the position automatic Pilot at the place to the purpose
Position.Therefore, in daily life, user can directly go to bed after being finished wheelchair, and then wheelchair can pass through above-mentioned multiple implementations
The method automatic running of indoor automatic Pilot described in example is to 15 automatic charging of charge position, similarly, is driven automatically when use when wheelchair
Bed 14 is sailed to, it is user-friendly.
Referring to fig. 4, in the fifth embodiment of the present invention, the method also includes:
Step S401 obtains the position of the object of the indoor placement, calculates the position of the object of the indoor placement
Third coordinate；The step is realized by third coordinate setting module 7.
Step S402 plans the travel route of the wheelchair according to first coordinate, the second coordinate and third coordinate；
The step is realized by the second route planning module 8.
Referring to Fig. 5, in the sixth embodiment of the present invention, the method also includes:
Step S501 detects the barrier in front of the wheelchair；The step is realized by detection of obstacles module 9；
Step S502 obtains the position of the barrier, calculates the 4-coordinate of the position of the barrier；The step by
4-coordinate locating module 10 is realized；
Step S503, according to the 4-coordinate judge the barrier whether in the travel route, the step by
The realization of judgment module 11,
Step S504, if so, planning the travel route again, which is realized by third route planning module 12.
In conclusion the present invention constructs indoor coordinate by obtaining the coordinate points of the position of three indoor sustained heights
Figure realizes gridding, determines that the destination locations of wheelchair, the indoor position and wheelchair that cannot be exercised due to placement article are worked as
The position etc. at preceding place, after carrying out route planning, driving wheelchair automatic Pilot to destination locations, so that user is convenient to use,
User experience is promoted, and improves product specification, increases product competitiveness in the market.
Certainly, the present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, ripe
It knows those skilled in the art and makes various corresponding changes and modifications, but these corresponding changes and change in accordance with the present invention
Shape all should fall within the scope of protection of the appended claims of the present invention.
Claims (10)
1. a kind of method of Wheelchair indoor automatic Pilot, which is characterized in that the described method includes:
Obtain the coordinate in indoor at least three corner in sustained height；
The indoor coordinate diagram is constructed according to three coordinates；
The destination locations for obtaining the wheelchair calculate the first coordinate of the destination locations；
The position for obtaining the place of the wheelchair calculates the second coordinate of the position at the place；
Referring to the coordinate diagram, the travel route of the wheelchair is planned according to first coordinate and the second coordinate；
Drive the wheelchair according to the travel route from the position automatic Pilot at the place to the destination locations.
2. the method for Wheelchair indoor automatic Pilot according to claim 1, which is characterized in that the method also includes:
The position for obtaining the object of the indoor placement calculates the third coordinate of the position of the object of the indoor placement；
The travel route that the wheelchair is planned according to first coordinate, the second coordinate and third coordinate, avoids the placement
Object position.
3. the method for Wheelchair indoor automatic Pilot according to claim 1, which is characterized in that the method also includes:
Detect the barrier in front of the wheelchair；
The position for obtaining the barrier calculates the 4-coordinate of the position of the barrier；
The barrier is judged whether in the travel route according to the 4-coordinate, if so, planning the row again
Sail route.
4. the method for Wheelchair indoor automatic Pilot according to claim 1, which is characterized in that according to the most short original of travel route
Then plan the travel route.
5. the method for Wheelchair indoor automatic Pilot according to claim 1, which is characterized in that by being separately positioned on three
The base sites in the corner of sustained height obtain the coordinate in indoor three corners in sustained height respectively.
6. a kind of system of Wheelchair indoor automatic Pilot, which is characterized in that the system comprises:
Initial coordinate obtains module, for obtaining the coordinate in indoor at least three corner in sustained height；
Module is constructed, for constructing the indoor coordinate diagram according to three coordinates；
First coordinate setting module, for obtaining the destination locations of the wheelchair, calculate the destination locations first is sat
Mark；
Second coordinate setting module, the position at the place for obtaining the wheelchair, calculate the position at the place second sit
Mark；
First route planning module is used for referring to the coordinate diagram, according to first coordinate and the planning of the second coordinate
The travel route of wheelchair；
Wheelchair drive module, for driving the wheelchair according to the travel route from the position automatic Pilot at the place to institute
State destination locations.
7. system according to claim 6, which is characterized in that the system also includes:
Third coordinate setting module, the position of the object for obtaining the indoor placement, calculates the object of the indoor placement
Position third coordinate；
Second route planning module, for planning the wheelchair according to first coordinate, the second coordinate and third coordinate
Travel route avoids the position of the object of the placement.
8. system according to claim 6, which is characterized in that the system also includes:
Detection of obstacles module, for detecting the barrier in front of the wheelchair；
4-coordinate locating module calculates the 4-coordinate of the position of the barrier for obtaining the position of the barrier；
Judgment module, for judging the barrier whether in the travel route according to the 4-coordinate；
Third route planning module plans the travel route for the barrier again in the travel route.
9. system according to claim 1, which is characterized in that the first route planning module is most short according to travel route
Principle plans the travel route.
10. system according to claim 1, which is characterized in that it is to be separately positioned on three that the initial coordinate, which obtains module,
The base sites in the corner of a sustained height, for obtaining the seat in indoor three corners in sustained height respectively
Mark.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811392248.1A CN109765885A (en) | 2018-11-21 | 2018-11-21 | The method and its system of Wheelchair indoor automatic Pilot |
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| CN201811392248.1A CN109765885A (en) | 2018-11-21 | 2018-11-21 | The method and its system of Wheelchair indoor automatic Pilot |
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