CN109846612B - Multifunctional intelligent wheelchair based on bus control system and vital sign cloud monitoring - Google Patents
Multifunctional intelligent wheelchair based on bus control system and vital sign cloud monitoring Download PDFInfo
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Abstract
The invention discloses a multifunctional intelligent wheelchair based on a bus control system and vital sign cloud monitoring, which comprises: the mechanical structure of the wheelchair has three states of sitting posture, standing upright and lying horizontally converted through deformation; the wheelchair intelligent control system is connected with each system through an UM-BUS BUS provided with 3 MLVDS signal channels and used for controlling the coordinated operation of each system and the movement of the wheelchair; the physical sign detection system is used for detecting body temperature and pulse data of a user, uploading the body temperature and pulse data to the cloud server, and sending a short message to inform a mobile terminal of an emergency contact when the physical sign data of the wheelchair user exceeds a normal value; and the pressure sensing system is uniformly paved in the cushion area and the handrail areas at two sides and used for outputting the acquired pressure data to the intelligent wheelchair control system. The wheelchair monitoring system is simple to operate, powerful in function, good in reliability and expandability, capable of achieving intelligent automatic control of the wheelchair and convenient for monitoring users to see a doctor quickly.
Description
Technical Field
The invention relates to the field of medical care machinery products, in particular to a multifunctional intelligent wheelchair based on a bus control system and vital sign cloud monitoring.
Background
In 1986, the first intelligent wheelchair recognized by the world was born in the uk, and subsequently, many countries have invested capital for intelligent wheelchairs.
The wheelchair robot MAIDM developed by the university of ulm, germany is one of the intelligent wheelchair products that have been earlier realized fully automated. The TAOAide intelligent wheelchair in japan can perform data collection and transmission by means of a GPS or the like, and perform real-time positioning of the wheelchair.
Limited by the economic and scientific levels, the development of intelligent wheelchairs in China is relatively late compared with the development of European and American countries, but still more research results are realized. In 2010, a multi-mode intelligent wheelchair was developed by the automation research institute of the Chinese academy of sciences by means of technologies such as computer image recognition and processing, voice control and the like. The present invention relates to an intelligent wheelchair including sensors such as sonar and infrared, which are designed by the society of Shanghai transportation, such as the society of flight.
The above overview shows that the intelligent wheelchair in China is in the stage of experimental research and design, the research technology and results cannot completely meet the requirements of target users, and the general intelligence is insufficient. At present, most wheelchairs in the domestic market are in a human-computer interaction mode, and the movement of the wheelchairs is actively controlled by people, so that the intelligent performance is insufficient. Meanwhile, the wheelchair has little added value, most wheelchairs only have simple functions of simple advancing, simple retreating and the like, the special structure of the wheelchair cannot be fully utilized for design, and a large amount of space still exists in research. Meanwhile, most wheelchairs in the market adopt a traditional system control mode, so that the wheelchairs cannot be well connected with emerging technologies. The present inventors have studied to improve at least one of the above problems.
Disclosure of Invention
In order to solve one of the problems, the invention adopts the following technical scheme:
a multi-functional intelligent wheelchair based on bus control system and vital sign high in clouds control includes:
the wheelchair mechanical structure has three states of sitting posture, standing upright and lying horizontally converted through deformation;
the wheelchair intelligent control system is connected with each system through an UM-BUS BUS provided with 3 MLVDS signal channels and used for controlling the coordinated operation of each system and the movement of the wheelchair;
the physical sign detection system is used for detecting body temperature and pulse data of a user, uploading the body temperature and pulse data to the cloud server, and sending a short message to inform a mobile terminal of an emergency contact when the physical sign data of the wheelchair user exceeds a normal value;
and the pressure sensing system is uniformly paved in the cushion area and the handrail areas at two sides and used for outputting the acquired pressure data to the intelligent wheelchair control system.
Furthermore, the mechanical structure of the wheelchair comprises a backrest, a cushion, a foot rest plate, two pedals arranged on the foot rest plate, a first hydraulic rod, a second hydraulic rod and a third hydraulic rod, wherein the backrest, the cushion and the foot rest plate are sequentially hinged, and the first hydraulic rod, the second hydraulic rod and the third hydraulic rod are respectively in driving connection with the foot rest plate, the cushion and the backrest.
Furthermore, the intelligent wheelchair control system comprises an embedded computer system and a BUS controller, wherein the embedded computer system is in signal connection with the UM-BUS through the BUS controller.
Furthermore, the embedded computer system adopts OMAP-L138 as the core processor and adopts an FPGA chip XC6SLX16 as a UM-BUS BUS protocol processing chip, and the OMAP-L138 and the FPGA chip XC6SLX16 are communicated through an EMIFA interface.
Further, the UM-BUS BUS adopts an MLVDS cable.
Further, the vital signs monitoring system comprises: the physical sign acquisition module comprises a body temperature monitoring module and a pulse monitoring module, the body temperature monitoring module is connected with the chair back of the wheelchair main body, and the pulse monitoring module is placed in a groove of the handle; the GSM module adopts a TC35i module, and when each physical sign parameter exceeds a certain defined electric signal, the system automatically sends a short message to an emergency contact; the WiFi module is used for uploading wheelchair monitoring data to a server; the monitoring mobile terminal provided with the corresponding program is used for receiving and displaying the physical sign data acquired by the physical sign acquisition module in real time; the single-chip microcomputer control module takes an STM32F103RB single-chip microcomputer as a main control chip, is connected with the physical sign acquisition module through a general I/O port, processes an analog signal transmitted by the physical sign acquisition module and converts the analog signal into a digital signal; the WiFi module is connected with the single-chip microcomputer control module through a serial port UART.
Further, the GSM module adopts a TC35i module; the single chip microcomputer control module takes an STM32F103RB single chip microcomputer as a main control chip; the Pulse monitoring module adopts a Pulse Sensor and is arranged at the front end of the handrail; the body temperature detection module comprises an MF54 series NTC thermistor and an integrated circuit, and the MF54 series NTC thermistor is connected with the singlechip control module through the integrated circuit and used for monitoring the body temperature of a human body in real time; the WiFi module adopts an HF-LPB100 embedded WiFi module.
Further, the chair back on be provided with and accomodate the bag, body temperature detection module passes through the extensible member and connects the setting and be in accomodate the bag in.
Furthermore, the pressure sensing system comprises a pressure sensor array, a signal processing module, data nodes, a wireless module and a communication unit, wherein the pressure sensor array comprises a plurality of pressure sensors which are uniformly paved in a cushion area and handrail areas at two sides, and the pressure sensors are used for outputting collected pressure data; the signal processing module is used for converting the analog signal of the pressure sensor into a digital signal and amplifying the digital signal; the data node is controlled by a single chip microcomputer and is used for sending out the pressure information output by the signal processing module through a serial port; the wireless module is used for the data node to send data and the cloud server to receive data; the communication unit is used for sending data received by the wireless module at the cloud server side to the cloud server.
Further, the pressure sensor adopts a flexible grid-shaped tactile pressure sensor with the thickness of 0.1 mm: a Tekscan pressure sensor; the signal processing module adopts an HX711 chip to perform signal processing and digital-to-analog conversion.
Compared with the prior art, the invention has four main aspects:
the mechanical structure can control the motor to enable the connecting rods to change correspondingly, so that the user can automatically stand up, lie down and do leg rehabilitation training.
Secondly, the control system of the invention adopts a reconfigurable bus as a data transmission channel between the functional modules. The function module is accessed and used by compiling a corresponding hardware logic interface to be connected with the function module and connecting the MLVDS cable at the other end.
Thirdly, the physical sign monitoring system adds a sensor capable of measuring pulse and heartbeat on the armrest of the wheelchair, and can record physical sign data of a user and transmit the physical sign data to the cloud of the server. When the wheelchair is used, the mobile terminal small program is developed and used for monitoring physical sign data of a wheelchair user and storing the data in the cloud of the server in real time. When the physical sign data of the wheelchair user exceeds a normal value, the GSM communication module sends a short message to inform an emergency contact person, so that the user can be ensured to seek medical advice quickly.
The pressure sensing system of the invention uniformly arranges the latticed tactile pressure sensors on the two sides of the armrests and the wheelchair cushion to record various pressure characteristics of a user, when in use, characteristic values recorded by the sensors are combined with the single chip microcomputer, and different characteristic values correspond to different outputs, thereby realizing the intelligent automatic control of the wheelchair.
Drawings
FIG. 1 is a diagrammatic view of a wheelchair mechanism according to an embodiment of the invention;
FIG. 2 is a diagram of a seated wheelchair in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a lay flat according to an embodiment of the invention;
FIG. 4 is a diagram of a standing wheelchair in accordance with an embodiment of the present invention;
FIG. 5 is a block diagram of an embodiment of the present invention;
FIG. 6 is a block diagram of a bus hardware architecture according to an embodiment of the present invention;
FIG. 7 is a monitoring system framework diagram of an embodiment of the present invention;
figure 8 is an overall block diagram of a pressure sensing system of an embodiment of the present invention,
fig. 9(a) is a schematic flow chart of pressure data acquisition of the pressure sensing system according to the embodiment of the present invention.
Fig. 9(b) is a schematic flow chart of the pressure sensing system according to the embodiment of the present invention, which uses the local averaging method to preprocess the pressure distribution data.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
A multi-functional intelligent wheelchair based on bus control system and vital sign high in clouds control includes: the wheelchair mechanical structure has three states of sitting posture, standing upright and lying horizontally converted through deformation; the wheelchair intelligent control system is connected with each system through an UM-BUS BUS provided with 3 MLVDS signal channels and used for controlling the coordinated operation of each system and the movement of the wheelchair; the physical sign detection system is used for detecting body temperature and pulse data of a user, uploading the body temperature and pulse data to the cloud server, and sending a short message to inform a mobile terminal of an emergency contact when the physical sign data of the wheelchair user exceeds a normal value; and the pressure sensing system is uniformly paved in the cushion area and the handrail areas at two sides and used for outputting the acquired pressure data to the intelligent wheelchair control system.
The parameters of the mechanical structure of the wheelchair comprise seat height, seat depth, seat width, backrest height, backrest width, seat surface, backrest inclination angle, armrest height and headrest height.
Wherein, the actual size of the seat height = theoretical + size correction (function and psychology), and the height of the seat taking surface is 420mm considering that a certain distance is required between the wheelchair supporting feet and the ground.
The seat depth, namely the depth of the seat surface is slightly less than the length of thighs, so that an activity space of about 5cm is reserved at the part of the knee fossa after a human body sits down and away from the chair edge, and the depth of the seat surface is 350 mm.
The seat width design reference size is human hip width, so that a user can freely adjust sitting postures on the wheelchair, the seat surface width should be larger than the size, and the seat taking surface width is 420 mm.
The height and the width of the backrest and the maximum height of the backrest of the wheelchair depend on the distance from the chair surface to the shoulder, and in order to ensure that the sacrum and the hip below the back have proper rear convex space, the height of the backrest is 410mm, and the width of the backrest is 420 mm.
The seat surface and the backrest inclination angle are provided, and the comfortable wheelchair seat surface has a backward inclination angle, so that the forward sliding of the buttocks of a wheelchair user is prevented, and the physical and psychological fatigue caused by the sliding tendency prevented by the static contraction of muscles is reduced; on the other hand, reduce dorsal muscle hydrostatic pressure. The inclination angle of the seat surface is preferably 5-10 degrees, and the inclination angle of the backrest is 100 degrees.
The distance and the height of the armrests are determined by the width between two elbows of a human body and the height of the sitting elbow. Taking the handrail with the distance of 500 mm; the height of the handrail is 256 mm. The height of the headrest is designed based on the height of the cervical vertebra of the sitting posture of the human body, and the height of the headrest is 650 mm; the width of the headrest is 290 mm.
Specifically, as shown in fig. 1 and 2, the mechanical structure of the wheelchair includes a backrest 1, a seat cushion 2, a footrest 3, two pedals 4 disposed on the footrest 3, and a first hydraulic rod 5, a second hydraulic rod 6, and a third hydraulic rod 7, which are respectively connected to the footrest 3, the seat cushion 2, and the backrest 1 in a driving manner.
As shown in fig. 4, in the standing action, the sitting posture is the original state of the wheelchair, when the standing function is to be realized, the first hydraulic rod 5 is contracted to enable the footrest 3 to be retracted to be approximately vertical to the ground, the second hydraulic rod 6 is also stretched to enable the seat cushion 2 to rotate around the point a to be approximately vertical to the ground, the third hydraulic rod 7 is contracted to enable the backrest 1 to be also vertical to the ground, so that the standing posture change shown in fig. 4 is realized, and otherwise, the wheelchair can be returned to the sitting posture.
As shown in fig. 3, in the lying movement, the sitting posture shown in fig. 2 is taken as the original state of the wheelchair, and if the lying state is to be realized, the hydraulic rod 5 makes the footrest 3 rotate around point B to be parallel to the horizontal plane, the hydraulic rod 7 contracts to make the backrest 1 rotate around point C to be parallel to the seat cushion, and finally the backrest 1, the seat cushion 2 and the footrest 3 are on the same plane, so that the lying function shown in fig. 3 is realized, and vice versa, the sitting state can be returned.
When the wheelchair stands in S201, the foot pedal 4 shown in the wheelchair mechanism diagram of figure 1 realizes the up-and-down stress of the leg, thereby achieving the exercise rehabilitation function.
The intelligent wheelchair control system comprises an embedded computer system and a BUS controller, wherein the embedded computer system is in signal connection with an UM-BUS BUS through the BUS controller. A reconfigurable bus is adopted as a data transmission channel among all functional modules, as shown in a novel architecture diagram of the intelligent wheelchair system in figure 5, the system comprises a main control node, a main controller and a core processor.
The embedded computer system is used as the main control node, the slave node mainly comprises a motion control module, a man-machine interaction module and other functional modules, and the main node and the slave node are accessed into the system through a bus controller.
One end of the bus controller is connected with the functional module by programming a corresponding hardware logic interface, and the other end of the bus controller is connected with the MLVDS cable.
The bus controller circuit comprises a protocol processing part and a bus driving part. The UM-BUS is provided with 3 MLVDS signal channels, a serial BUS with the redundancy of 2 and the highest transmission rate of 600 Mb/s is realized, the dynamic redundancy fault tolerance of 2 data channels of the system can be realized, and the reliability of the whole system is improved. A block diagram of the hardware structure of the master node is shown in fig. 6.
OMAP-L138 is selected as the core processor, an FPGA chip XC6SLX16 is selected as an UM-BUS BUS protocol processing chip, and the establishment of peripheral related peripheral equipment is included. The OMAP-L138 and the FPGA communicate with each other through an EMIFA interface.
As shown in fig. 7, the vital signs monitoring system comprises: the physical sign acquisition module, single-chip microcomputer control module, GSM module, the monitoring of corresponding procedure is installed to the WiFi module and is removed the end, physical sign acquisition module divide into body temperature monitoring module and pulse monitoring module, body temperature monitoring module links to each other with the back of the chair of wheelchair main part. The pulse monitoring module is placed in the groove of the handle.
Specifically, the body temperature detection module comprises an MF54 series NTC thermistor and an integrated circuit, and the thermistor is connected with the singlechip control module through the integrated circuit and used for monitoring the body temperature of a human body in real time. The resistance and the temperature are converted into one-to-one corresponding relation by using the characteristics of the constant current source, and the relation is corrected by using an average algorithm; the temperature measurement range is 32.0-42.0 ℃, and the precision is less than +/-0.1 ℃.
The Pulse detection module comprises a Pulse Sensor and is used for measuring the Pulse by adopting a photoelectric volume method, and the Pulse Sensor is arranged at the front end of the handrail. The Pulse Sensor consists of a light source and a photoelectric converter. The Pulse Sensor light source emits light beams with a certain wavelength (500 nm-700 nm), when the light beams penetrate through peripheral blood vessels of a human body, the light transmittance of the light beams is changed due to the change of arterial Pulse hyperemia volume, and at the moment, the light beams reflected by human tissues are received by the photoelectric converter and are converted into electric signals to be amplified and output. Since the pulse is a signal that changes periodically with the pulsation of the heart and the arterial blood vessel volume also changes periodically, the period of change of the electrical signal of the photoelectric transducer is the pulse rate. The Pulse Sensor can transmit the acquired analog signals to the single chip microcomputer, the analog signals are converted into digital signals by using the self A/D conversion function of the single chip microcomputer, and then Pulse values can be obtained after simple calculation through the single chip microcomputer.
Before the device is used, the body temperature detection module is placed in the containing bag. When detecting body temperature, open and accomodate the bag, take out body temperature monitoring module, utilize the extensible member to adjust body temperature monitoring module's position is placed the monitoring end in the armpit, carries out the measurement of armpit body temperature. When the pulse is measured, the pulse monitoring module in the handle groove is taken out to sleeve the detection end on the finger, and the pulse signal monitoring of the skin surface arteriole is carried out.
And the data acquisition end of the single chip microcomputer control module takes an STM32F103RB single chip microcomputer as a main control chip. Based on body temperature monitoring module and pulse monitoring module pass through general IO mouth and link to each other with STM32F103RB singlechip to the analog signal that processing sensor afferent, turn into digital signal with it. The WiFi wireless receiving and sending module is connected with the single chip microcomputer of the STM32F103RB through a serial port UART.
The GSM module employs a TC35i module to implement various wireless communication functions. When the input physical sign parameters exceed a certain defined electric signal, the system automatically sends short messages to emergency contacts, so that the function of monitoring the old is achieved.
The WiFi module adopts an HF-LPB100 embedded WiFi module to transmit data, so that wheelchair monitoring data are uploaded to a server.
Set up when the monitoring of installing corresponding procedure removes the end, the user can carry out the use of believe little procedure end a little and later can watch the monitoring data that wheelchair sign was gathered in real time through the two-dimensional code picture that department posted on the scanning wheelchair.
The WeChat applet is used to monitor physical sign data of the wheelchair user and transmit the data to emergency contacts in real time. Meanwhile, the data in a past period of time can be stored, and when the physical signs of the user are abnormal, the doctor can watch the previous data to make a correct judgment on the state of an illness. When the physical sign data of the wheelchair user exceeds a normal value, the cloud end sends a short message to inform an emergency contact person through the GSM module, so that the user can be ensured to seek medical advice quickly.
The WeChat small program specifically comprises the following steps: operating system environment: windows system, development environment: WeChat Web developer tool, front-end development: js file development, wxml file development, wxss file development. js file development, namely using JavaScript language; wxml file development, using HTML language; wxss files were developed, using the CSS language.
As shown in fig. 8, the pressure sensing system includes a pressure sensor array, a signal processing module, a data node, a wireless module, and a communication unit, wherein the pressure sensor array employs a grid-shaped tactile pressure sensor with excellent flexibility and a thickness of only 0.1 mm: tekscan pressure sensor. In the embodiment, 10 pressure sensors are uniformly paved in the cushion area and the handrail areas on two sides, and the pressure sensors output the acquired pressure data.
The pressure sensing system uniformly arranges the network-shaped touch pressure sensors on two sides of the armrests and the wheelchair cushion to record various pressure characteristic values of a user. When the device is used, the characteristic values recorded by the sensor are combined with the single chip microcomputer, and different characteristic values correspond to different outputs. The invention defines six characteristic values which respectively correspond to turning and the special lying down and standing functions designed by the invention. The invention realizes the purpose of more intellectualization of the wheelchair through the design of the pressure sensing content.
Common sitting posture definitions include: the body leans forward, the body leans backward, the body leans left, the body leans right, the sitting posture is normal, and the unmanned state is realized. When the body leans forward, the pressure change value of the sensor close to the front in the sensor array is larger, so that the single chip microcomputer outputs corresponding level to drive the hydraulic rod of the wheelchair to move, and the wheelchair enters a standing posture; when the body leans backwards, the pressure change value of the sensor at the back of the sensor array is larger, so that the single chip microcomputer outputs corresponding level to drive the hydraulic rod of the wheelchair to move, and the wheelchair enters a lying posture; the body inclines left, the left handrail and the sensor close to the left in the sensor array have obvious pressure change, so that the singlechip outputs corresponding level to drive the front wheel (steering wheel) of the wheelchair to act, and the front wheel (steering wheel) rotates left; when the body inclines rightwards, the right handrail and the sensor near the right side in the sensor array have obvious pressure change, so that the single chip microcomputer outputs corresponding level to drive the front wheel (steering wheel) of the wheelchair to act, and the front wheel (steering wheel) rotates rightwards; in a normal posture, the pressure quantity of the sensor array is distributed normally, the single chip microcomputer is kept in an open state by outputting an electric signal, and the wheelchair enters a working state; when no person is in a posture, the sensor array does not sense the pressure, no electric signal is output, the single chip microcomputer is in a turn-off state, and the wheelchair enters a turn-off state.
The signal processing module is used for converting an analog signal of the sensor into a digital signal and amplifying the digital signal, and in the embodiment, the HX711 chip is used for signal processing and digital-to-analog conversion.
The data node is controlled by a single chip microcomputer and is used for sending out the pressure information output by the HX711 through a serial port.
The wireless module is used for the data node to send data and the cloud server to receive data;
the communication unit is used for sending data received by the wireless module at the cloud server side to the cloud server.
As shown in fig. 9(a), when the user sits on the wheelchair, the sensor records the generated pressure distribution, that is, the pressure distribution data can be analyzed. As shown in fig. 9(b), in order to avoid pressure interference inside or outside the sensor, the local averaging method is used to preprocess the pressure distribution data, and sample data is collected through experiments to define a related common gesture, so that an intelligent operating system is implemented, and the use by a user is facilitated.
The above embodiment is an embodiment of the present invention, but the embodiment of the present invention is not limited by the above embodiment, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be regarded as equivalent replacements within the protection scope of the present invention.
Claims (3)
1. The utility model provides a multi-functional intelligent wheelchair based on bus control system and vital sign high in clouds control which characterized in that includes:
the wheelchair mechanical structure has three states of sitting posture, standing upright and lying horizontally converted through deformation;
the wheelchair intelligent control system is connected with each system through an UM-BUS BUS provided with 3 MLVDS signal channels and used for controlling the coordinated operation of each system and the movement of the wheelchair;
the physical sign detection system is used for detecting body temperature and pulse data of a user, uploading the body temperature and pulse data to the cloud server, and sending a short message to inform a mobile terminal of an emergency contact when the physical sign data of the wheelchair user exceeds a normal value;
the pressure sensing system is uniformly paved in the cushion area and the handrail areas at two sides and used for outputting the acquired pressure data to the intelligent wheelchair control system; the mechanical structure of the wheelchair comprises a backrest (1), a cushion (2), a footrest (3), two pedals arranged on the footrest (3), and a first hydraulic rod (5), a second hydraulic rod (6) and a third hydraulic rod (7) which are respectively in driving connection with the footrest (3), the cushion (2) and the backrest (1), wherein the backrest (1), the cushion (2) and the footrest (3) are sequentially hinged; the intelligent wheelchair control system comprises an embedded computer system and a BUS controller, wherein the embedded computer system is in signal connection with an UM-BUS BUS through the BUS controller; the embedded computer system adopts OMAP-L138 as a core processor and adopts an FPGA chip XC6SLX16 as an UM-BUS BUS protocol processing chip, and the OMAP-L138 and the FPGA chip XC6SLX16 are communicated through an EMIFA interface; the physical sign monitoring system comprises: the physical sign acquisition module comprises a body temperature monitoring module and a pulse monitoring module, the body temperature monitoring module is connected with the chair back of the wheelchair main body, and the pulse monitoring module is placed in a groove of the handle; the GSM module adopts a TC35i module, and when each physical sign parameter exceeds a certain defined electric signal, the system automatically sends a short message to an emergency contact; the WiFi module is used for uploading wheelchair monitoring data to a server; the monitoring mobile terminal provided with the corresponding program is used for receiving and displaying the physical sign data acquired by the physical sign acquisition module in real time; the single-chip microcomputer control module takes an STM32F103RB single-chip microcomputer as a main control chip, is connected with the physical sign acquisition module through a general I/O port, processes an analog signal transmitted by the physical sign acquisition module and converts the analog signal into a digital signal; the WiFi module is connected with the single-chip microcomputer control module through a serial port UART; the GSM module adopts a TC35i module; the single chip microcomputer control module takes an STM32F103RB single chip microcomputer as a main control chip; the Pulse monitoring module adopts a Pulse Sensor and is arranged at the front end of the handrail; the body temperature detection module comprises an MF54 series NTC thermistor and an integrated circuit, and the MF54 series NTC thermistor is connected with the singlechip control module through the integrated circuit and used for monitoring the body temperature of a human body in real time; the WiFi module adopts an HF-LPB100 embedded WiFi module; the chair back is provided with a containing bag, and the body temperature detection module is connected and arranged in the containing bag through a telescopic piece; the pressure sensing system comprises a pressure sensor array, a signal processing module, data nodes, a wireless module and a communication unit, wherein the pressure sensor array comprises a plurality of pressure sensors which are uniformly paved in a cushion area and handrail areas at two sides, and the pressure sensors are used for outputting acquired pressure data; the signal processing module is used for converting the analog signal of the pressure sensor into a digital signal and amplifying the digital signal; the data node is controlled by a single chip microcomputer and is used for sending out the pressure information output by the signal processing module through a serial port; the wireless module is used for the data node to send data and the cloud server to receive data; the communication unit is used for sending data received by the wireless module at the cloud server side to the cloud server;
when the wheelchair is in a standing state, a sitting posture state is taken as an original state of the wheelchair, when a standing function is to be realized, the first hydraulic rod is contracted to enable the footrest to be recovered to be approximately vertical to the ground, meanwhile, the second hydraulic rod is also stretched to enable the seat cushion to rotate around to be approximately vertical to the ground, meanwhile, the third hydraulic rod is contracted to enable the backrest to be also vertical to the ground, and otherwise, the wheelchair can return to the sitting posture state;
when the wheelchair is in a lying state, if the wheelchair is in a sitting posture state, the hydraulic rod enables the backrest plate to rotate to be parallel to a horizontal plane, the hydraulic rod contracts to enable the backrest to rotate to be parallel to the seat cushion, and finally the backrest, the seat cushion and the backrest plate are enabled to be on the same plane, otherwise, the wheelchair can return to the sitting posture state; when the wheelchair is in a standing action, the up-and-down stress of the legs is realized through the pedal plate, so that the exercise rehabilitation function is achieved; one end of the bus controller is connected with the functional module by programming a corresponding hardware logic interface, and the other end of the bus controller is connected with the MLVDS cable; the bus controller circuit comprises a protocol processing part and a bus driving part; the UM-BUS is provided with 3 MLVDS signal channels, so that a serial BUS with the redundancy of 2 and the highest transmission rate of 600 Mb/s is realized, and the dynamic redundancy fault tolerance of 2 data channels of the system can be realized; the pressure sensing system uniformly arranges the network-shaped tactile pressure sensors on the two sides of the armrests and the wheelchair cushion to record various pressure characteristic values of a user; the characteristic values recorded by the sensor are combined with the single chip microcomputer, and different characteristic values correspond to different outputs; defining six characteristic values which respectively correspond to steering and the special lying down and standing functions of the invention; common sitting posture definitions include: the body leans forward, the body leans backward, the body leans left, the body leans right, the sitting posture is normal, and the unmanned state is not available; when the body leans forward, the pressure change value of the sensor close to the front in the sensor array is larger, so that the single chip microcomputer outputs corresponding level to drive the hydraulic rod of the wheelchair to move, and the wheelchair enters a standing posture; when the body leans backwards, the pressure change value of the sensor at the back of the sensor array is larger, so that the single chip microcomputer outputs corresponding level to drive the hydraulic rod of the wheelchair to move, and the wheelchair enters a lying posture; the body inclines left, the left armrest in the sensor array and the sensor close to the left have obvious pressure change, so that the single chip microcomputer outputs corresponding level to drive the front wheel of the wheelchair to act, and the front wheel rotates left; when the body inclines rightwards, the right handrail and the sensor near the right side in the sensor array have obvious pressure change, so that the single chip microcomputer outputs corresponding level to drive the front wheel of the wheelchair to act, and the front wheel rotates rightwards; in a normal posture, the pressure quantity of the sensor array is distributed normally, the single chip microcomputer is kept in an open state by outputting an electric signal, and the wheelchair enters a working state; when no person is in a posture, the sensor array does not sense the pressure, no electric signal is output, the single chip microcomputer is in a turn-off state, and the wheelchair enters a turn-off state; when the user sits on the wheelchair, the sensor can record the pressure distribution that produces, can analyze pressure distribution data, adopts local average method to carry out the preliminary treatment to pressure distribution data to gather the relevant common posture of sample data definition through the experiment, realize intelligent operating system.
2. The multifunctional intelligent wheelchair based on a BUS control system and vital sign cloud monitoring of claim 1, wherein the UM-BUS employs an MLVDS cable.
3. The multifunctional intelligent wheelchair based on a bus control system and vital sign cloud monitoring of claim 1, wherein the pressure sensor is a flexible grid-shaped tactile pressure sensor with a thickness of 0.1 mm: a Tekscan pressure sensor; the signal processing module adopts an HX711 chip to perform signal processing and digital-to-analog conversion.
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