CN110169881A

CN110169881A - A kind of intelligent wheel chair combined of multi-sensor information

Info

Publication number: CN110169881A
Application number: CN201910555003.4A
Authority: CN
Inventors: 卢妃
Original assignee: Jinhua Radio And Television University
Current assignee: Jinhua Radio And Television University
Priority date: 2019-06-25
Filing date: 2019-06-25
Publication date: 2019-08-27

Abstract

The invention discloses a kind of intelligent wheel chairs combined of multi-sensor information, its key points of the technical solution are that including wheelchair body, in-wheel driving mechanism, complaint message collector, controller, in-wheel driving mechanism includes front wheels and rear wheels；The bottom of wheelchair body is additionally provided with pedrail mechanism, pedrail mechanism includes driving wheel and supporting roller and track body, there are two driving wheel settings, and two driving wheels are located at the rear and front end of wheelchair body, supporting roller is at least provided with two, and each supporting roller is respectively positioned between two driving wheels, the lower rotation of wheelchair body is connected with the swing arm for installing for driving wheel, swing arm one end and wheelchair body are hinged, the other end and supporting roller are rotatablely connected, it is provided between swing arm and wheelchair body for driving swing arm around the first driver with the rotation of the hinged place of wheelchair body；Track body includes creeper tread and crawler belt axis, is convexly equipped with spike-tooth on creeper tread.The wheelchair is capable of the safety of effective guarantee occupant.

Description

A kind of intelligent wheel chair combined of multi-sensor information

Technical field

The present invention relates to a kind of wheelchairs, more specifically, it relates to a kind of intelligent wheel chair combined of multi-sensor information.

Background technique

With the quickening of social population's astogeny process, elderly population are more and more, and due to various diseases, traffic thing Therefore the increase of disabled person caused by reasons is waited, walking-replacing tool is provided for the elderly and the disabled have become entire society pay close attention to One of the problem of.As quality of life improves, old man will be more and more common with wheelchair situation, and electric wheelchair solves old man and do not have body Power occupant propulsion traveling problem, but electric wheelchair unavoidably encounters the barriers such as low-lying, stone in outdoor operation, and old People and disabled person are since respond is poor, if disposition is prone to accidents not in time.

Summary of the invention

In view of the deficiencies of the prior art, the present invention intends to provide a kind of intelligence combined of multi-sensor information Wheelchair, the wheelchair are capable of the safety of effective guarantee occupant.

To achieve the above object, the present invention provides the following technical scheme that a kind of intelligence wheel combined of multi-sensor information Chair includes wheelchair body and is able to drive the mobile in-wheel driving mechanism of wheelchair body, is provided with barrier in the wheelchair body Hinder information acquisition device and the controller for controlling wheeled driving mechanism, the complaint message collector and controller communication link It connects, the in-wheel driving mechanism includes to be rotatably connected on the front wheels and rear wheels of wheelchair body bottom, and the front wheels and rear wheels are equal There are two settings, and is located at the width two sides of wheelchair body；

The bottom of the wheelchair body is additionally provided with pedrail mechanism, and the pedrail mechanism includes to be rotatably connected on wheelchair sheet The driving wheel and supporting roller of body bottom and the track body being rotatably connected on driving wheel and supporting roller, the driving wheel and The axial rotation with front wheels and rear wheels of the rotation of supporting roller is arranged in an axially parallel mode, and there are two the driving wheel settings, and two Driving wheel is located at the rear and front end of wheelchair body, and the supporting roller is at least provided with two, and the equal position of each supporting roller Between two driving wheels, the lower rotation of the wheelchair body is connected with the swing arm for installing for driving wheel, the pendulum Swing arm one end and wheelchair body are hinged, and the other end and supporting roller are rotatablely connected, and are provided between the swing arm and wheelchair body For driving swing arm around the first driver with the rotation of the hinged place of wheelchair body；It is located at driving after swing arm drops down Track body between wheel and supporting roller can be arranged with ground at angle, and the track body between two supporting rollers is low The height locating for front wheels and rear wheels lower side；Crawler belt sheet after swing arm collapses upwards between driving wheel and supporting roller Body can be bonded setting with ground, and the lower side of track body is higher than height locating for front wheels and rear wheels lower side；

The track body includes several creeper treads and the crawler belt axis that is articulated between adjacent two creeper tread, the crawler belt Convex, which is equipped with, on plate is inserted into the spike-tooth on ground, the spike-tooth include the long tooth being arranged at intervals on adjacent track plate and Short tooth.

The present invention is further arranged to: at least one driving wheel slip is connected in wheelchair body, and driving wheel is in wheelchair Glide direction on ontology is the length direction of wheelchair body, is provided in the wheelchair body for driving driving wheel slip Second driver, the second driver drives driving wheel works as swing to the close sliding of another driving wheel after swing arm drops down The second driver drives driving wheel is to another driving wheel far from sliding after arm collapses upwards.

The present invention is further arranged to: first driver includes to be rotationally connected between swing arm and wheelchair body Cylinder, second driver includes setting actuating arm on a swing arm and is connected between actuating arm and driving wheel Linking arm, the actuating arm and swing arm be fixed into angle setting, the both ends of the linking arm respectively with actuating arm and driving Wheel rotation connection, when swing arm drops down, actuating arm can be by pulling linking arm that driving wheel is driven to lean on to another driving wheel Nearly sliding, when swing arm collapses upwards, actuating arm can be by pushing linking arm to drive driving wheel to another driving wheel far from sliding It moves.

The present invention is further arranged to: the swing arm is rotatably connected to far from one end of wheelchair body for for supporting roller The mounting rack of rotation connection, the middle part of the mounting rack and the end of swing arm are rotatablely connected, on the mounting rack along its length Direction is at least rotatablely connected there are two supporting roller.

The present invention is further arranged to: being provided with to press after swing arm collapses upwards in the wheelchair body and pacified Shelve by pressure arm, flexible briquetting is arranged in the end of the pressing wall.

The present invention is further arranged to: the track body further includes the nail-plate having with creeper tread split settings, the nail Tooth and the into a single integrated structure setting of nail-plate, the nail-plate are located at the end of creeper tread, offer on the nail-plate for for crawler belt axis Hinged hinge hole.

The present invention is further arranged to: convex is equipped with to increase and rub with the elasticity of frictional ground force on the creeper tread Scrubbing pad, the height that the elastic-friction pad protrudes from creeper tread are less than spike-tooth and protrude from the height on creeper tread, the elasticity Friction pad is extended along the length direction of creeper tread.

The present invention is further arranged to: the installation edge for installing for elastic friction pad, institute are convexly equipped on the creeper tread Installation is stated along there are two the settings, and two installations are arranged in parallel along the length direction of creeper tread, two installations between there are For the mounting groove of elastic friction pad insertion, the cross section of the elastic-friction pad along its length is at T-shaped structure setting, institute Stating elastic-friction pad includes the installation pad that can be embedded in mounting groove and the abutting pad that can cover in two sides installation edge.

In conclusion the invention has the following advantages: directive property can be selected by force and energy in complaint message collector It is combined of multi-sensor information to consume slow ultrasonic sensor, the visual sensor based on camera, sonar sensor etc. Intelligent wheel chair obstacle avoidance system, using the obstacle classification device of Haar-like feature and the fuzzy neural network based on T-S model Blending algorithm is realized the identification of barrier size, distance and bearing, while the wheel speed and corner that real-time control wheelchair is mobile, is had Effect improves avoidance efficiency, ensures the safety of occupant.

In the state that the first driver drives swing arm is in and collapses upwards, front wheels and rear wheels land, and track body Lower side be lifted away from the certain height in ground, wheelchair relies primarily on in-wheel driving mechanism during traveling at this time, but Pedrail mechanism can play effective supporting role when encountering the barriers such as low-lying, stone, greatly increase passing through for wheelchair Property, effectively wheelchair can be avoided to topple over and cause accident, so as to the safety of effective guarantee occupant；Or when the first driver Swing arm is driven to be in the state of drops down, the lower side of track body lands, and front wheels and rear wheels are lifted away from ground one Fixed height, wheelchair relies primarily on pedrail mechanism during traveling at this time, and uses the wheelchair of pedrail mechanism mobile Passability is strong in the process, is applicable to the road surface of various situations, and pedrail mechanism and contact area of ground are big, can not only have Effect avoids wheelchair from toppling over and causes accident, so as to the safety of effective guarantee occupant, additionally it is possible to effectively improve wheelchair and move Stability during dynamic.

The setting of spike-tooth can be inserted into the process of running ground by track body, play and track body is avoided to beat Sliding phenomenon to effectively enhance the adherence properties of track body, and then is conducive to improve the degree of stability of wheelchair.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of wheelchair；

Fig. 2 is the structural schematic diagram in pedrail mechanism under swing arm unfolded state；

Fig. 3 is the structural schematic diagram in pedrail mechanism under swing arm rounding state；

Fig. 4 is the structural schematic diagram of nail-plate；

Fig. 5 is the structural schematic diagram of creeper tread.

Appended drawing reference: 1, wheelchair body；2, in-wheel driving mechanism；21, front-wheel；22, rear-wheel；3, pedrail mechanism；31, it drives Wheel；32, supporting roller；33, track body；331, creeper tread；3311, edge is installed；3312, mounting groove；332, crawler belt axis；333, it follows closely Plate；3331, hinge hole；334, spike-tooth；3341, long tooth；3342, short tooth；335, elastic-friction pad；3351, installation pad；3352, Abut pad；34, swing arm；341, actuating arm；35, cylinder；36, linking arm；37, mounting rack；38, pressure arm is pressed；381, elasticity is pressed Briquetting.

Specific embodiment

With reference to the accompanying drawings and examples, the present invention is described in more detail.Wherein identical components are with identical Appended drawing reference indicates.It should be noted that word "front", "rear" used in the following description, "left", "right", "up" and "down" Refer to that the direction in attached drawing, word " bottom surface " and " top surface ", "inner" and "outside" are referred respectively to towards or away from particular elements The direction of geometric center.

Referring to Fig.1 shown in -5, a kind of intelligent wheel chair combined of multi-sensor information includes wheelchair body 1 and being capable of band The mobile in-wheel driving mechanism 2 of wheelchair ontology 1 is provided with complaint message collector and wheeled for controlling in wheelchair body 1 The controller of driving mechanism 2, complaint message collector and controller communicate to connect, and in-wheel driving mechanism 2 includes rotation connection There are two front-wheel 21 and rear-wheel 22 in 1 bottom of wheelchair body, front-wheel 21 and rear-wheel 22 are respectively provided with, and it is located at wheelchair sheet The width two sides of body 1；Above-mentioned in-wheel driving mechanism 2 and complaint message collector and controller are well-known technique, using logical Standing meter, wherein strong directive property and the slow ultrasonic sensor of energy consumption can be selected, based on taking the photograph in complaint message collector The intelligent wheel chair obstacle avoidance system combined of multi-sensor information such as visual sensor, sonar sensor as head, using Haar-like The obstacle classification device of feature and the blending algorithm of the fuzzy neural network based on T-S model, realize barrier size, distance and The identification in orientation, while the wheel speed and corner that real-time control wheelchair is mobile, effectively increase avoidance efficiency, ensure the peace of occupant Entirely.

The bottom of wheelchair body 1 is additionally provided with pedrail mechanism 3, and pedrail mechanism 3 includes to be rotatably connected on 1 bottom of wheelchair body The driving wheel 31 and supporting roller 32 in portion and the track body 33 being rotatably connected on driving wheel 31 and supporting roller 32, driving wheel 31 and the axial rotation with front-wheel 21 and rear-wheel 22 of rotation of supporting roller 32 be arranged in an axially parallel mode, there are two driving wheel 31 is arranged, And two driving wheels 31 are located at the rear and front end of wheelchair body 1, supporting roller 32 at least provided with two, and it is each with Driving wheel 32 is respectively positioned between two driving wheels 31, and the lower rotation of wheelchair body 1 is connected with the pendulum for installing for driving wheel 31 Swing arm 34,34 one end of swing arm and wheelchair body 1 are hinged, and the other end and supporting roller 32 are rotatablely connected, swing arm 34 and wheelchair sheet It is provided between body 1 for driving swing arm 34 around the first driver with the rotation of the hinged place of wheelchair body 1；When swing arm 34 Track body 33 after drops down between driving wheel 31 and supporting roller 32 can be arranged with ground at angle, and be located at Track body 33 between two supporting rollers 32 is lower than height locating for 22 lower side of front-wheel 21 and rear-wheel；When swing arm 34 is received upwards Track body 33 after holding together between driving wheel 31 and supporting roller 32 can be bonded setting with ground, and track body 33 Lower side is higher than height locating for 22 lower side of front-wheel 21 and rear-wheel.

Above-mentioned pedrail mechanism 3 tool is collapsed when the first driver drives swing arm 34 is in upwards there are two types of working morphology Under state, front-wheel 21 and rear-wheel 22 land, and the lower side of track body 33 is lifted away from the certain height in ground, and wheelchair exists at this time In-wheel driving mechanism 2 is relied primarily on during traveling, but pedrail mechanism 3 can rise when encountering the barriers such as low-lying, stone To effective supporting role, the passability of wheelchair is greatly increased, effectively wheelchair can be avoided to topple over and cause accident, thus It is capable of the safety of effective guarantee occupant；Or work as the first driver drives swing arm 34 and be in the state of drops down, crawler belt The lower side of ontology 33 lands, and front-wheel 21 and rear-wheel 22 are lifted away from the certain height in ground, at this time process of the wheelchair in traveling In rely primarily on pedrail mechanism 3, and use the wheelchair of pedrail mechanism 3 passability be strong in the process of moving, be applicable to various The road surface of situation, and pedrail mechanism 3 and contact area of ground are big, effectively wheelchair can not only be avoided to topple over and cause accident, So as to the safety of effective guarantee occupant, additionally it is possible to effectively improve stability of the wheelchair in moving process.

Track body 33 includes several creeper treads 331 and the crawler belt axis 332 that is articulated between adjacent two creeper tread 331, Convex is equipped with the spike-tooth 334 for being inserted into ground on creeper tread 331, and spike-tooth 334 includes to be arranged at intervals on adjacent track plate Long tooth 3341 and short tooth 3342 on 331.The setting of spike-tooth 334 can be inserted into ground in the process of running by track body 33 Face plays and track body 33 is avoided to have skidded phenomenon, to effectively enhance the adherence properties of track body 33, and then is conducive to Improve the degree of stability of wheelchair.In addition, the setting of the spike-tooth 334 is also particularly suitable for realizing wheelchair stair-climbing ladder by pedrail mechanism 3 Effect, being snapped by spike-tooth 334 can effectively avoid track body 33 from skidding on step at step edge, for Improve the safe coefficient of 3 stair climbing of pedrail mechanism.

The sliding of an at least driving wheel 31 is connected in wheelchair body 1, and sliding side of the driving wheel 31 in wheelchair body 1 To the length direction for wheelchair body 1, the second driver for driving driving wheel 31 to slide is provided in wheelchair body 1, when The second driver drives driving wheel 31 is to the close sliding of another driving wheel 31 after 34 drops down of swing arm, when swing arm 34 is upward The second driver drives driving wheel 31 is to another driving wheel 31 far from sliding after gathering.Swing arm 34 from drops down be converted to The set-up mode of track body 33 is changed when the state of upper gathering, track body 33 is in relaxed state at this time, to avoid carrying out Band body 33 falls off, therefore the second driver drives driving wheel 31 is arranged to the direction movement far from another driving wheel 31, thus It can be realized and be tensioned track body 33, track body 33 is effectively avoided to fall off, be conducive to improve pedrail mechanism 3 in swing arm 34 Stable degree when collapsing upwards.

In addition, the design structure for avoiding track body 33 from falling off can also be by connecting in driving wheel 31 and track body 33 Limit anticreep design is done at the place of connecing, and also can be used in avoiding falling off for track body 33.

First driver includes the cylinder 35 being rotationally connected between swing arm 34 and wheelchair body 1, the second driver It include the actuating arm 341 being arranged on swing arm 34 and the linking arm being connected between actuating arm 341 and driving wheel 31 36, Actuating arm 341 and swing arm 34 are fixed into angle setting, and the both ends of linking arm 36 are rotated with actuating arm 341 and driving wheel 31 respectively Connection, when 34 drops down of swing arm, actuating arm 341 can be by pulling linking arm 36 to drive driving wheel 31 to another driving Wheel 31 close to sliding, when swing arm 34 upwards collapse when actuating arm 341 can by push linking arm 36 drive driving wheel 31 to Another driving wheel 31 is far from sliding.Said structure design is ingenious, the first driver and the second driver can be done effective combination, Two kinds of operation forms of the two kinds of operation forms and driving wheel 31 of realizing swing arm 34 do effective combination, and only need a cylinder 35 can be achieved with, and not only contribute to the use degree of stability for improving pedrail mechanism 3, have been greatly reduced the assembling of pedrail mechanism 3 Cost and maintenance cost.

Swing arm 34 is rotatably connected to the mounting rack for being rotatablely connected for supporting roller 32 far from one end of wheelchair body 1 37, the middle part of mounting rack 37 and the end of swing arm 34 are rotatablely connected, and are at least rotatablely connected along its length on mounting rack 37 There are two supporting rollers 32.The setting of mounting rack 37 can also increase supporting roller 32 while can be by reducing 34 quantity of swing arm Quantity, be conducive to improve pedrail mechanism 3 run when degree of stability.

Be provided in wheelchair body 1 can after swing arm 34 collapses upwards pressing on mounting rack 37 by pressure arm 38, Flexible briquetting 381 is arranged in the end for pressing wall.It can be used in limiting mounting rack 37 by pressure arm 38 and move up stroke, make to be servo-actuated Wheel 32 can also effectively abut in the state that swing arm 34 collapses upwards with track body 33, to be conducive to improve tracked machine Degree of stability when structure 3 is run；The elasticity briquetting 381 can be made of rubber simultaneously, can play the role of buffering, damping.

Track body 33 further includes the nail-plate 333 having with 331 split settings of creeper tread, and spike-tooth 334 and nail-plate 333 are integral Structure setting, nail-plate 333 are located at the end of creeper tread 331, are offered on nail-plate 333 for for hinged hinged of crawler belt axis 332 Hole 3331.Track body 33 and 333 split settings of nail-plate, convenient for spike-tooth 334 upon wear can by replace the nail-plate 333 come Extend the service life of remaining accessory, and nail-plate 333 be arranged in the both ends of creeper tread 331, that is, track body 33 two Side can effectively improve the mobile degree of stability of pedrail mechanism 3, effectively avoid skidding.

Convex is equipped with the elastic-friction pad 335 that can increase with frictional ground force, elastic-friction pad on creeper tread 331 335 height protruded from creeper tread 331 are less than spike-tooth 334 and protrude from the height on creeper tread 331,335 edge of elastic-friction pad The length direction of creeper tread 331 is extended.The elastic-friction pad 335 can be selected and be made of rubber, and be located at creeper tread 331 Between the nail-plate 333 at both ends, plays the role of enhancing creeper tread 331 and frictional ground force, enable track body 33 in operational process In can be avoided its generate skidding.

The installation for installing for elastic friction pad 335 is convexly equipped on creeper tread 331 along 3311, installation is provided with along 3311 Two, and two installations are arranged in parallel along 3311 along the length direction of creeper tread 331, and there are ammunition feed between 3311 for two installations Property the mounting groove 3312 that is embedded in of friction pad 335, the cross section of elastic-friction pad 335 along its length at T-shaped structure setting, Elastic-friction pad 335 includes the installation pad 3351 that can be embedded in mounting groove 3312 and can cover in two sides installation along 3311 Abutting pad 3352.The mounting means of elastic-friction pad 335 and creeper tread 331 can pass through two installations by screw will peace along 3311 Dress pad 3351 is fixed in mounting groove 3312, can also be padded 335 thickness directions along elastic-friction by screw and is passed through and crawler belt Plate 331 connects.And install and be used not only for realizing limit installation for elastic friction pad 335 along 3311, effectively increase elasticity Friction pad 335 firmly installs degree, additionally it is possible to be generated along 3311 to it when elastic-friction pad 335 is squeezed by installation Rigid support is conducive to extend the service life of elastic-friction pad 335.

The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment, All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims

1. a kind of intelligent wheel chair combined of multi-sensor information, includes wheelchair body (1) and be able to drive wheelchair body (1) shifting Dynamic in-wheel driving mechanism (2), it is characterized in that: being provided with complaint message collector in the wheelchair body (1) and for controlling The controller of in-wheel driving mechanism (2), the complaint message collector and controller communicate to connect, the in-wheel driving mechanism It (2) include the front-wheel (21) and rear-wheel (22) for being rotatably connected on wheelchair body (1) bottom, the front-wheel (21) and rear-wheel (22) There are two being respectively provided with, and it is located at the width two sides of wheelchair body (1)；

The bottom of the wheelchair body (1) is additionally provided with pedrail mechanism (3), and the pedrail mechanism (3) includes to be rotatably connected on The driving wheel (31) and supporting roller (32) of wheelchair body (1) bottom and it is rotatably connected on driving wheel (31) and supporting roller (32) On track body (33), axial turn with front-wheel (21) and rear-wheel (22) of the rotation of the driving wheel (31) and supporting roller (32) Dynamic to be arranged in an axially parallel mode, there are two driving wheel (31) settings, and two driving wheels (31) are located at wheelchair body (1) Rear and front end, the supporting roller (32) is at least provided with two, and each supporting roller (32) is respectively positioned on two driving wheels (31) between, the lower rotation of the wheelchair body (1) is connected with the swing arm (34) for installing for driving wheel (31), described Hingedly, the other end and supporting roller (32) are rotatablely connected for swing arm (34) one end and wheelchair body (1), the swing arm (34) and wheel It is provided between chair ontology (1) for driving swing arm (34) around the first driver with the rotation of the hinged place of wheelchair body (1)； Track body (33) after swing arm (34) drops down between driving wheel (31) and supporting roller (32) can be with ground It is arranged at angle, and the track body (33) between two supporting rollers (32) is lower than front-wheel (21) and rear-wheel (22) lower side Locating height；Track body (33) after swing arm (34) collapses upwards between driving wheel (31) and supporting roller (32) Setting can be bonded with ground, and the lower side of track body (33) is higher than locating for front-wheel (21) and rear-wheel (22) lower side Highly；

The track body (33) includes several creeper treads (331) and the crawler belt that is articulated between adjacent two creeper tread (331) Axis (332), convex is equipped with the spike-tooth (334) for being inserted into ground on the creeper tread (331), and the spike-tooth (334) includes There are the long tooth (3341) and short tooth (3342) being arranged at intervals on adjacent track plate (331).

2. a kind of intelligent wheel chair combined of multi-sensor information according to claim 1, it is characterized in that: an at least driving wheel (31) sliding is connected on wheelchair body (1), and glide direction of the driving wheel (31) on wheelchair body (1) is wheelchair body (1) length direction is provided with the second driver for driving driving wheel (31) to slide on the wheelchair body (1), works as pendulum The second driver drives driving wheel (31) works as swing arm to another driving wheel (31) close to sliding after swing arm (34) drops down (34) the second driver drives driving wheel (31) is to another driving wheel (31) far from sliding after collapsing upwards.

3. a kind of intelligent wheel chair combined of multi-sensor information according to claim 2, it is characterized in that: first driving Device includes the cylinder (35) being rotationally connected between swing arm (34) and wheelchair body (1), and second driver includes It is arranged in the actuating arm (341) on swing arm (34) and the linking arm being connected between actuating arm (341) and driving wheel (31) (36), the actuating arm (341) and swing arm (34) are fixed into angle setting, the both ends of the linking arm (36) respectively with driving Arm (341) and driving wheel (31) rotation connection, when swing arm (34) drops down, actuating arm (341) can be connected by pulling Arm (36) drives driving wheel (31) to another driving wheel (31) close to sliding, the actuating arm when swing arm (34) collapses upwards It (341) can be by pushing linking arm (36) to drive driving wheel (31) to another driving wheel (31) far from sliding.

4. a kind of intelligent wheel chair combined of multi-sensor information described in any one of -3 according to claim 1, it is characterized in that: The swing arm (34) is rotatably connected to the mounting rack for being rotatablely connected for supporting roller (32) far from the one end of wheelchair body (1) (37), the end at the middle part Yu swing arm (34) of the mounting rack (37) is rotatablely connected, on the mounting rack (37) along its length Direction is at least rotatablely connected there are two supporting roller (32).

5. a kind of intelligent wheel chair combined of multi-sensor information according to claim 4, it is characterized in that: the wheelchair body (1) be provided on can swing arm (34) upwards collapse after pressing on mounting rack (37) by pressure arm (38), the pressing Flexible briquetting (381) is arranged in the end of wall.

6. a kind of intelligent wheel chair combined of multi-sensor information according to claim 1, it is characterized in that: the track body It (33) further include having integrally to tie with the nail-plate (333) of creeper tread (331) split settings, the spike-tooth (334) and nail-plate (333) Structure setting, the nail-plate (333) are located at the end of creeper tread (331), offer on the nail-plate (333) for for crawler belt axis (332) hinged hinge hole (3331).

7. a kind of intelligent wheel chair combined of multi-sensor information according to claim 1 or 6, it is characterized in that: the crawler belt Convex is equipped with the elastic-friction pad (335) that can increase with frictional ground force, the elastic-friction pad (335) on plate (331) The height protruded from creeper tread (331) is less than spike-tooth (334) and protrudes from the height on creeper tread (331), the elastic-friction The length direction that (335) are padded along creeper tread (331) is extended.

8. a kind of intelligent wheel chair combined of multi-sensor information according to claim 7, it is characterized in that: the creeper tread (331) installation for installing for elastic friction pad (335) is convexly equipped on along (3311), the installation is provided with two along (3311) It is a, and two installations are arranged in parallel along (3311) along the length direction of creeper tread (331), two installations between (3311) there are For elastic friction pad (335) insertion mounting groove (3312), the cross section of the elastic-friction pad (335) along its length at T-shaped structure setting, the elastic-friction pad (335) include the installation pad (3351) that can be embedded in mounting groove (3312) and Two sides installation can be covered in along the abutting pad (3352) of (3311).