CN110179598B

CN110179598B - Monitoring method applied to intelligent mobility wheelchair and intelligent mobility wheelchair

Info

Publication number: CN110179598B
Application number: CN201910390812.4A
Authority: CN
Inventors: 刘海军
Original assignee: Shenzhen Qianhai Ajia Barrier Free Eco Industrial Development Co ltd
Current assignee: Shenzhen Qianhai Ajia Barrier Free Eco Industrial Development Co ltd
Priority date: 2018-10-30
Filing date: 2019-05-10
Publication date: 2022-04-01
Anticipated expiration: 2039-05-10
Also published as: CN110200761A; CN110200760A; CN110179598A; CN110200760B; CN110200761B

Abstract

The application discloses a monitoring method applied to an intelligent mobility wheelchair and the intelligent mobility wheelchair. The monitoring method comprises the following steps: detecting the total electric quantity of the battery pack through the monitoring sensor; acquiring a first ratio of the total electric quantity to the initial electric quantity of the battery pack; obtaining the attenuation degree of the battery pack according to the first ratio; judging whether the attenuation degree of the battery pack is greater than or equal to a preset attenuation degree threshold value or not; if yes, warning information is generated. In this way, this application can real-time detection group battery's decay degree, avoids the group battery to be in the blind area at the control of decay degree, improves the group battery life-span, and intelligent level is high, improves user experience effect.

Description

Monitoring method applied to intelligent mobility wheelchair and intelligent mobility wheelchair

Technical Field

The application relates to the technical field of intelligent mobility wheelchairs, in particular to a monitoring method applied to the intelligent mobility wheelchairs and the intelligent mobility wheelchairs.

Background

With the development of society, barrier-free facilities are more and more improved, so that people who are inconvenient to move can independently move by means of a wheelchair, for example, the elderly or disabled can go out independently by means of the wheelchair.

However, the inventor of the present application finds that, in a long-term research and development process, the attenuation of the battery pack cannot be monitored in real time by the conventional electric wheelchair, and the intelligent level is low, so that the user is inconvenient to go out.

Disclosure of Invention

An object of the application is to provide a monitoring method applied to an intelligent mobility wheelchair and the intelligent mobility wheelchair, which can solve the problems.

In order to achieve the purpose, the technical scheme adopted by the application is as follows: the monitoring method applied to the intelligent mobility wheelchair comprises the following steps of:

detecting the total electric quantity of the battery pack through the monitoring sensor;

acquiring a first ratio of the total electric quantity to the initial electric quantity of the battery pack;

obtaining the attenuation degree of the battery pack according to the first ratio;

judging whether the attenuation degree of the battery pack is greater than or equal to a preset attenuation degree threshold value or not;

if yes, warning information is generated.

Wherein the monitoring method further comprises:

detecting the residual capacity of the battery pack through the monitoring sensor;

acquiring a first stored endurance mileage of the battery pack, and acquiring a second ratio of the residual electric quantity to the total electric quantity;

and multiplying the first endurance mileage by the second ratio to obtain the endurance mileage of the intelligent mobility assistance wheelchair.

Wherein, the intelligent wheelchair and the server establish communication, the monitoring method further comprises:

when the intelligent mobility wheelchair starts a positioning mode, acquiring current position information of the intelligent mobility wheelchair;

acquiring the barrier-free map from the service terminal, and marking the current position on the barrier-free map according to the current position information;

receiving destination position information, and acquiring a first barrier-free facility between the current position and the destination position;

planning at least one navigation route on the barrier-free map according to the first barrier-free facility and the mileage.

Wherein, after the step of receiving the destination location information, the monitoring method further comprises:

judging whether the service terminal has a historical navigation route or not according to the target position information and the current position;

and if not, acquiring a first barrier-free facility between the current position and the destination position.

Wherein the monitoring method further comprises:

detecting the consumed electric quantity corresponding to the preset mileage of the intelligent mobility assistance wheelchair through the monitoring sensor;

and adjusting the endurance mileage according to the consumed electric quantity and the preset mileage.

Wherein the monitoring method further comprises:

monitoring physical sign information of a user through the intelligent mobility assistance wheelchair when the user sits on the intelligent mobility assistance wheelchair;

and generating reminding information when the abnormal sign information is judged.

Wherein, the step of monitoring the physical sign information of the user through the intelligent walk-substituting wheelchair comprises the following steps:

detecting temperature and humidity information of a cushion of the intelligent mobility assistance wheelchair;

comparing the temperature and humidity information with a preset temperature and humidity threshold value;

when the physical sign information is judged to be abnormal, the step of generating reminding information comprises the following steps:

and if the temperature and humidity information exceeds the temperature and humidity threshold value, generating the reminding information.

detecting the contact area of the user and a back cushion of the intelligent walk-substituting wheelchair;

recognizing a sitting posture of the user according to the contact area;

detecting pressure values of the user and the back cushion;

judging whether the sitting posture is healthy or not according to the pressure value and the contact area;

and if not, generating the correction information of the sitting posture.

Wherein the monitoring method further comprises:

detecting an electric signal and processing the electric signal;

obtaining electrocardio data according to the processed electric signal;

and when the electrocardio data is judged to be abnormal and the distress information is received, informing the service terminal to call an emergency center and planning a second navigation route from the current position to the getting-on place on the barrier-free map.

In order to achieve the above purpose, the present application adopts another technical solution: the utility model provides an intelligence wheelchair of riding instead of walk which includes semi-packaged casing, monitoring sensor and group battery at least, monitoring sensor with the group battery sets up in the casing, the treater passes through monitoring sensor with the group battery is connected, and the treater is used for realizing above-mentioned monitoring method.

The beneficial effect of this application is: different from the prior art, the method detects the total electric quantity of the battery pack through the monitoring sensor; acquiring a first ratio of the total electric quantity to the initial electric quantity of the battery pack; obtaining the attenuation degree of the battery pack according to the first ratio; judging whether the attenuation degree of the battery pack is greater than or equal to a preset attenuation degree threshold value or not; if yes, generating warning information; the intelligent mobility scooter can detect the attenuation degree of the battery pack in real time, the battery pack is prevented from being in a blind area in the monitoring of the attenuation degree, the service life of the battery pack is prolonged, the intelligent level is high, and the user experience effect is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to further obtain other drawings based on these drawings without creative efforts. Wherein:

FIG. 1 is a schematic structural view of an intelligent walk-substituting wheelchair according to a first embodiment of the present application;

FIG. 2 is a flow chart of a monitoring method of the first embodiment of the present application;

FIG. 3 is a flow chart of a monitoring method of a second embodiment of the present application;

FIG. 4 is a schematic view of the intelligent wheelchair of FIG. 3 communicating with a service terminal;

FIG. 5 is a flowchart of step S104 in FIG. 3;

FIG. 6 is a flow chart of a monitoring method of a third embodiment of the present application;

FIG. 7 is a flow chart of a monitoring method of a fourth embodiment of the present application;

FIG. 8 is a flow chart of a monitoring method of a fifth embodiment of the present application;

fig. 9 is a flowchart of step S501 in fig. 8;

FIG. 10 is a flow chart of a monitoring method of a sixth embodiment of the present application;

FIG. 11 is a flow chart of a monitoring method of a seventh embodiment of the present application;

FIG. 12 is a schematic diagram of a processor of the intelligent mobility chair of FIG. 1;

figure 13 is a perspective view of the intelligent walk-substituting wheelchair with independent suspension system of figure 1.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be noted that the following examples are only illustrative of the present application, and do not limit the scope of the present application. Likewise, the following examples are only some examples and not all examples of the present application, and all other examples obtained by a person of ordinary skill in the art without any inventive step are within the scope of the present application.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an intelligent walk-substituting wheelchair according to a first embodiment of the present application. The intelligent walk-substituting wheelchair 10 includes a manned portion 11, a traveling portion 12, and a housing 13. Wherein, the manned part 11 is arranged on the traveling part 12, and the traveling part 12 is used for driving the intelligent walk-substituting wheelchair 10 to move.

The people mover 11 includes a base 111, a seat system 112 provided on the base 111, and armrests 113 provided on both sides of the seat system 112. The housing 13 covers the traveling part 12 and the armrest 113 and is used to semi-enclose the intelligent walk-substituting wheelchair 10, that is, the housing 13 is a semi-enclosed housing.

As shown in fig. 1, the housing 13 does not cover the base 111 and the seat system 112 of the passenger carrying portion 11, so that most of the area of the passenger carrying portion 11 is in an open state, and a user can directly enter the intelligent mobility assistance wheelchair 10, thereby facilitating the user to quickly and conveniently enter the intelligent mobility assistance wheelchair 10 in any situation.

Components such as a drive circuit and a battery pack are provided inside the traveling unit 12 and the armrest 113 covered with the case 13, for example, buttons and corresponding control circuits for various control functions are provided on the armrest 113, and drive components such as a drive motor and a battery pack are provided inside the traveling unit 12. Above-mentioned circuit and subassembly all belong to sensitive subassembly, and when circuit and subassembly direct contact external environment, just receive external environment's influence easily, lead to the circuit to appear the condition such as short circuit, subassembly damage to make intelligence wheelchair 10 of riding instead of walk normally work, influence user's use experience and safety.

The semi-encapsulation structure of the embodiment can well protect the circuits and components of the driving part 12 and the armrest 113, and simultaneously can enable the manned part 11 to be in an open state, so that a user can conveniently enter the intelligent walk-substituting wheelchair 10.

Referring to fig. 2, fig. 2 is a flowchart of a monitoring method according to a first embodiment of the present application. The monitoring method is used for monitoring the battery pack, the intelligent mobility wheelchair 10 further comprises a monitoring sensor (not shown), and the intelligent mobility wheelchair 10 detects the battery pack through the monitoring sensor. The monitoring method comprises the following steps:

s161: the total electric quantity of the battery pack is detected through the monitoring sensor.

The intelligent walk-substituting wheelchair 10 detects the total electric quantity of the battery pack through the monitoring sensor when the battery pack is charged. The intelligent walk-substituting wheelchair 10 stores the initial electric quantity of the battery pack in advance, and the initial electric quantity of the battery pack is the total electric quantity of the battery pack when the battery pack leaves a factory.

S162: a first ratio of the total charge to an initial charge of the battery pack is obtained.

The intelligent mobility assistance wheelchair 10 obtains a first ratio of the total electric quantity to the initial electric quantity of the battery pack, that is, the intelligent mobility assistance wheelchair 10 obtains the first ratio of the total electric quantity to the battery pack.

S163: and obtaining the attenuation degree of the battery pack according to the first ratio.

The intelligent wheelchair 10 obtains the attenuation of the battery pack according to the first ratio, for example, the first ratio is 80%, and the intelligent wheelchair 10 reduces 1 by 80% and equals 20%, so the attenuation of the battery pack calculated by the intelligent wheelchair 10 is 20%.

S164: and judging whether the attenuation degree of the battery pack is greater than or equal to a preset attenuation degree threshold value or not.

The intelligent walk-substituting wheelchair 10 judges whether the attenuation degree of the battery pack is greater than or equal to a preset attenuation degree threshold value; if yes, go to step S165; if not, the intelligent walk-substituting wheelchair 10 displays the attenuation degree of the battery pack so that the user can know the attenuation degree of the battery pack in time. For example, if the preset attenuation threshold is 10%, the intelligent walk-substituting wheelchair 10 obtains an attenuation of the battery pack of 20%, and the intelligent walk-substituting wheelchair 10 determines that the attenuation of the battery pack is greater than the preset attenuation threshold, and then the process proceeds to step S165.

S165: warning information is generated.

The intelligent walk-substituting wheelchair 10 generates warning information to remind the user to maintain or replace the battery pack in time. The warning message may include a text message, a voice message, etc.

The intelligent mobility assistance wheelchair 10 of the embodiment can detect the attenuation of the battery pack in real time, avoid the battery pack to be in a blind area in the monitoring of the attenuation, prolong the service life of the battery pack, achieve high intelligent level and improve the user experience effect.

The intelligent mobility assistance wheelchair 10 can further detect the residual electric quantity of the battery pack through the detection sensor, acquire the first endurance mileage of the stored battery pack, acquire the second ratio of the residual electric quantity to the total electric quantity, and the first endurance mileage of the stored battery pack can be the endurance mileage of the last battery pack under the condition of full charge. The intelligent mobility assistance wheelchair 10 multiplies the first endurance mileage by the second ratio to obtain the endurance mileage of the intelligent mobility assistance wheelchair 10, and the intelligent mobility assistance wheelchair 10 can display the endurance mileage.

Optionally, when the intelligent mobility assistance wheelchair 10 runs, the intelligent mobility assistance wheelchair 10 detects the consumed electric quantity corresponding to the preset mileage of the intelligent mobility assistance wheelchair 10. The intelligent mobility assistance wheelchair 10 adjusts the endurance mileage according to the consumed electric quantity and the preset mileage so that the endurance mileage of the battery pack is more accurate.

Referring further to fig. 3-4, fig. 3 is a flow chart of a monitoring method according to a second embodiment of the present application; FIG. 4 is a schematic view of the intelligent wheelchair of FIG. 3 communicating with a service terminal. The intelligent walk-substituting wheelchair 10 establishes communication with the service terminal 20.

The monitoring method of the present embodiment is described on the basis of the monitoring method disclosed in the first embodiment, and the monitoring method may include the following steps:

s101: the current position information of the intelligent walk-substituting wheelchair 10 is acquired.

The intelligent mobility assistance wheelchair 10 may be provided with a Positioning device, which may be a GPS (Global Positioning System) device or a device that is positioned by other systems that can perform Positioning, such as a beidou satellite navigation System. When the user starts the positioning mode of the intelligent mobility assistance wheelchair 10, the intelligent mobility assistance wheelchair 10 acquires the current position information of the intelligent mobility assistance wheelchair 10 through the positioning device.

In other embodiments, the intelligent mobility chair 10 may not be provided with a positioning device; the intelligent mobility assistance wheelchair 10 is communicated with an intelligent terminal carried by a user, and the intelligent mobility assistance wheelchair 10 can be communicated with the intelligent terminal through short-distance communication modes such as Bluetooth or hot spots. When the user starts the positioning mode of the intelligent mobility wheelchair 10, the intelligent mobility wheelchair 10 can send a positioning request to an intelligent terminal so that the intelligent terminal starts a positioning function, and the intelligent terminal acquires current position information and sends the current position information to the intelligent mobility wheelchair 10 so as to obtain the current position information of the intelligent mobility wheelchair 10. Wherein, this intelligent terminal can be intelligent terminal such as cell-phone, panel computer, wearing equipment.

S102: the barrier-free map is acquired from the service terminal 20, and the current position is marked on the barrier-free map according to the current position information.

When acquiring the current position information of the intelligent wheelchair 10, the intelligent wheelchair 10 can send the current position information to the service terminal 20, and the service terminal 20 sends the barrier-free map to the intelligent wheelchair 10 according to the current position information, so that the intelligent wheelchair 10 acquires the barrier-free map from the service terminal 20.

When receiving the current position information, the service terminal 20 may extract a corresponding barrier-free map according to the current position information, for example, the current position information of the intelligent transportation wheelchair 10 is located in the shenshan region in shenzhen city, and then the service terminal 20 extracts the barrier-free map in the nanshan region in shenzhen city and sends the barrier-free map to the intelligent transportation wheelchair 10, so as to reduce data transmission time.

In other embodiments, the intelligent ride-on wheelchair 10 may have a pre-stored obstacle-free map. When the current position information of the intelligent mobility wheelchair 10 is acquired, the intelligent mobility wheelchair 10 can send a barrier-free map version number to the service terminal 20; when the service terminal 20 determines that the barrier-free map is updated, the service terminal 20 transmits the updated barrier-free map to the intelligent transportation wheelchair 10.

The display screen of the intelligent walk-substituting wheelchair 10 can display an obstacle-free map, and the current position is marked on the obstacle-free map according to the current position information. The display screen can be arranged in the armrest 113, and when the user uses the display screen, the user takes out the display screen from the armrest 113; in other embodiments, the display screen may be on the armrest 113 to allow the user to directly use the display screen.

S103: and receiving the destination position information, and acquiring a first obstacle-free facility between the current position and the destination position.

The intelligent wheelchair 10 receives the destination location information, that is, the user can input the destination location information through the display screen of the intelligent wheelchair 10 or input the destination location information through an intelligent device.

Optionally, when the intelligent walk-substituting wheelchair 10 receives the destination position information, whether the service terminal 20 has a historical navigation route is judged according to the destination position information and the current position; namely, the intelligent walk-substituting wheelchair 10 sends the destination position information and the current position information to the service terminal 20, and the service terminal 20 judges whether a historical navigation route exists according to the destination position information and the current position information. If so, the intelligent walk-substituting wheelchair 10 acquires the historical navigation route and recommends the historical navigation route to the user; if not, the intelligent walk-instead wheelchair 10 acquires a first obstacle-free facility located between the current position and the destination position.

The intelligent mobility assistance wheelchair 10 obtains a first obstacle-free facility located between a current position and a destination position, wherein the intelligent mobility assistance wheelchair 10 can set a search range on an obstacle-free map according to the current position information and the destination position information, and the search range can form a circular search range by taking the distance between the current position and the destination position as a diameter and taking the midpoint between the current position and the destination position as a circle center. The intelligent walk-instead wheelchair 10 acquires all the barrier-free facilities within the search range to obtain the first barrier-free facility located between the current location and the destination location. The barrier-free facility may include a barrier-free aisle, a barrier-free elevator, a barrier-free platform, a barrier-free room, or a barrier-free washroom, among others.

S104: and planning at least one navigation route on the barrier-free map according to the first barrier-free facility and the mileage.

The intelligent mobility chair 10 plans at least one navigation route on the barrier-free map according to the first barrier-free facility and the endurance mileage. The intelligent mobility assistance wheelchair 10 can acquire a plurality of routes from the current position to the destination position according to the first obstacle-free facility, and acquire the distance of each route; the intelligent walk-substituting wheelchair 10 selects a route with a distance within the range of the endurance mileage as a navigation route for the user to select.

The intelligent mobility assistance wheelchair 10 is further provided with preset rules, the preset rules can comprise shortest distance and shortest time, and the intelligent mobility assistance wheelchair 10 acquires the shortest distance route and the shortest time route from a plurality of routes as navigation routes according to the preset rules for a user to select.

The intelligent mobility assistance wheelchair 10 of the embodiment can plan at least one navigation route on a barrier-free map according to a first barrier-free facility and a cruising mileage, realizes automatic route planning, has high intelligent level, and improves the user experience effect.

As shown in fig. 5, step S104 further includes the steps of:

s201: a second obstacle-free facility located on the navigation route is obtained from the first obstacle-free facility.

When the intelligent walk-instead wheelchair 10 selects a navigation route, i.e., the user selects a navigation route from at least one navigation route, the intelligent walk-instead wheelchair 10 acquires a second obstacle-free facility located on the navigation route from the first obstacle-free facility, the second obstacle-free facility being located on the selected navigation route.

S202: the device information of the second barrier-free facility is acquired, and a picture corresponding to the device information is searched for from the service terminal 20.

The intelligent wheelchair 10 can obtain the device information of the second barrier-free facility, the intelligent wheelchair 10 can set the device information in advance for all barrier-free facilities on the barrier-free map, the device information can include the address information, the number information and the like of the barrier-free facilities, and each barrier-free facility corresponds to unique device information. The intelligent mobility assistance wheelchair 10 sends the device information of the second barrier-free facility to the service terminal 20, so that the service terminal 20 searches for the picture corresponding to the second barrier-free facility according to the device information of the second barrier-free facility, that is, the intelligent mobility assistance wheelchair 10 searches for the picture corresponding to the device information from the service terminal 20, wherein the service terminal 20 may store the picture corresponding to the device information in advance.

S203: the picture is converted into a thumbnail, and the thumbnail corresponding to the second barrier-free facility is displayed on the barrier-free map.

The intelligent walk-substituting wheelchair 10 converts the picture into a thumbnail and displays the thumbnail corresponding to the second obstacle-free facility on the obstacle-free map, so that the user can more intuitively recognize the obstacle-free facility located on the selected navigation route.

In addition, the user may select the second barrier-free facility by means of voice, touch, or the like, and the intelligent mobility assistance wheelchair 10 receives a selection instruction of the second barrier-free facility and selects the second barrier-free facility according to the selection instruction; the intelligent walk-substituting wheelchair 10 displays a picture corresponding to the second obstacle-free facility on the obstacle-free map. For example, when the user inputs a "nearest unobstructed toilet" voice, the intelligent walk-instead wheelchair 10 extracts keywords "nearest" and "unobstructed toilet" from the voice, searches for an unobstructed toilet closest to the unobstructed map as a second unobstructed facility, and displays a picture of the unobstructed toilet at a position corresponding to the second unobstructed facility on the unobstructed map. Or, the user selects the unobstructed passage as the second unobstructed facility on the unobstructed map by touch, and the intelligent walk-instead wheelchair 10 displays the picture of the unobstructed passage at the position of the unobstructed map corresponding to the second unobstructed facility.

The present application further provides a monitoring method of the third embodiment, which is described based on the monitoring method of the second embodiment. As shown in fig. 6, the monitoring method includes the steps of:

s301: work is carried out according to the navigation route, and the navigation route is displayed on a display screen of the intelligent walk-substituting wheelchair 10.

The intelligent mobility assistance wheelchair 10 works according to the selected navigation route, and the navigation route is displayed on a display screen of the intelligent mobility assistance wheelchair 10; that is, the intelligent walk-substituting wheelchair 10 can automatically drive according to the navigation route and display the navigation route on the display screen, so that the user can know the position information in real time.

S302: and acquiring the current equipment information of the third barrier-free facility of the intelligent walk-substituting wheelchair 10 from the navigation route, and acquiring a first picture and voice information corresponding to the third barrier-free facility.

The intelligent wheelchair 10 acquires the current equipment information of the third barrier-free facility of the intelligent wheelchair 10 from the navigation route, and acquires the first picture and the voice information corresponding to the third barrier-free facility. That is, when the intelligent mobility assistance wheelchair 10 is automatically driven to the current third barrier-free facility, for example, the intelligent mobility assistance wheelchair 10 is automatically driven from the first barrier-free channel to the second barrier-free channel, and the second barrier-free channel is the third barrier-free facility, the intelligent mobility assistance wheelchair 10 obtains the second picture and the voice information corresponding to the second barrier-free channel.

S303: and displaying the first picture on the navigation route in a floating manner, and playing voice information.

The intelligent walk-substituting wheelchair 10 displays the first picture on the navigation route in a floating manner, so that the user can obtain the current picture of the barrier-free facility, and the use experience of the user is improved. The intelligent mobility chair 10 plays voice messages to prompt the user that the intelligent mobility chair 10 is automatically driven to a new barrier-free facility and associated prompt information.

The intelligent walk-substituting wheelchair 10 of the embodiment can realize automatic driving according to a navigation route, has high intelligent level and improves the user experience effect.

The present application further provides a monitoring method of a fourth embodiment, which is described on the basis of the monitoring method of the second embodiment. As shown in fig. 7, the monitoring method includes the steps of:

s401: and receiving the second picture, and acquiring the position information corresponding to the second picture.

The intelligent mobility assistance wheelchair 10 receives the second picture and obtains the position information corresponding to the second picture, for example, the user takes the current picture of the barrier-free facility as the second picture through the intelligent terminal, the intelligent terminal sends the second picture to the intelligent mobility assistance wheelchair 10, and the intelligent mobility assistance wheelchair 10 obtains the current position information through the positioning device when receiving the second picture, so that the position information corresponding to the second picture can be obtained.

S402: and judging whether the position information is matched with the equipment information of the third barrier-free facility.

The intelligent walk-substituting wheelchair 10 judges whether the position information matches the equipment information of the third barrier-free facility; if so, go to step S403; if not, the intelligent wheelchair 10 deletes the second picture.

S403: and sending the second picture to the service terminal 20, so that the service terminal 20 updates the first picture into the second picture after verifying the second picture.

The intelligent wheelchair 10 sends the second picture to the service terminal 20, and the service terminal 20 verifies the second picture and updates the first picture into the second picture so as to update the picture of the third barrier-free facility. The service terminal 20 may compare the similarity between the first picture and the second picture, and if the similarity exceeds a preset value, the service terminal 20 completes the verification of the second picture.

The intelligent walk-substituting wheelchair 10 of the embodiment sends the second picture to the service terminal 20 when the position information of the second picture is matched with the device information of the third barrier-free facility, so that the service terminal 20 updates the first picture into the second picture, the picture of the barrier-free device can be updated in real time, and the user experience is improved.

The present application further provides a monitoring method of the fifth embodiment, which is described based on the monitoring method of the first embodiment. As shown in fig. 8, the monitoring method further includes the steps of:

s501: when a user sits in the intelligent mobility assistance wheelchair 10, the physical sign information of the user is monitored through the intelligent mobility assistance wheelchair 10.

When a user sits in the intelligent mobility assistance wheelchair 10 or the intelligent mobility assistance wheelchair 10 realizes automatic driving according to a navigation route, the intelligent mobility assistance wheelchair 10 monitors physical sign information of the user; namely, the intelligent mobility wheelchair 10 is provided with a physical sign monitoring sensor, and the intelligent mobility wheelchair 10 monitors physical sign information of a user through the physical sign monitoring sensor. The sign information may include information such as blood pressure, pulse, body temperature, or heart rate.

S502: and generating reminding information when the abnormal sign information is judged.

When the intelligent mobility assistance wheelchair 10 acquires the physical sign information, judging whether the physical sign information is abnormal; if not, ending; if so, the intelligent walk-substituting wheelchair 10 generates reminding information to remind the user. The reminding information can be a voice reminding or a text reminding.

Above-mentioned sign monitoring sensor can set up on the cushion of intelligence wheelchair 10 of riding instead of walk, then sign information can be the humiture information of cushion. As shown in fig. 9, step S501 may include the steps of:

s601: temperature and humidity information of a cushion of the intelligent walk-substituting wheelchair 10 is detected.

The seat system 112 of the intelligent walk-substituting wheelchair 10 is provided with a cushion and the cushion is provided with a physical sign monitoring sensor for monitoring physical sign information of the user. Specifically, the intelligent mobility assistance wheelchair 10 detects temperature and humidity information of a cushion of the intelligent mobility assistance wheelchair 10 through a temperature and humidity sensor.

S602: and comparing the temperature and humidity information with a preset temperature and humidity threshold value.

The intelligent mobility assistance wheelchair 10 is preset with a temperature and humidity threshold value, and compares temperature and humidity information with the preset temperature and humidity threshold value. If the intelligent walk-instead wheelchair 10 judges that the temperature and humidity information exceeds the temperature and humidity threshold value, the method goes to step 6503; if the intelligent walk-instead wheelchair 10 judges that the temperature and humidity information does not exceed the temperature and humidity threshold value, the operation is finished.

S603: and generating reminding information.

If the intelligent mobility scooter 10 judges that the temperature and humidity information exceeds the temperature and humidity threshold value, the intelligent mobility scooter 10 judges that the user sits on the cushion for too long, and generates reminding information to remind the user.

Optionally, the intelligent mobility assistance wheelchair 10 may remind the user whether to go to the toilet, and if so, the intelligent mobility assistance wheelchair 10 further obtains the barrier-free toilet closest to the current position from the barrier map, and plans the first navigation route on the barrier-free map, so that the intelligent mobility assistance wheelchair 10 automatically drives to the nearest barrier-free toilet according to the first navigation route, so that the intelligent level of the intelligent mobility assistance wheelchair 10 is high.

The present application further provides a monitoring method of the sixth embodiment, which is described on the basis of the monitoring method of the fifth embodiment. As shown in fig. 10, the monitoring method includes the steps of:

s701: the contact area between the user and a back cushion of the intelligent walk-substituting wheelchair is detected.

The intelligent mobility chair 10 further monitors the contact area between the user and the back cushion of the intelligent mobility chair 10 through a physical sign monitoring sensor.

S702: and recognizing the sitting posture of the user according to the contact area.

The intelligent mobility assistance wheelchair 10 recognizes the sitting posture of the user according to the contact area, for example, if the intelligent mobility assistance wheelchair 10 detects that the contact area is 5% of the area of the back cushion, the intelligent mobility assistance wheelchair 10 can judge that the sitting posture of the user is sitting straight.

S703: and detecting the pressure value of the user and the back cushion.

The intelligent mobility chair 10 further detects the pressure values of the user and the back cushion through the physical sign monitoring sensor.

S704: and judging whether the sitting posture is healthy or not according to the pressure value and the contact area.

The intelligent walk-substituting wheelchair 10 can compare the pressure value with a preset pressure threshold value and compare the ratio of the contact area to the back cushion with a preset ratio; if the intelligent walk-substituting wheelchair 10 determines that the pressure value is greater than the preset pressure threshold value and the ratio between the contact area and the back cushion is greater than the preset ratio, the intelligent walk-substituting wheelchair 10 determines that the sitting posture is unhealthy, and the process proceeds to step S705.

S705: and generating sitting posture correction information.

The intelligent walk-substituting wheelchair 10 generates correction information of the sitting posture according to the sitting posture, so that the user can replace the sitting posture in time, and the influence on the health of the user is avoided.

The present application further provides a monitoring method of the seventh embodiment, which is described on the basis of the monitoring method of the fifth embodiment. As shown in fig. 11, the monitoring method includes the steps of:

s801: the electrical signal is detected and processed.

The physical sign monitoring sensor of the intelligent mobility assistance wheelchair 10 can be arranged at the armrest 113, and when the user places the hand at the armrest 113, the intelligent mobility assistance wheelchair 10 can detect the electrical signal and process the electrical signal, for example, the intelligent mobility assistance wheelchair 10 converts the electrical signal into an electromagnetic wave signal.

S802: and acquiring the electrocardio data according to the processed electric signal.

The intelligent walk-substituting wheelchair 10 obtains the electrocardiogram data according to the processed electric signals, and compares the electrocardiogram data with the preset electrocardiogram data to judge whether the body of the user is abnormal; if the intelligent walk-substituting wheelchair 10 judges that the electrocardiogram data is abnormal, the step S803 is entered; if the intelligent walk-substituting wheelchair 10 judges that the electrocardio data is normal, the operation is finished.

S803: when the electrocardio data is judged to be abnormal and the distress message is received, the service terminal 20 is informed to call an emergency center and plan a second navigation route from the current position to the getting-on place on the barrier-free map.

When the intelligent mobility assistance wheelchair 10 judges that the electrocardiogram data is abnormal and receives the distress message, the intelligent mobility assistance wheelchair 10 informs the service terminal 20 to call a first-aid center, and plans a second navigation route from the current position to the boarding place on the barrier-free map, the intelligent mobility assistance wheelchair 10 automatically drives to the boarding place according to the second navigation route, so that sudden physical discomfort of a user can be prevented, the intelligent mobility assistance wheelchair is linked with the first-aid center in time, and the intelligent level of the intelligent mobility assistance wheelchair 10 is improved.

As shown in fig. 12, the intelligent walk-substituting wheelchair 10 disclosed in the present embodiment further includes a processor 109 disposed in the housing 13, and the processor 109 is used for implementing the monitoring method, which is not described herein again. The processor 109 may be disposed within the armrest 113 and coupled to the drive circuitry.

Further, with continuing reference to fig. 1 and 13, fig. 13 is a schematic perspective view of the intelligent walk-substituting wheelchair with independent suspension system in fig. 1. Specifically, the traveling part 12 includes a seat frame 21, a driving assembly (not shown), and an elastic assembly (not shown); the driving assembly comprises a driving piece 221 and a driving wheel 222 connected with the driving piece 221; the driving component is connected with the chair frame 21 through the elastic component, the chair frame 21 compresses the elastic component when loading, and the elastic component drives the driving component to move in the vertical direction when the driving component is suspended.

Specifically, the chair frame 21 is used for bearing a seat cushion, and the intelligent walk-substituting wheelchair 10 further comprises a guide wheel (not labeled in the figure), and the guide wheel is fixed on the chair frame 21. The drive assembly comprises driving piece 221 and drive wheel 222 lug connection, and the wheel independent suspension's intelligence wheelchair 10 of riding instead of walk includes two drive assemblies, and two drive assemblies all connect on chair frame 21 through independent elastic component, when the user sits on the wheel independent suspension's intelligence wheelchair 10 of riding instead of walk, under the effect of the gravity of user and intelligence wheelchair 10 of riding instead of walk, compress elastic component to make elastic component be in the state of compression. Thereby the in-process that wheelchair 10 traveles is ridden instead of to intelligence that independently hangs at the wheel, drive wheel 222 meets depression or when protruding, make drive assembly be in unsettled state, elastic component resumes the prototype under the effect of self elasticity, thereby drive assembly and move in vertical direction, make drive wheel 222 and ground crimping, and then avoid the intelligence that independently hangs to ride instead of to walk wheelchair 10 unsettled appear at the in-process of traveling, the phenomenon of skidding, thereby improve the travelling comfort and the security of intelligence wheelchair 10 of riding instead of walk.

In the technical scheme of this application, drive assembly and the elastic component who is connected by drive wheel 222 and driving piece 221 through the setting, when drive assembly suspends, elastic component drives drive assembly and moves in vertical direction under the effect of self elasticity, thereby ensure drive wheel 222 and ground crimping, the drive wheel 222 of being convenient for is normal provides power, and simultaneously, through setting up elastic component, in-process that wheelchair 10 traveles is ridden instead of walk to intelligence, when intelligence wheelchair 10 that rides instead of walk receives vibrations, vibrations effect conducts to chair frame 21 through elastic component, the amplitude of vibrations has been subdued under elastic component's effect, the shock attenuation effect of intelligence wheelchair 10 that rides instead of walk has been improved, and improve the security and the travelling comfort of intelligence wheelchair 10 that rides instead of walk.

Further, the elastic assembly includes a movable frame 231 rotatably coupled to the seat frame 21 and an elastic member 232 coupling the movable frame 231 and the seat frame 21. The driving assembly is mounted on the movable frame 231, and the movable frame 231 rotates relative to the chair frame 21 under the elastic force of the elastic member 232. The guide wheel of the intelligent walk-substituting wheelchair 10 is fixedly arranged on the chair frame 21, the movable frame 231 is rotatably connected with the chair frame 21, and meanwhile, the free end of the movable frame 231 is connected with the chair frame 21 through the elastic part 232. The driving assembly is mounted on the movable frame 231, and when the user is located on the intelligent walk-substituting wheelchair 10, the elastic member 232 is compressed by the chair frame 21, so that the elastic member 232 is in a compressed state. The intelligent wheelchair 10 of riding instead of walk goes at the in-process on pothole or bellied ground, and when drive wheel 222 was empty, elastic component 232 recovered the prototype under the effect of self elasticity to drive adjustable shelf 231 and rotate relative chair frame 21, drive wheel 222 and move in vertical direction, make drive wheel 222 and ground crimping, be convenient for intelligent wheelchair 10 of riding instead of walk provides power, avoid the wheel independent suspension's intelligent wheelchair 10 of riding instead of walk to appear unsettled, the phenomenon of skidding.

It will be appreciated that the resilient assembly may also be comprised of a support plate and a resilient bar, one end of the resilient bar being connected to the chair frame 21 and the other end of the resilient bar being connected to the support plate, the drive assembly being mounted directly on the support plate. The driving assembly is directly driven by the elastic rod to move in the vertical direction under the action of the elastic force of the elastic rod, so that the driving wheel 222 is ensured to be in pressure joint with the ground. In this application embodiment, drive assembly rotates with chair frame 21 through independent adjustable shelf 231 and is connected, and adjustable shelf 231 rotates through being connected with chair frame 21, simple structure, and easily design, the drive assembly of being convenient for moves in vertical direction under the drive of adjustable shelf 231.

The specific structure of the chair frame 21 may be a butterfly structure or other structures, which are not described herein again.

Further, the movable frame 231 has two opposite ends, one of which is rotatably connected to the chair frame 21 and the other of which is connected to the elastic member 232, and the driving assembly is installed at one side of the movable frame 231 close to the elastic member 232. The end of the movable frame 231 is connected to the chair frame 21 and the elastic member 232, so that the elastic member 232 drives the movable frame 231 to rotate relative to the chair frame 21. It is understood that the movable frame 231 may be rotatably connected to the chair frame 21 in other manners, for example, the middle portion of the movable frame 231 is rotatably connected to the chair frame 21, and the elastic member 232 is connected to the driving assembly and disposed at two opposite ends of the movable frame 231. In the embodiment of the application, the tip and the chair frame 21 of adjustable shelf 231 rotate to be connected, elastic component 232 promotes the relative chair frame 21 of adjustable shelf 231 and rotates, drive assembly keeps away from adjustable shelf 231 and installs on adjustable shelf 231 with chair frame 21 pivoted one end, thereby when the relative chair frame 21 of adjustable shelf 231 rotates, the distance that drive assembly moved in vertical direction has been increased, be convenient for drive wheel 222 and ground crimping provide the power that intelligent mobility chair 10 was gone forward, moreover, the steam generator is simple in structure, easily design, it moves in vertical direction to be convenient for elastic component to drive assembly, thereby improve the travelling comfort of intelligent mobility chair 10.

Further, the intelligent wheel chair 10 with independently suspended wheels further comprises an anti-roll wheel 24 and a front wheel 25, wherein the anti-roll wheel 24 and the elastic member 232 are connected to the same end of the movable frame 231. When the driving wheel 222 and the front wheel 25 are on the same plane, the anti-roll wheel 24 is suspended. The anti-tilting wheel 24 is used for preventing the intelligent wheel chair 10 with independently suspended wheels from tilting backwards, so that the safety of the intelligent wheel chair 10 is improved. The anti-tip wheel 24 is attached to the movable frame 231 and is located away from the front wheel 25. In the embodiment of the present application, the wheel diameter of the anti-roll wheel 24 is smaller, it is convenient to install on the movable frame 231, the front wheel 25 is the leading wheel of the intelligent transportation wheelchair 10 that the wheel independently hangs, in the normal running process of the intelligent transportation wheelchair 10, the front wheel 25 and the driving wheel 222 are all abutted to the ground, the anti-roll wheel 24 is suspended on the movable frame 231 at this moment, there is a certain distance between the anti-roll wheel 24 and the ground, when the front wheel 25 is suspended under the influence of the outside in the intelligent transportation wheelchair 10, the driving wheel 222 and the anti-roll wheel 24 are abutted to the ground, thereby avoiding the phenomenon that the intelligent transportation wheelchair 10 turns over after appearing. In the embodiment of the present application, a first damping spring 261 for damping vibration is provided between the front wheel 25 and the seat frame 21. Front wheel 25 links to each other with chair frame 21 through first damping spring 261, when front wheel 25 removed to the bellying, front wheel 25 received the effort on ground and produced vibrations, and vibrations conduct to chair frame 21 through first damping spring 261's effect to improve the shock attenuation effect of intelligence wheelchair 10 of riding instead of walk after first damping spring 261's effect, reduce the vibrations that the user sat and felt on intelligence wheelchair 10 of riding instead of walk, improve the travelling comfort of intelligence wheelchair 10 of riding instead of walk.

Further, both ends of the elastic member 232 are rotatably connected to the movable frame 231 and the seat frame 21, respectively. Elastic component 232 is elastic telescopic rod, and elastic component 232 is at the in-process that resumes initial state, and elastic component 232's length becomes long, and the relative both ends of elastic telescopic rotate with adjustable shelf 231 and chair frame 21 respectively and be connected to drive adjustable shelf 231 and rotate relative chair frame 21, simple structure is convenient for realize. It is understood that there are other ways to connect the elastic member 232, for example, one end of the elastic member 232 is pivotally connected to the chair frame 21, and the other end of the elastic member 232 is slidably connected to the movable frame 231. The adjustable shelf 231 is provided with a sliding groove arranged along the extending direction of the adjustable shelf 231, the free end of the elastic part 232 is provided with a sliding block matched with the sliding groove, and the sliding block moves along the sliding groove in the extending process of the elastic part 232, so that the adjustable shelf 231 is driven to rotate relative to the chair frame 21. In the embodiment of the present application, the elastic member 232 is a spring (not labeled). The elastic member further includes a second damping spring 262, and the second damping spring 262 is connected to opposite ends of the spring. The two ends of the spring are respectively connected with the movable frame 231 and the chair frame 21 in a rotating manner, so that the structure is simple, the realization is easy, and the spring is convenient to drive the movable frame 231 to rotate relative to the chair frame 21. Meanwhile, the second damping spring 262 is arranged between the two opposite ends of the spring, so that the damping effect of the intelligent wheelchair 10 for riding instead of walk is improved, and the comfort of the intelligent wheelchair 10 for riding instead of walk is further improved.

Further, the horizontal distance of the housing 13 covering the first area of the front wheel 25 and the driving wheel 222 close to the base 111 and the second area between the front wheel 25 and the driving wheel 222 of the intelligent walk-substituting wheelchair 10 is 0.5cm to 3cm, the horizontal distance of the housing 13 covering the first area of the front wheel 25 and/or the driving wheel 222 close to the base 111 and the front wheel 25 and/or the driving wheel 222 can also be 0.5cm to 3cm, that is, the housing 13 covering the second area between the front wheel 25 and the driving wheel 222 and the front wheel 25 and the driving wheel 222 can be horizontally aligned.

In summary, according to the method, when the battery pack is charged and discharged, the electric quantity information of the battery pack is detected through the monitoring sensor; processing the electric quantity information to obtain information to be displayed and storing the information to be displayed; the information to be displayed at least comprises the attenuation degree or the endurance mileage of the battery pack; the intelligent mobility scooter can detect the electric quantity information of the battery pack in real time, the battery pack is prevented from being overcharged or overdischarged, the intelligent level is high, and the user experience effect is improved.

The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims

1. A monitoring method applied to an intelligent walk-substituting wheelchair is characterized in that the intelligent walk-substituting wheelchair comprises a semi-packaged shell, a monitoring sensor and a battery pack, the monitoring sensor and the battery pack are arranged in the shell, and the monitoring method comprises the following steps:

if yes, generating warning information;

the monitoring method further comprises the following steps: detecting the residual capacity of the battery pack through the monitoring sensor; acquiring a first stored endurance mileage of the battery pack, and acquiring a second ratio of the residual electric quantity to the total electric quantity; multiplying the first endurance mileage by the second ratio to obtain the endurance mileage of the intelligent mobility assistance wheelchair;

the intelligent walk-substituting wheelchair is communicated with the service terminal, and the monitoring method further comprises the following steps: when the intelligent mobility wheelchair starts a positioning mode, acquiring current position information of the intelligent mobility wheelchair; obtaining an obstacle-free map from the service terminal, and marking a current position on the obstacle-free map according to the current position information; receiving destination position information, and acquiring a first barrier-free facility between the current position and the destination position; planning at least one navigation route on the barrier-free map according to the first barrier-free facility and the mileage; implementing automatic driving based on the navigation route;

after the step of receiving the destination location information, the monitoring method further includes: judging whether the service terminal has a historical navigation route or not according to the target position information and the current position; if not, acquiring a first barrier-free facility between the current position and the destination position;

the monitoring method further comprises the following steps: obtaining a second obstacle-free facility located on the navigation route from the first obstacle-free facility; acquiring equipment information of the second barrier-free facility, and searching a picture corresponding to the equipment information from the service terminal; the picture is converted into a thumbnail, and the thumbnail corresponding to the second barrier-free facility is displayed on the barrier-free map.

2. The monitoring method of claim 1, further comprising:

3. The monitoring method of claim 1, further comprising:

4. The monitoring method according to claim 3, wherein the step of monitoring the physical sign information of the user through the intelligent mobility wheelchair comprises:

5. The monitoring method according to claim 4, wherein the step of monitoring the physical sign information of the user through the intelligent mobility wheelchair comprises:

recognizing a sitting posture of the user according to the contact area;

detecting pressure values of the user and the back cushion;

and if not, generating the correction information of the sitting posture.

6. The monitoring method of claim 3, further comprising:

detecting an electric signal and processing the electric signal;

obtaining electrocardio data according to the processed electric signal;

7. An intelligent wheelchair, characterized in that the intelligent wheelchair comprises at least a semi-packaged casing, a monitoring sensor and a battery pack, the monitoring sensor and the battery pack are arranged in the casing, a processor is connected with the battery pack through the monitoring sensor, and the processor is used for realizing the monitoring method of any one of claims 1 to 6.