CN110623799A - Control method and device of intelligent wheelchair - Google Patents
Control method and device of intelligent wheelchair Download PDFInfo
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- CN110623799A CN110623799A CN201910891660.6A CN201910891660A CN110623799A CN 110623799 A CN110623799 A CN 110623799A CN 201910891660 A CN201910891660 A CN 201910891660A CN 110623799 A CN110623799 A CN 110623799A
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- 239000003550 marker Substances 0.000 claims description 15
- 238000004904 shortening Methods 0.000 claims description 11
- 230000007613 environmental effect Effects 0.000 claims description 7
- 230000000474 nursing effect Effects 0.000 abstract description 23
- 238000012546 transfer Methods 0.000 abstract description 12
- 230000001276 controlling effect Effects 0.000 description 17
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- 238000004891 communication Methods 0.000 description 5
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
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Abstract
The application provides a control method and a control device of an intelligent wheelchair, which are applied to the intelligent wheelchair, wherein the intelligent wheelchair comprises a supporting structure, a lifting structure and a control structure, and the supporting structure is electrically connected with the control structure; the supporting structure comprises an electric push rod, a supporting plate, a supporting rod and a lever; the control method comprises the following steps: the control structure receives a first action instruction sent by the mobile terminal; generating a first control instruction according to the first action instruction, and sending the first control instruction to the electric push rod; when the electric push rod is instructed to shorten by the first control instruction, the electric push rod is shortened according to the first control instruction, the lever and the support plate are driven to rotate by taking the support rod as a fulcrum, and after one side of the support plate, which is far away from the electric push rod, rises, the support plate assists a user to enable the hip of the user to leave the sitting position. The intelligent wheelchair control method can assist a user or a nursing staff to conveniently and quickly finish transfer and movement, reduces the labor intensity of the nursing staff, and improves the life confidence of the user.
Description
Technical Field
The application relates to the technical field of intelligent control, in particular to a control method and device of an intelligent wheelchair.
Background
The problems of transfer and movement are the problems that the weak old and the disabled with the function of the lower limbs declining urgently need to solve. Such people often have difficulty in transferring and walking among different positions due to insufficient strength of the lower limbs, and the actions can be completed only by the aid of nursing instruments or the help of nursing staff.
The existing nursing instruments such as a shifting machine and a wheelchair cannot simultaneously solve the problems of shifting and moving of the crowd, and a user cannot independently complete the operation of the shifting machine and the wheelchair to complete the shifting and moving; under the condition that the user can not take care of himself at all, one nursing staff can not assist the user in completing transfer and movement, and the time and the labor are consumed.
Disclosure of Invention
In view of this, an object of the embodiments of the present application is to provide a control method and device for an intelligent wheelchair, which can assist a user or a caregiver to conveniently and quickly complete transfer and movement, reduce labor intensity of the caregiver, and improve life confidence of the user.
In some embodiments, the present application provides a control method for a smart wheelchair, wherein the control method is applied to a smart wheelchair, the smart wheelchair comprises a support structure, a lifting structure and a control structure, and the support structure and the control structure are electrically connected; the supporting structure comprises an electric push rod, a supporting plate, a supporting rod and a lever; one end of the electric push rod is connected with one side, close to the electric push rod, of the supporting plate, the lever is fixed on the supporting plate, one end of the supporting rod is hinged to the lever, and the other end of the electric push rod is hinged to the lifting structure;
the control method comprises the following steps:
the control structure receives a first action instruction sent by the mobile terminal;
generating a first control instruction according to the first action instruction, and sending the first control instruction to the electric push rod; when the first control instruction indicates that the electric push rod shortens, shortening operation is carried out according to the first control instruction, the lever and the supporting plate are driven to rotate by taking the supporting rod as a fulcrum, and after one side of the supporting plate, which is far away from the electric push rod, rises, the supporting plate lifts a user, so that the hip of the user leaves the sitting position of the user.
In some embodiments, the control method of the intelligent wheelchair further comprises:
receiving a second action instruction sent by the mobile terminal;
generating a second control instruction according to the second action instruction, and sending the second control instruction to the electric push rod; when the second control instruction indicates that the electric push rod extends, the electric push rod extends according to the second control instruction to drive the lever and the support plate to rotate by taking the support rod as a fulcrum, so that the support plate assists a user to sit after one side of the support plate, which is far away from the electric push rod, descends.
In some embodiments, the smart wheelchair further comprises a seat structure, the seat structure and the control structure being electrically connected; the seat structure comprises a seat plate, a seat supporting beam and a motor; the seat supporting beam is fixed on the lifting structure, the seat plate is connected with the seat supporting beam through a connecting plate, and the motor is electrically connected with the control structure;
the control method comprises the following steps:
receiving a third action instruction sent by the mobile terminal;
generating a third control instruction according to the third action instruction, and sending the third control instruction to the motor; so that the motor drives the seat plate to move, and a user can enter or leave a corresponding preset area of the seat plate.
In some embodiments, the smart wheelchair further comprises an acquisition structure comprising a pressure sensor disposed on the support plate;
the control method comprises the following steps:
the control structure receives the stress information of the supporting plate monitored by the pressure sensor in real time;
and comparing a plurality of stress information acquired by the pressure sensors respectively arranged in different areas on the supporting plate at the same time, and generating a stop instruction when the plurality of stress information is determined to have differences, or comparing the surface stress distribution information of every adjacent acquisition time point on the supporting plate, and generating the stop instruction to the electric push rod when the surface stress distribution information of the adjacent acquisition time points has differences, so that the electric push rod stops the current operation.
In some embodiments, the smart wheelchair further comprises an alarm structure electrically connected to the control structure; the control method comprises the following steps:
when the fact that the stress information is different is determined, or when the difference exists between the surface stress distribution information of the adjacent acquisition time points, generating an alarm instruction, and sending the alarm instruction to the alarm structure; so that the alarm structure alarms according to the alarm instruction.
In some embodiments, the smart wheelchair further comprises a mobile chassis; the mobile chassis comprises a laser radar sensor, a tracking sensor, a vision sensor and a driving wheel, and the laser radar sensor, the tracking sensor and the vision sensor are all electrically connected with the control structure;
the control method comprises the following steps:
receiving environmental data collected by the laser radar sensor in a preset area and preset navigation landmark data detected by the tracking sensor;
receiving image information of a user on a target position and/or image information of a marker at the target position, which is acquired by the vision sensor;
and formulating a motion track according to the received environment data, the navigation road sign data, the image information of the user at the target position and/or the image information of the marker at the target position, and controlling the driving wheel to move according to the motion track.
In some embodiments, the acquisition structure further comprises a height detection sensor; the height detection sensor is arranged on the seat board and is electrically connected with the control structure;
the control method comprises the following steps:
receiving a first level at which the height detection sensor detects that the height detection sensor is currently located and a second level at which the user is located;
and when the difference between the first horizontal height and the second horizontal height is smaller than a preset threshold value, controlling the lifting structure to move upwards for a set distance, so that the lifting structure drives the seat plate to move upwards for the set distance.
In some embodiments, the control method further comprises: when the difference between the first horizontal height and the second horizontal height is larger than or equal to the preset threshold value, controlling the lifting structure to move so that the difference between the first horizontal height and the second horizontal height is smaller than the preset threshold value.
In some embodiments, the acquisition structure further comprises a speech recognition module and a gesture recognition module; the voice recognition module and the gesture recognition module are both electrically connected with the control structure;
the control method comprises the following steps:
receiving a voice instruction to be recognized by the voice recognition module and a gesture instruction to be collected by the gesture recognition module;
and generating a fourth control instruction based on the voice instruction or the gesture instruction.
In some embodiments, the present application provides a control device for a smart wheelchair, wherein the control device is applied to a smart wheelchair, the smart wheelchair comprises a support structure, a lifting structure and a control structure, and the support structure and the control structure are electrically connected; the supporting structure comprises an electric push rod, a supporting plate, a supporting rod and a lever; one end of the electric push rod is connected with one side, close to the electric push rod, of the supporting plate, the lever is fixed on the supporting plate, one end of the supporting rod is hinged to the lever, and the other end of the electric push rod is hinged to the lifting structure;
the control device includes:
the first receiving module is used for receiving a first action instruction sent by the mobile terminal;
the first sending module is used for generating a first control instruction according to the first action instruction and sending the first control instruction to the electric push rod; when the first control instruction indicates that the electric push rod shortens, shortening operation is carried out according to the first control instruction, the lever and the supporting plate are driven to rotate by taking the supporting rod as a fulcrum, and after one side of the supporting plate, which is far away from the electric push rod, rises, the supporting plate lifts a user, so that the hip of the user leaves the sitting position of the user.
The control method and the control device for the intelligent wheelchair are applied to the intelligent wheelchair, the intelligent wheelchair comprises a supporting structure, a lifting structure and a control structure, and the supporting structure is electrically connected with the control structure; the supporting structure comprises an electric push rod, a supporting plate, a supporting rod and a lever; one end of the electric push rod is connected with one side of the support plate close to the electric push rod, the lever is fixed on the support plate, one end of the support rod is hinged on the lever, and the other end of the electric push rod is hinged on the lifting structure; the control method comprises the following steps: the control structure receives a first action instruction sent by the mobile terminal; generating a first control instruction according to the first action instruction, and sending the first control instruction to the electric push rod; when the electric push rod is instructed to shorten by the first control instruction, the electric push rod is shortened according to the first control instruction, the lever and the supporting plate are driven to rotate by taking the supporting rod as a fulcrum, and after one side of the supporting plate, which is far away from the electric push rod, rises, the supporting plate lifts a user, so that the hip of the user is far away from the sitting position of the user. The control method of the intelligent wheelchair, provided by the embodiment of the application, can assist a user or a nursing staff to conveniently and quickly finish transfer and movement, reduces the labor intensity of the nursing staff, and improves the life confidence of the user.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a flow chart illustrating a method for controlling an intelligent wheelchair according to an embodiment of the present disclosure;
FIG. 2 is a flow chart illustrating a method for controlling another intelligent wheelchair according to an embodiment of the present application;
FIG. 3 is a flow chart illustrating a method for controlling another intelligent wheelchair provided by an embodiment of the present application;
FIG. 4 is a flow chart illustrating a method for controlling another intelligent wheelchair according to an embodiment of the present application;
FIG. 5 is a flow chart illustrating a method for controlling another intelligent wheelchair provided by an embodiment of the present application;
FIG. 6 is a schematic structural diagram illustrating a control device of an intelligent wheelchair according to an embodiment of the present application;
fig. 7 shows a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1, an embodiment of the present application provides a control method for an intelligent wheelchair, where the control method is applied to an intelligent wheelchair, the intelligent wheelchair includes a support structure, a lifting structure, and a control structure, and the support structure and the control structure are electrically connected; the supporting structure comprises an electric push rod, a supporting plate, a supporting rod and a lever; one end of the electric push rod is connected with one side, close to the electric push rod, of the supporting plate, the lever is fixed on the supporting plate, one end of the supporting rod is hinged to the lever, and the other end of the electric push rod is hinged to the lifting structure.
The method specifically comprises the following steps:
s101, a control structure receives a first action instruction sent by a mobile terminal;
s102, generating a first control instruction according to the first action instruction, and sending the first control instruction to the electric push rod; when the electric push rod is indicated by the first control instruction to extend, the electric push rod extends according to the first control instruction, the lever and the supporting plate are driven to rotate by taking the supporting rod as a fulcrum, and after one side of the supporting plate, which is far away from the electric push rod, descends, the supporting plate lifts a user, so that the hip of the user leaves the sitting position of the user.
In specific implementation, the control structure includes a wired receiving module, which can receive a first action instruction transmitted by the wired mobile terminal in real time, and certainly, the first action instruction transmitted by the wired mobile terminal is generated by a user or a caregiver operating the wired mobile terminal; the control structure can also comprise a wireless receiving module which can receive a first action instruction transmitted by the wireless mobile terminal in real time, wherein the first action instruction transmitted by the wireless mobile terminal is generated by the operation of the wireless mobile terminal by a user or a nursing staff.
After receiving the first action command, the control structure generates a first control command and sends the first control command to the electric push rod. In a specific application, the electric push rod can be controlled to extend or shorten, and when the first control instruction indicates that the electric push rod extends, the electric push rod performs shortening operation according to the first control instruction after the control structure sends the first control instruction to the electric push rod. In-process that shortens at electric putter, can drive the lever, the backup pad uses the bracing piece to rotate as the fulcrum, make one side that electric putter was kept away from to the backup pad rise, the user can be supported to the backup pad, it is specific, the user can remove backup pad department by oneself, perhaps nursing staff auxiliary user removes backup pad department, with user's prothorax and backup pad contact, place user's arm on the handrail that is connected with the backup pad, make backup pad and handrail can support the user, need not other nursing staff and support the user in addition, alleviate nursing staff's intensity of labour, time saving and labor saving.
In the case that the supporting plate supports the user, the control method shown in fig. 2 can be combined to assist the user to sit, wherein the specific steps are as follows:
s201, receiving a second action instruction sent by the mobile terminal;
s202, generating a second control instruction according to the second action instruction, and sending the second control instruction to the electric push rod; when the second control instruction indicates that the electric push rod extends, the electric push rod extends according to the second control instruction, the lever and the supporting plate are driven to rotate by taking the supporting rod as a fulcrum, and the supporting plate assists a user to sit after one side of the supporting plate, which is far away from the electric push rod, descends.
In a specific implementation, the user or the caregiver may send a second motion instruction using the wired mobile terminal or the wireless mobile terminal, and the second motion instruction may be indicative of the electric putter being extended. Specifically, after receiving the second action command, the control structure generates a second control command according to the second action command, and sends the second control command to the electric push rod. After the electric push rod receives the second control instruction, the electric push rod performs extension operation, and in the extension process of the electric push rod, the lever and the supporting plate can be driven to rotate by taking the supporting rod as a fulcrum, so that one side of the supporting plate, which is far away from the electric push rod, descends, the supporting plate assists a user in sitting, the nursing staff is not required to fix the wheelchair and assist the user in sitting, and the labor intensity of the nursing staff is reduced.
The control method shown in fig. 1 and 2 can assist the user to move from the target position to the wheelchair, and of course, when the user moves from the intelligent wheelchair to the target position, the control method shown in fig. 2 can be executed to realize moving the user from the intelligent wheelchair to the target position, specifically, the mobile terminal can be used to control the electric push rod to shorten, so that the support plate assists the hip of the user to lift away from the sitting position and supports the user leaning forward, thereby facilitating the user to transfer to the target position by himself or facilitating the nursing staff to assist the user to transfer to the target position.
The intelligent wheelchair in the embodiment of the application further comprises a seat structure, and the seat structure is electrically connected with the control structure; the seat structure comprises a seat plate, a seat supporting beam and a motor; the seat supporting beam is fixed on the lifting structure, the seat plate is connected with the seat supporting beam through the connecting plate, and the motor is electrically connected with the control structure. Correspondingly, the method also comprises a control method shown in fig. 3 when assisting the user to transfer and move, wherein the specific steps are as follows:
s301, receiving a third action instruction sent by the mobile terminal;
s302, generating a third control instruction according to the third action instruction, and sending the third control instruction to the motor; so that the motor drives the seat plate to move, and a user can enter or leave a corresponding preset area of the seat plate.
In a specific implementation, when the user moves from the target position to the wheelchair, the user or the caregiver may generate a third action command by using the mobile terminal (including the wired mobile terminal and the wireless mobile terminal), and after the third action command is generated, the mobile terminal sends the third action command to the control structure. And the control structure generates a third control instruction according to the third action instruction after receiving the third action instruction, and sends the third control instruction to the motor. When the third action command indicates that the two seat plates are separated, the motor drives the two seat plates to move towards opposite directions according to a third control command, so that the two seat plates are separated, and a user can enter a preset area corresponding to the seat plates; after the user enters the preset area corresponding to the seat plate, the supporting plate can be used for supporting the body of the user. When the third action command indicates that the two seat plates are closed, namely, a user enters a preset area corresponding to the seat plates, the motor drives the two seat plates to move towards opposite directions according to the third control command, so that the two seat plates are closed, and the purpose of seating the user is achieved.
It should be noted that, a pressure sensor may be further disposed on the seat plate to detect stress information on the seat plate, and when the user leaves from the seat plate, the stress value monitored by the pressure sensor on the seat plate is 0, and the pressure sensor may send the monitored stress information to the control structure. When the control structure determines that the stress value in the received stress information is 0 and the electric push rod executes the extension operation, a third control instruction for controlling the two seat plates to be separated is generated and sent to the motor, so that the motor drives the two seat plates to be separated; when the control structure determines that the stress value in the received stress information is 0 and the electric push rod executes shortening operation, a third control instruction for controlling the two seat plates to be closed is generated and sent to the motor, so that the motor drives the two seat plates to be closed.
Here, the intelligent wheelchair in the embodiment of the present application is further provided with a gyroscope, the gyroscope sends collected data such as angular velocity to the control structure, and the control structure can assist in adjusting the current posture of the intelligent wheelchair based on the data sent by the gyroscope, so that the posture of the intelligent wheelchair is convenient for a user to transfer and move.
The intelligent wheelchair provided by the embodiment of the application further comprises an acquisition structure, the acquisition structure comprises a pressure sensor, the pressure sensor is arranged on the supporting plate, the specific control method is combined with the method shown in the figure 4, and the specific steps are as follows:
s401, receiving stress information of a supporting plate monitored by a pressure sensor in real time through a control structure;
s402, comparing a plurality of pieces of stress information acquired by pressure sensors respectively arranged in different areas on the supporting plate at the same time, and generating a stop instruction when the plurality of pieces of stress information are determined to be different, or comparing surface stress distribution information of every adjacent acquisition time point on the supporting plate, and sending the stop instruction to the electric push rod when the surface stress distribution information of the adjacent acquisition time point is different, so that the electric push rod stops the current operation.
Here, pressure sensor can real-time supervision backup pad's atress information, including atress value and stress position etc to all atress information sending that will monitor give control structure, and, in concrete implementation, can all set up pressure sensor in the left and right sides of backup pad, can also all set up pressure sensor in the upper and lower both sides of backup pad, can also all set up pressure sensor in the left and right sides of backup pad, upper and lower, diagonal angle etc. many sides for gather the atress information in the different regions of backup pad simultaneously.
Specifically, to the flexible in-process of electric putter, pressure sensor gathers two atress information of the backup pad left and right parts in real time and simultaneously, and send two atress information to control structure, control structure is after receiving two atress information, compares two atress information, when confirming that two atress information of adjacent backup pad left and right parts exist the difference (the difference between the atress value in two atress information is greater than the difference that predetermines), generates the stop instruction, and will stop the instruction and send electric putter, so that electric putter stops current operation. In addition, the pressure sensor sends the surface stress distribution information of the supporting plate to the control structure in real time, the control structure compares the surface stress distribution information of adjacent acquisition time points when receiving each piece of surface stress distribution information, and generates a stop instruction and sends the stop instruction to the electric push rod when the surface stress distribution information of the adjacent acquisition time points is different, so that the electric push rod stops the current operation. When the force bearing position of the support plate is changed (for example, the gravity center of the user is deviated leftwards or rightwards, the force bearing value of the support plate is reduced due to the gravity center of the user is deviated backwards, and the like), a stop instruction is generated and sent to the electric push rod, so that the electric push rod stops the current operation, and the danger of the user is avoided.
It is worth mentioning that the pressure sensor collects the surface stress distribution information of the supporting plate and sends the information to the control structure before the electric push rod performs the operation of extending or shortening. The control structure compares the surface stress distribution information of every adjacent acquisition time point, and when the difference between the surface stress distribution information of the adjacent acquisition time points is small, the electric push rod is controlled to perform the extending or shortening operation, so that the phenomenon that the extending or shortening operation is performed before a user does not stand stably and the user is in an accident is avoided.
And, intelligence wheelchair still includes alarm structure, and alarm structure is connected with the control structure electricity. When the fact that the difference exists among the plurality of pieces of stress information or the difference exists among the pieces of surface stress distribution information of the adjacent collection time points is determined, an alarm instruction is generated and sent to an alarm structure, so that the alarm structure gives an alarm according to the alarm instruction, and the alarm structure gives an alarm to prompt a user to pay attention to safety. The alarm structure can comprise a buzzer, and the buzzer sounds according to the alarm instruction to prompt a user; the alarm structure may further include a Light Emitting Diode (LED) lamp, and the LED lamp flashes according to a preset flashing rule according to the alarm instruction; the alarm structure can also comprise a communication device, and after receiving the alarm instruction, the communication device can generate alarm information and send the alarm information to mobile equipment and the like corresponding to the emergency contact of the current user; this is not particularly limited in the embodiments of the present application.
The intelligent wheelchair of the embodiment of the application further comprises a moving chassis, wherein the moving chassis comprises a laser radar sensor, a tracking sensor and a driving wheel, and the laser radar sensor and the tracking sensor are electrically connected with the control structure; the control method shown in fig. 5 can be combined to control the intelligent wheelchair to move, wherein the specific steps are as follows:
s501, receiving environmental data collected by a laser radar sensor in a preset area, preset navigation landmark data detected by a tracking sensor, and user image information on a target position and/or marker image information on the target position collected by a vision sensor;
s502, formulating a motion track according to the received environment data, the navigation road sign data, the image information of the user at the target position and/or the image information of the marker at the target position, and controlling the driving wheel to move according to the motion track.
In concrete implementation, the laser radar sensor can gather the environmental data in the preset area (use current position as the center, use preset distance to confirm preset area for the radius) in real time, including the shape data of barrier, distance etc. apart from the current position, the laser radar sensor sends the environmental data of gathering for control structure, control structure simulates out the virtual environment that intelligent wheelchair is located currently according to the environmental data received, can be based on this simulated environment, according to initial position (the position that is located currently) and terminal position, formulate the motion trail of intelligent wheelchair.
Furthermore, a magnetic stripe or a dark color ribbon can be laid on the ground in advance to serve as navigation road signs, and each navigation road sign carries a position identifier, such as longitude and latitude data of the current navigation road sign, or distance data of the current navigation road sign from a certain reference position. The tracking sensor may detect the navigation landmark data and send the navigation landmark data to the control structure.
The control structure can formulate a motion trail according to the received environment data and the navigation road sign data, and control the driving wheel to move according to the motion trail so as to enable the intelligent wheelchair to be driven to move from the initial position to the final position in a sliding mode. Here, the coarse positioning of the intelligent wheelchair can be realized through the laser radar sensor and the tracking sensor.
After the coarse positioning of the target position, a visual sensor (or a distance sensor, which is explained in this embodiment by taking the visual sensor as an example) arranged on the rear side of the moving chassis may be further used to acquire image information of the user at the target position and/or image information of the marker at the target position in real time, and send the image information of the user at the target position and/or the image information of the marker at the target position to the control structure. Here, in practical applications, only the image information of the user at the target position may be collected, or only the image information of a natural marker (such as a foot of a bed, etc.) or an artificial marker (such as a two-dimensional code, a polygonal shape, etc. arranged specifically) at the target position may be collected. After receiving the image information of the user at the target position and/or the image information of the marker at the target position, the control structure calculates the relative pose information of the intelligent wheelchair and the target position, plans a movement track through the control structure, and controls the intelligent wheelchair to back along the planned track, so that the intelligent wheelchair stops moving when the user is positioned in a preset area corresponding to the seat plate (namely, the separated left and right seat plates are positioned at the two sides of the user), and the precise positioning of the intelligent wheelchair is realized.
In a specific implementation, the acquisition structure further comprises a height detection sensor; the height detection sensor is arranged on the seat plate and is electrically connected with the control structure.
Receiving a first level at which the height detection sensor detects that the height detection sensor is currently located and a second level at which the user is located; when the difference between the first horizontal height and the second horizontal height is smaller than a preset threshold value, controlling the lifting structure to move upwards for a set distance so that the lifting structure drives the seat plate to move upwards for the set distance; when the difference between the first horizontal height and the second horizontal height is larger than or equal to a preset threshold value, the lifting structure is controlled to move, so that the difference between the first horizontal height and the second horizontal height is smaller than the preset threshold value.
In a specific implementation, the height detection sensor is arranged on the seat plate, and of course, since the heights of the two seat plates are the same, the height detection sensor can be arranged on any one seat plate, and the height detection sensor can monitor the first horizontal height of the seat plate at present in real time; in addition, the height detection sensor can also detect the second horizontal height of the user in real time, so that the second horizontal height of the user can be acquired after the transfer instruction of the user is received in order to avoid resource waste of the height detection sensor.
The height detection sensor sends the first level and the second level to the control structure after monitoring the first level and the second level of the seat pan. The control structure calculates the difference between the first horizontal height and the second horizontal height, when the difference between the first horizontal height and the second horizontal height is less than a preset threshold value, namely the horizontal height of the seat plate is close to the horizontal height of the user, the lifting structure is controlled to move upwards for setting the distance, and the seat plate is fixed on the lifting structure, so that the lifting structure can drive the seat plate to move upwards for setting the distance while moving upwards, namely, the horizontal height of the seat plate is higher than the horizontal height of the user, and the user can move conveniently.
When the difference between the first horizontal height and the second horizontal height is larger than a preset threshold value, namely the difference between the horizontal height of the seat plate and the horizontal height of the user is larger, the lifting structure is controlled to move, so that the difference between the first horizontal height and the second horizontal height is smaller than the preset threshold value. Specifically, after determining that the difference between the first level and the second level is greater than the preset threshold, the size between the first level and the second level may be further determined, and if the first level is greater than the second level, the lifting structure is controlled to descend until the difference between the first level and the second level is less than the preset threshold; and if the first horizontal height is smaller than the second horizontal height, controlling the lifting structure to ascend until the difference between the first horizontal height and the second horizontal height is smaller than a preset threshold value. And after the difference between the first horizontal height and the second horizontal height is smaller than a preset threshold value, controlling the lifting structure to move upwards for a set distance.
The collection structure in this application embodiment still includes micro-gap switch, and micro-gap switch sets up on a seat supporting beam, and is connected with the control structure electricity. When the micro switch contacts an object in the descending process of the seat supporting beam, a trigger signal is returned to the control structure, and at the moment, the control structure controls the lifting structure to stop moving.
In specific implementation, the acquisition structure of the embodiment of the application further comprises a voice recognition module and a gesture recognition module; the voice recognition module and the gesture recognition module are electrically connected with the control structure.
In specific implementation, a user or a nursing staff can send out voice to give an instruction to the intelligent wheelchair, when the user or the nursing staff sends out designated voice, the microphone array in the voice recognition module can recognize the designated voice sent by the user or the nursing staff, and a corresponding voice instruction is generated according to the recognized designated voice. The voice recognition module sends the recognized voice command to the control structure, and after the control structure receives the voice command, the fourth control command is generated based on the voice command.
Similarly, the user or the nursing staff can also give an instruction to the intelligent wheelchair by making a specified gesture or expression, and when the user or the nursing staff makes the specified gesture or expression, the gesture recognition module collects facial actions and gesture actions of the user or the nursing staff through the visual sensor and the depth sensor and generates a corresponding fourth control instruction. The control structure can control the intelligent wheelchair to perform corresponding actions according to the fourth control instruction.
The control method of the intelligent wheelchair, provided by the embodiment of the application, can assist a user or a nursing staff to conveniently and quickly finish transfer and movement, reduces the labor intensity of the nursing staff, and improves the life confidence of the user.
Based on the same inventive concept, the embodiment of the present application further provides a control device of an intelligent wheelchair corresponding to the control method of the intelligent wheelchair, and as the principle of solving the problem of the device in the embodiment of the present application is similar to the control method of the intelligent wheelchair described above in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and repeated details are omitted.
Referring to fig. 6, a control apparatus of an intelligent wheelchair according to a further embodiment of the present application includes:
a first receiving module 601, configured to receive a first action instruction sent by a mobile terminal;
the first sending module 602 is configured to generate a first control instruction according to the first action instruction, and send the first control instruction to the electric putter; when the first control instruction indicates that the electric push rod shortens, shortening operation is carried out according to the first control instruction, the lever and the supporting plate are driven to rotate by taking the supporting rod as a fulcrum, and after one side of the supporting plate, which is far away from the electric push rod, rises, the supporting plate lifts a user, so that the hip of the user leaves the sitting position of the user.
In one embodiment, the control device of the intelligent wheelchair further includes:
a second receiving module 603, configured to receive a second action instruction sent by the mobile terminal;
a second sending module 604, configured to generate a second control instruction according to the second action instruction, and send the second control instruction to the electric putter; when the second control instruction indicates that the electric push rod extends, the electric push rod extends according to the second control instruction to drive the lever and the support plate to rotate by taking the support rod as a fulcrum, so that the support plate assists a user to sit after one side of the support plate, which is far away from the electric push rod, descends.
In another embodiment, the control device of the intelligent wheelchair further includes:
a third receiving module 605, configured to receive a third action instruction sent by the mobile terminal;
a third sending module 606, configured to generate a third control instruction according to the third action instruction, and send the third control instruction to the motor; so that the motor drives the seat plate to move, and a user can enter or leave a corresponding preset area of the seat plate.
In another embodiment, the control device of the intelligent wheelchair further includes:
a fourth receiving module 607, configured to receive stress information of the supporting plate monitored by the pressure sensor in real time;
a fourth sending module 608, configured to compare multiple pieces of stress information acquired by the pressure sensors respectively disposed in different areas of the support plate at the same time, and when it is determined that there is a difference between the multiple pieces of stress information, or compare surface stress distribution information of each adjacent acquisition time point on the support plate, and when there is a difference between the surface stress distribution information of the adjacent acquisition time point, generate a stop instruction, and send the stop instruction to the electric push rod, so that the electric push rod stops current operations.
In another embodiment, the control device of the intelligent wheelchair further includes:
the alarm module 609 is configured to generate an alarm instruction when it is determined that the multiple pieces of stress information are different or when the surface stress distribution information of adjacent acquisition time points is different, and send the alarm instruction to the alarm structure; so that the alarm structure alarms according to the alarm instruction.
In another embodiment, the control device of the intelligent wheelchair further includes:
a fifth receiving module 610, configured to receive environment data in a preset area acquired by the lidar sensor, navigation landmark data preset for detection by the tracking sensor, and image information of a user at a target position and/or image information of a marker at the target position acquired by the vision sensor;
the first control module 611 is configured to formulate a motion trajectory according to the received environment data, the navigation road sign data, the image information of the user at the target position, and/or the image information of the marker at the target position, and control the driving wheel to move according to the motion trajectory.
In another embodiment, the control device of the intelligent wheelchair further includes:
a sixth receiving module 612, configured to receive the current first level detected by the height detecting sensor and the second level detected by the user;
a second control module 613, configured to control the lifting structure to move upward for a set distance when a difference between the first horizontal height and the second horizontal height is smaller than a preset threshold, so that the lifting structure drives the seat plate to move upward for the set distance.
In another embodiment, the control device of the intelligent wheelchair further includes:
and a third control module 614, configured to control the lifting structure to move when a difference between the first horizontal height and the second horizontal height is greater than or equal to the preset threshold, so that the difference between the first horizontal height and the second horizontal height is smaller than the preset threshold.
In another embodiment, the control device of the intelligent wheelchair further includes:
a seventh receiving module 615, configured to receive a voice instruction to be recognized by the voice recognition module and a gesture instruction to be collected by the gesture recognition module;
a generating module 616, configured to generate a fourth control instruction based on the voice instruction or the gesture instruction.
Fig. 7 illustrates a structure of an electronic device 700 according to an embodiment of the present invention, where the electronic device 700 includes: at least one processor 701, at least one network interface 704 or other user interface 703, memory 705, at least one communication bus 702. A communication bus 702 is used to enable connective communication between these components. The electronic device 700 optionally contains a user interface 703 including a display (e.g., touchscreen, LCD, CRT, Holographic (Holographic) or projection (Projector), etc.), a keyboard or a pointing device (e.g., mouse, trackball (trackball), touch pad or touchscreen, etc.).
Memory 705 may include both read-only memory and random access memory, and provides instructions and data to processor 701. A portion of the memory 705 may also include non-volatile random access memory (NVRAM).
In some embodiments, memory 705 stores elements, executable modules or data structures, or a subset thereof, or an expanded set thereof;
in an embodiment of the present invention, the processor 701 is configured to, by calling a program or instructions stored in the memory 705:
the control structure receives a first action instruction sent by the mobile terminal;
generating a first control instruction according to the first action instruction, and sending the first control instruction to the electric push rod; when the first control instruction indicates that the electric push rod shortens, shortening operation is carried out according to the first control instruction, the lever and the supporting plate are driven to rotate by taking the supporting rod as a fulcrum, and after one side of the supporting plate, which is far away from the electric push rod, rises, the supporting plate lifts a user, so that the hip of the user leaves the sitting position of the user.
Optionally, the processor 701 executes a method further including:
receiving a second action instruction sent by the mobile terminal;
generating a second control instruction according to the second action instruction, and sending the second control instruction to the electric push rod; when the second control instruction indicates that the electric push rod extends, the electric push rod extends according to the second control instruction to drive the lever and the support plate to rotate by taking the support rod as a fulcrum, so that the support plate assists a user to sit after one side of the support plate, which is far away from the electric push rod, descends.
Optionally, the processor 701 executes a method including:
receiving a third action instruction sent by the mobile terminal;
generating a third control instruction according to the third action instruction, and sending the third control instruction to the motor; so that the motor drives the seat plate to move, and a user can enter or leave a corresponding preset area of the seat plate.
Optionally, the processor 701 executes a method including:
the control structure receives the stress information of the supporting plate monitored by the pressure sensor in real time;
and comparing a plurality of stress information acquired by the pressure sensors respectively arranged in different areas on the supporting plate at the same time, and generating a stop instruction when the plurality of stress information is determined to have differences, or comparing the surface stress distribution information of each adjacent acquisition time point on the supporting plate, and sending the stop instruction to the electric push rod when the surface stress distribution information of the adjacent acquisition time points has differences, so that the electric push rod stops the current operation.
Optionally, the processor 701 executes a method including:
when the fact that the stress information is different is determined, or when the difference exists between the surface stress distribution information of the adjacent acquisition time points, generating an alarm instruction, and sending the alarm instruction to the alarm structure; so that the alarm structure alarms according to the alarm instruction.
Optionally, the processor 701 executes a method including:
receiving environmental data collected by the laser radar sensor in a preset area, preset navigation landmark data detected by the tracking sensor, and user image information on a target position and/or marker image information on the target position collected by the vision sensor;
and formulating a motion track according to the received environment data, the navigation road sign data, the image information of the user at the target position and/or the image information of the marker at the target position, and controlling the driving wheel to move according to the motion track.
Optionally, the processor 701 executes a method including:
receiving a first level at which the height detection sensor detects that the height detection sensor is currently located and a second level at which the user is located;
and when the difference between the first horizontal height and the second horizontal height is smaller than a preset threshold value, controlling the lifting structure to move upwards for a set distance, so that the lifting structure drives the seat plate to move upwards for the set distance.
Optionally, in the method executed by the processor 701, when the difference between the first horizontal height and the second horizontal height is greater than or equal to the preset threshold, the lifting structure is controlled to move, so that the difference between the first horizontal height and the second horizontal height is smaller than the preset threshold.
Optionally, the processor 701 executes a method including:
receiving a voice instruction to be recognized by the voice recognition module and a gesture instruction to be collected by the gesture recognition module;
and generating a fourth control instruction based on the voice instruction or the gesture instruction.
The computer program product of the method and the apparatus for controlling an intelligent wheelchair provided in the embodiments of the present application includes a computer readable storage medium storing a program code, and instructions included in the program code may be used to execute the method in the foregoing method embodiments.
Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, and the like, and when a computer program on the storage medium is run, the control method of the intelligent wheelchair can be executed, so that a user or a caregiver can be assisted to conveniently and quickly complete transfer and movement, the labor intensity of the caregiver is reduced, and the life confidence of the user is improved.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The control method of the intelligent wheelchair is characterized by being applied to the intelligent wheelchair, wherein the intelligent wheelchair comprises a supporting structure, a lifting structure and a control structure, and the supporting structure is electrically connected with the control structure; the supporting structure comprises an electric push rod, a supporting plate, a supporting rod and a lever; one end of the electric push rod is connected with one side, close to the electric push rod, of the supporting plate, the lever is fixed on the supporting plate, one end of the supporting rod is hinged to the lever, and the other end of the electric push rod is hinged to the lifting structure;
the control method comprises the following steps:
the control structure receives a first action instruction sent by the mobile terminal;
generating a first control instruction according to the first action instruction, and sending the first control instruction to the electric push rod; when the first control instruction indicates that the electric push rod shortens, shortening operation is carried out according to the first control instruction, the lever and the supporting plate are driven to rotate by taking the supporting rod as a fulcrum, and after one side of the supporting plate, which is far away from the electric push rod, rises, the supporting plate lifts a user, so that the hip of the user leaves the sitting position of the user.
2. The control method according to claim 1, characterized by further comprising:
receiving a second action instruction sent by the mobile terminal;
generating a second control instruction according to the second action instruction, and sending the second control instruction to the electric push rod; when the second control instruction indicates that the electric push rod extends, the electric push rod extends according to the second control instruction to drive the lever and the support plate to rotate by taking the support rod as a fulcrum, so that the support plate assists a user to sit after one side of the support plate, which is far away from the electric push rod, descends.
3. The control method of claim 1, wherein the smart wheelchair further comprises a seat structure, the seat structure and the control structure being electrically connected; the seat structure comprises a seat plate, a seat supporting beam and a motor; the seat supporting beam is fixed on the lifting structure, the seat plate is connected with the seat supporting beam through a connecting plate, and the motor is electrically connected with the control structure;
the control method comprises the following steps:
receiving a third action instruction sent by the mobile terminal;
generating a third control instruction according to the third action instruction, and sending the third control instruction to the motor; so that the motor drives the seat plate to move, and a user can enter or leave a corresponding preset area of the seat plate.
4. The control method of claim 3, wherein the smart wheelchair further comprises an acquisition structure comprising a pressure sensor disposed on the support plate;
the control method comprises the following steps:
the control structure receives the stress information of the supporting plate monitored by the pressure sensor in real time;
and comparing a plurality of stress information acquired by the pressure sensors respectively arranged in different areas on the supporting plate at the same time, and generating a stop instruction when the plurality of stress information is determined to have differences, or comparing the surface stress distribution information of every adjacent acquisition time point on the supporting plate, and generating the stop instruction to the electric push rod when the surface stress distribution information of the adjacent acquisition time points has differences, so that the electric push rod stops the current operation.
5. The control method of claim 4, wherein the smart wheelchair further comprises an alarm structure electrically connected to the control structure; the control method comprises the following steps:
when the fact that the stress information is different is determined, or when the difference exists between the surface stress distribution information of the adjacent acquisition time points, generating an alarm instruction, and sending the alarm instruction to the alarm structure; so that the alarm structure alarms according to the alarm instruction.
6. The control method of claim 1, wherein the smart wheelchair further comprises a mobile chassis; the mobile chassis comprises a laser radar sensor, a tracking sensor, a vision sensor and a driving wheel, and the laser radar sensor, the tracking sensor and the vision sensor are all electrically connected with the control structure;
the control method comprises the following steps:
receiving environmental data collected by the laser radar sensor in a preset area, preset navigation landmark data detected by the tracking sensor, and user image information on a target position and/or marker image information on the target position collected by the vision sensor;
and formulating a motion track according to the received environment data, the navigation road sign data, the image information of the user at the target position and/or the image information of the marker at the target position, and controlling the driving wheel to move according to the motion track.
7. The control method of claim 4, wherein the acquisition structure further comprises a height detection sensor; the height detection sensor is arranged on the seat board and is electrically connected with the control structure;
the control method comprises the following steps:
receiving a first level at which the height detection sensor detects that the height detection sensor is currently located and a second level at which the user is located;
and when the difference between the first horizontal height and the second horizontal height is smaller than a preset threshold value, controlling the lifting structure to move upwards for a set distance, so that the lifting structure drives the seat plate to move upwards for the set distance.
8. The control method according to claim 7, wherein when the difference between the first level and the second level is greater than or equal to the preset threshold, the lifting structure is controlled to move so that the difference between the first level and the second level is less than a preset threshold.
9. The control method of claim 8, wherein the acquisition structure further comprises a speech recognition module and a gesture recognition module; the voice recognition module and the gesture recognition module are both electrically connected with the control structure;
the control method comprises the following steps:
receiving a voice instruction to be recognized by the voice recognition module and a gesture instruction to be collected by the gesture recognition module;
and generating a fourth control instruction based on the voice instruction or the gesture instruction.
10. The control device of the intelligent wheelchair is applied to the intelligent wheelchair, the intelligent wheelchair comprises a supporting structure, a lifting structure and a control structure, and the supporting structure is electrically connected with the control structure; the supporting structure comprises an electric push rod, a supporting plate, a supporting rod and a lever; one end of the electric push rod is connected with one side, close to the electric push rod, of the supporting plate, the lever is fixed on the supporting plate, one end of the supporting rod is hinged to the lever, and the other end of the electric push rod is hinged to the lifting structure;
the control device includes:
the first receiving module is used for receiving a first action instruction sent by the mobile terminal;
the first sending module is used for generating a first control instruction according to the first action instruction and sending the first control instruction to the electric push rod; when the first control instruction indicates that the electric push rod shortens, shortening operation is carried out according to the first control instruction, the lever and the supporting plate are driven to rotate by taking the supporting rod as a fulcrum, and after one side of the supporting plate, which is far away from the electric push rod, rises, the supporting plate lifts a user, so that the hip of the user leaves the sitting position of the user.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910891660.6A CN110623799B (en) | 2019-09-20 | 2019-09-20 | Control method and device of intelligent wheelchair |
| PCT/CN2020/084998 WO2021051798A1 (en) | 2019-09-20 | 2020-04-16 | Control method and device for smart wheelchair and smart wheelchair |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910891660.6A CN110623799B (en) | 2019-09-20 | 2019-09-20 | Control method and device of intelligent wheelchair |
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| CN110623799A true CN110623799A (en) | 2019-12-31 |
| CN110623799B CN110623799B (en) | 2020-07-10 |
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| CN112904904A (en) * | 2021-01-28 | 2021-06-04 | 四川巧夺天工信息安全智能设备有限公司 | Method and device for controlling lifting of electric push rod |
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