CN111526852A

CN111526852A - Intelligent wheelchair with workbench

Info

Publication number: CN111526852A
Application number: CN201780098032.1A
Authority: CN
Inventors: 刘伟荣; 李家鑫; 焦寅; 闫励
Original assignee: Sichuan Golden Ridge Intelligence Science and Technology Co Ltd
Current assignee: Sichuan Golden Ridge Intelligence Science and Technology Co Ltd
Priority date: 2017-12-28
Filing date: 2017-12-28
Publication date: 2020-08-11
Anticipated expiration: 2037-12-28
Also published as: WO2019127277A1; CN111526852B

Abstract

An intelligent wheelchair (110) with a work bench (210). The intelligent wheelchair (110) comprises at least one workbench (210), the workbench (210) comprises a first state and a second state, the workbench (210) is located in front of the wheelchair (110) in the first state, the workbench (210) is retracted to the rear of the wheelchair (110) in the second state, the workbench (210) comprises at least one buckle (430), and a notebook computer is fixed on the workbench (210) through the buckle (430); at least one brake device (230), the brake device (230) being located on a wheel of the wheelchair (110), the brake device (230) being for braking of the wheelchair (110); at least one sensing device (220), wherein the sensing device (220) is used for sensing the surrounding environment state of the intelligent wheelchair (110); the intelligent wheelchair comprises at least one control module (240), wherein the control module (240) is connected with the workbench (210), the brake device (230) and the sensing device (220), and the control module (240) is used for controlling the intelligent wheelchair (110).

Description

Intelligent wheelchair with workbench

Technical Field

The invention relates to an intelligent wheelchair, in particular to an intelligent wheelchair with a workbench.

Background

The number of disabled people increases year by year due to traffic accidents, accidents and diseases, and some of the disabled people who are paraplegic and hemiplegic, the old with inconvenient legs and feet, and the people whose lower limbs are weak and can not stand are often used without leaving the wheelchair in daily life.

Disclosure of Invention

One aspect of the invention relates to an intelligent wheelchair with a workbench, the intelligent wheelchair comprises at least one workbench, the workbench comprises a first state and a second state, the workbench is positioned in front of the wheelchair in the first state, the workbench is retracted to the rear of the wheelchair in the second state, the workbench comprises at least one buckle, and a notebook computer is fixed on the workbench through the buckle; at least one brake device, the brake device is positioned on the wheel of the wheelchair, and the brake device is used for braking the wheelchair; at least one sensing device for sensing the ambient environment state of the intelligent wheelchair; at least one control module, control module with the workstation, brake equipment with sensing device is connected, control module is used for: acquiring a request for switching to a first state, which is sent by the workbench; acquiring the surrounding environment state of the wheelchair sent by the sensing device; judging whether the surrounding environment state of the wheelchair is suitable for the wheelchair to stop; when the surrounding environment state of the wheelchair is determined to be suitable for the wheelchair to stop, controlling the brake device to brake, and then opening the workbench; and when the surrounding environment state of the wheelchair is determined to be not suitable for the wheelchair to stop, the wheelchair continues to run to a place suitable for the wheelchair to stop, then the brake device is controlled to brake, and then the workbench is opened.

Preferably, a key control button is arranged on the right armrest of the intelligent wheelchair and used for controlling the workbench to be switched between the first state and the second state.

Preferably, the workbench comprises at least four telescopic rods and at least two rotating shafts; the lower ends of the first and second telescopic rods are fixed at the rear side of the wheelchair, and the first and second telescopic rods extend and retract in the direction vertical to the ground and are used for controlling the height of the workbench; the upper ends of the third and fourth telescopic rods are fixed on the workbench, and the third and fourth telescopic rods extend and retract in a direction parallel to the workbench and are used for controlling the front and rear positions of the workbench; the first rotating shaft and the second rotating shaft are respectively connected with the first telescopic rod, the third telescopic rod, the second telescopic rod and the fourth telescopic rod, the rotating shafts are used for controlling the angles of the third telescopic rod and the fourth telescopic rod, the angles are 360 degrees, and then the inclination of the workbench is controlled.

Preferably, when the work bench is in the second state, the third and fourth telescopic rods are folded behind the wheelchair in a direction parallel to the first and second telescopic rods.

Preferably, the workbench comprises at least one port, the port is connected with the control module, and when the port is connected with the notebook computer, the notebook computer is used for visually controlling the wheelchair.

Preferably, the visual control comprises controlling the path planning, speed, steering and the table of the intelligent wheelchair.

Preferably, the intelligent wheelchair comprises a power device, and the notebook computer is used for displaying the detected electric quantity of the power device.

Preferably, the workstation comprises a charging interface, and the charging interface is connected with the power device and used for providing power for the notebook computer.

Preferably, the intelligent wheelchair comprises a mouse device, wherein the mouse device is a wireless mouse and is automatically paired with the notebook computer.

Preferably, the wireless mouse is positioned inside the right armrest and used after the surface cover is opened.

Preferably, sensing device contains radar, camera and laser range finder, radar, camera and laser range finder are used for the perception the surrounding environment state of intelligent wheelchair.

Preferably, the workbench comprises a heat energy collecting device, and the heat energy collecting device is used for collecting the heat of the notebook computer to generate electricity and provide electricity for the intelligent wheelchair.

Drawings

The present method, system, and/or program are further described in the form of embodiments. These exemplary embodiments are described with reference to the accompanying drawings. These embodiments are not intended to limit the invention, and reference numerals in these embodiments represent reference numerals for the same structure at other angles.

FIG. 1 is a schematic view of an intelligent wheelchair control system according to some embodiments of the present invention;

FIG. 2 is a schematic block diagram of a portion of the apparatus of an intelligent wheelchair in accordance with some embodiments of the present invention;

FIG. 3 is a schematic block diagram of a control module of a smart wheelchair in accordance with some embodiments of the present invention;

FIG. 4 is a schematic view of a workbench of an intelligent wheelchair in accordance with some embodiments of the present invention;

FIG. 5 is a block diagram of an exemplary processing module shown in accordance with some embodiments of the invention; and

FIG. 6 is a schematic flow diagram illustrating opening of a workbench in accordance with some embodiments of the invention.

Detailed Description

In the following detailed description, numerous specific details of the present disclosure are set forth by way of examples in order to provide a thorough understanding of the relevant disclosure. However, it will be apparent to one of ordinary skill in the art that the present disclosure may be practiced without these specific details. In other instances, well known methods, procedures, systems, components, and/or circuits have been described elsewhere at a relatively high level, which has not been described in detail in this disclosure to avoid unnecessarily repeating.

It should be understood that the use of the terms "system," "apparatus," "unit" and/or "module" in this disclosure is a method for distinguishing between different components, elements, portions or assemblies at different levels of sequence. However, these terms may be replaced by other expressions if they can achieve the same purpose.

It will be understood that when a device, unit or module is referred to as being "on" … … "," connected to "or" coupled to "another device, unit or module, it can be directly on, connected or coupled to or in communication with the other device, unit or module, or intervening devices, units or modules may be present, unless the context clearly dictates otherwise. For example, as used in this disclosure, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present disclosure. As used in the specification and claims of this disclosure, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are inclusive in the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" are intended to cover only the explicitly identified features, integers, steps, operations, elements, and/or components, but not to constitute an exclusive list of such features, integers, steps, operations, elements, and/or components.

These and other features and characteristics of the present disclosure, as well as the methods of operation and functions of the related elements of structure and the combination of parts and economies of manufacture, will be better understood by reference to the following description and drawings, which form a part of this specification. It is to be expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended as a definition of the limits of the disclosure. It will be understood that the figures are not drawn to scale.

Further, the present disclosure describes only systems and methods related to a smart wheelchair, it being understood that the description in the present disclosure is merely one embodiment. The smart wheelchair system or method may also be applied to any type of smart device or vehicle other than a smart wheelchair. For example, the intelligent wheelchair system or method may be applied to various intelligent device systems including one or any combination of a wobbler, an Unmanned Ground Vehicle (UGV), and the like.

The term "smart device" is used interchangeably in this disclosure to refer to a device, apparatus or tool that is movable and automatically operated. The term "user equipment" in this disclosure may refer to a tool that may be used to request a service, subscribe to a service, or facilitate the provision of a service. The term "mobile terminal" in this disclosure may refer to a tool or interface that may be used by a user to control a smart wheelchair.

The positioning technology used in the present disclosure includes one or any combination of Global Positioning System (GPS) technology, global navigation satellite system (GLONASS) technology, COMPASS navigation system (COMPASS) technology, Galileo positioning system (Galileo) technology, quasi-zenith satellite system (QZSS) technology, wireless fidelity (WiFi) positioning technology, and the like. One or more of the above-described positioning techniques may be used interchangeably in this disclosure.

FIG. 1 is a schematic diagram of an intelligent wheelchair control system according to some embodiments of the present invention. The intelligent wheelchair control system 100 may include an intelligent wheelchair 110, a network 120, a user device 130, and a database 140. A user may control the smart wheelchair using a user device 130 through a network 120.

The smart wheelchair 110 and the user device 130 may establish communication. The communication between the smart wheelchair 110 and the user device 130 may be wired or wireless. For example, the smart wheelchair 110 may establish communication with the user device 130 or the database 140 via the network 120, and may wirelessly control the smart wheelchair 110 based on operational commands (e.g., commands to move or rotate) from the user device 130. As another example, the smart wheelchair 110 may be directly connected to the user device 130 or the database 140 via a cable or fiber optic. In some embodiments, the smart wheelchair 110 may update or download a map stored in the database 140 based on communications between the smart wheelchair 110 and the database 140. For example, the smart wheelchair 110 may capture information in a route and may analyze the information to build a map. In some embodiments, the complete map may be stored in the database 140. In some embodiments, the map constructed by the smart wheelchair 110 may include information corresponding to a portion of the complete map. In some embodiments, the corresponding portion of the complete map may be updated by the constructed map. When the smart wheelchair 110 determines its destination and current location, the complete map stored in the database 140 may be accessed by the smart wheelchair 110. A portion of the complete map containing the destination and current location of the smart wheelchair 110 may be selected by the smart wheelchair 110 for planning a route. In some embodiments, the smart wheelchair 110 may plan a route based on the selected map, the destination and the current location of the smart wheelchair 110. In some embodiments, the smart wheelchair 110 may employ a map of the user device 130. For example, the user device 130 may download a map from the internet. The user device 130 may direct the movement of the smart wheelchair 110 based on a map downloaded from the internet. As another example, the user device 130 may download the latest map from the database 140. Once the destination and current location of the smart wheelchair 110 are determined, the user device 130 may transmit the map obtained from the database 140 to the smart wheelchair 110. In some embodiments, the user device 130 may be part of the smart wheelchair 110. In some embodiments, if the map constructed by the smart wheelchair 110 includes its destination and current location, the smart wheelchair 110 may plan a route based on the map constructed by itself.

Network 120 may be a single network or a combination of different networks. For example, network 120 may be a Local Area Network (LAN), a Wide Area Network (WAN), a public network, a private network, a Wireless Local Area Network (WLAN), a virtual network, a Metropolitan Area Network (MAN), the Public Switched Telephone Network (PSTN), or any combination thereof. For example, the smart wheelchair 110 may communicate with the user device 130 and the database 140 via bluetooth. The network 120 may also include various network access points. For example, a wired or wireless access point, such as a base station or an internet switching point, may be included in the network 120. The user may send control operations from the user device 130 to the smart wheelchair 110 and receive results via the network 120. The intelligent wheelchair 110 may access information stored in the database 140 directly or via the network 120.

The user device 130 connectable to the network 120 may be one or any combination of a mobile device 130-1, a tablet computer 130-2, a laptop computer 130-3, a built-in device 130-4, etc. In some embodiments, the mobile device 130-1 may include one or any combination of a wearable device, a smart mobile device, a virtual reality device, an augmented reality device, and the like. In some embodiments, the user may control the smart wheelchair 110 through a wearable device, which may include one or any combination of a smart bracelet, a smart footwear, smart glasses, a smart helmet, a smart watch, a smart garment, a smart backpack, a smart accessory, and the like. In some embodiments, the smart mobile device may include one or any combination of a smart phone, a Personal Digital Assistant (PDA), a gaming device, a navigation device, a point of sale (POS) device, and the like. In some embodiments, the virtual reality device and/or the augmented reality device may include one or any combination of a virtual reality helmet, virtual reality glasses, virtual reality eyeshields, augmented reality helmets, augmented reality glasses, augmented reality eyeshields, and the like. For example, the virtual reality device and/or augmented reality device may include Google Glass, Oculus Rift, HoloLens, Gear VR, and the like. In some embodiments, the built-in device 130-4 may include a vehicle-mounted computer, a vehicle-mounted television, or the like. In some embodiments, the user device 130 may be a device having a positioning technology that locates the position of the user and/or the user device 130 associated with the user. For example, a route may be determined by the smart wheelchair 110 based on a map, a destination and a current location of the smart wheelchair 110. The location of the smart wheelchair 110 may be obtained through the user device 130. In some embodiments, the user device 130 may be a device with image capture capabilities. For example, a map stored in the database 140 may be updated based on information captured by an image sensor (e.g., a camera). In some embodiments, the user device 130 may be part of the smart wheelchair 110. For example, a smartphone with a camera, gyroscope, and accelerometer may be held by the pan-tilt head of the smart wheelchair 110. The user device 130 may act as a sensor to detect information. In some embodiments, the user device 130 may also serve as a communication interface for the user of the smart wheelchair 110. For example, the user may touch a screen of the user device 130 to select a control operation of the smart wheelchair 110.

The database 140 may store the complete map. In some embodiments, there may be multiple intelligent wheelchairs wirelessly connected to the database 140. Each intelligent wheelchair connected to the database 140 may build a map based on the information captured by its sensors. In some embodiments, the map constructed by the smart wheelchair may be part of a complete map. During the updating process, the constructed map can replace the corresponding area in the complete map. When a route needs to be planned from the location of the smart wheelchairs 110 to a destination, each smart wheelchair may download a map from the database 140. In some embodiments, the map downloaded from the database 140 may be a portion of a complete map that includes at least the location and destination of the smart wheelchair 110. The database 140 may also store historical information about users connected to the smart wheelchair 110. The historical information may include, for example, previous operations by the user or information regarding how the intelligent wheelchair 110 is operating. As shown in fig. 1, the database 140 may be accessible by the smart wheelchair 110 and the user device 130.

It should be noted that the intelligent wheelchair control system 100 described above is merely intended to describe one example of a particular embodiment of the system and is not intended to limit the scope of the present disclosure.

FIG. 2 is a block diagram schematic representation of a portion of the apparatus of an intelligent wheelchair according to some embodiments of the present invention. The smart wheelchair 110 may include at least one table 210, a sensing device 220, a braking device 230, a control module 240, a power device 250, and a mouse device 260.

The stage 210 may include a first state and a second state. In the first state, the table 210 is located in front of the wheelchair, and a user can place a notebook computer, articles, and the like on the table 210 to work. In some embodiments, the height, horizontal position, and tilt angle of the table 210 can be adjusted when the table 210 is in the first state. In the second state, the table 210 is retracted to the rear of the wheelchair and no longer occupies the space in front of the wheelchair. The table 210 may contain a key control button. A key control button can be located at the right hand armrest of the intelligent wheelchair, so that a user can rapidly switch the state of the workbench 210 without depending on intelligent equipment such as a mobile phone, a notebook computer and the like. In some embodiments, a key control button may be located in a recess in the surface of the armrest, and the user may prevent accidental activation of the key control button without triggering the key control button when touching or leaning against the armrest. The working platform 210 may be connected to a sensing device 220, a braking device 230, a control module 240, a power device 250, and a mouse device 260. The workstation 210 may include a charging interface coupled to the power device 250, and may be used to charge electronic devices or non-electronic devices such as a laptop, tablet, and mobile phone.

In some embodiments, the working platform 210 is in the first state, a notebook computer is placed on the working platform 210, and the notebook computer can be connected to the working platform 210 and connected to the sensing device 220, the braking device 230, the control module 240, the power device 250, and the mouse device 260 through the working platform 210. In some embodiments, the working platform 210 is in the first state, and a notebook computer is placed on the working platform 210, and the notebook computer can be connected to the working platform 210 and can be directly connected to the sensing device 220, the braking device 230, the control module 240, the power device 250, and the mouse device 260. In some embodiments, the user can control the height, horizontal position, and tilt angle of the work table 210 via a laptop computer. In some embodiments, the user can visually check the state of the wheelchair, such as the remaining power, speed, surrounding environment, position information, driving path, etc., through the notebook computer, and can adjust the operating state of the wheelchair, such as re-planning the path, adjusting the driving speed, turning, etc., through the notebook computer.

In some embodiments, the stage 210 is in the second state. The user needs to switch the table 210 to the first state. The user may send a request to the control module 240 to switch the workbench to the first state via a one-key control button or the user device 130 (e.g., cell phone, tablet) if the user needs to work due to an emergency. The control module 240 receives a request for switching the workbench to the first state, and also receives sensing information of the sensing device 220, such as surrounding obstacle information, position information, and the like. The control module 240 determines whether the surrounding environment of the wheelchair is suitable for parking and switches the state of the workbench 210 according to the obstacle information and the position information. In some embodiments, when the sensing information of the sensing device 220 indicates that the wheelchair is located at a traffic intersection, a crowded crowd, or a slope with a large slope, the control module 240 determines that the surrounding environment is not suitable for parking and switches the state of the workbench 210, and may automatically plan a path to a place suitable for work closest to the road, and then switch the state of the workbench 210.

The sensing devices 220 may include sensors capable of obtaining image data from objects or obstacles, gyroscope data, accelerometer data, position data, distance data, and any other data that may be used by the smart wheelchair 110 to perform the various functions described in this disclosure. In some embodiments, sensing device 220 may include at least one image sensor, accelerometer, gyroscope, sonar, infrared distance sensor, optical flow sensor, lidar, and navigation sensor. In some embodiments, the image sensor may include one or more night vision cameras for obtaining image data in low light environments. In some embodiments, the data and/or information obtained by the sensing device 220 may be transmitted to the control module 240 or the user device 130. In some embodiments, one or more sensing devices 220 may be installed in multiple locations of the smart wheelchair 110. More specifically, for example, one or more image sensors may be mounted on both sides of the top of the back of the smart wheelchair 110 and at a location above the front wheels. One or more navigation sensors, helicopters and accelerometers may be mounted above the front or rear wheels of the smart wheelchair 110 or to the sides of the armrests, etc. In some embodiments, the sensing device 220 may automatically explore the environment and detect location under the control of the control module 240. For example, the sensing device 220 may be used to dynamically sense or detect the position, size, velocity, etc. of an object, obstacle, etc.

The brake device 230 is located on the wheel of the wheelchair for braking the wheelchair. The brake device 230 may be coupled to the control module 240 and the user device 130 (e.g., a laptop computer disposed on the table 210). The brake device 230 may receive a brake command from the control module 240 and the user device 130, and activate the brake device to gradually reduce the wheelchair speed to a stop. The brake device can comprise a deadlock unit, and when the speed of the wheelchair is reduced to 0, the deadlock unit can be started to prevent the wheelchair from sliding due to external force.

The control module 240 may be coupled to the table 210, the sensing device 220, the brake device 230, and wheels (not shown) of the wheelchair. The control module 240 may receive a real-time status of the worktable 210, may control status switching of the worktable 210, and may control a height, a horizontal position, and a tilt angle of the worktable 210. The control module 240 can receive the sensing information of the sensing device 220, process the sensing information of the sensing device 220, and determine the operating state and the surrounding environment state of the wheelchair. The control module 240 may control the driving of the wheelchair, such as changing speed, steering, or braking, by controlling the wheels of the wheelchair according to the ambient conditions. The control module may send a braking command to the braking device 230 and activate the braking device 230.

The power device 250 may be electrically connected to the working platform 210, the sensing device 220, the braking device 230, the control module 240, the mouse device 260, and the user equipment 130 (e.g., a laptop computer placed on the working platform 210). The power device 250 may provide power to the table 210, the sensing device 220, the braking device 230, the control module 240, the mouse device 260, and the user equipment 130 (e.g., a laptop computer placed on the table 210). In some embodiments, the power device 210 has a reminder function. When the power of the power device 250 is lower than 50% and/or 20%, the user is reminded of the remaining driving range and time, and automatically searches and navigates to a nearby charging device. In some embodiments, the power device 250 may be a solar charging device. In some embodiments, the power device 250 may include a thermal energy collecting device located on the worktable 210, and the thermal energy collecting device located on the worktable 210 may collect thermal energy generated by a notebook computer placed on the worktable 210 and convert the thermal energy into electric energy to be input to the power device 250.

The mouse device 260 is located inside the right hand armrest and may be a wireless mouse. The mouse device 260 may be located on the inside layer of the right hand armrest with a cover over the surface. When the cover is opened, the mouse may be activated and used to operate the notebook computer placed on the table 210. In some embodiments, the cover is designed as a flip cover, and the flip cover can be located on the same plane as the mouse storage place after being flipped open, so as to increase the sliding range of the mouse. The mouse device 260 may be connected to the table 210 and a notebook computer placed on the table 210. After the notebook computer is fixed on the workbench 210, the workbench 210 may send a start command to the mouse device 260, and the mouse device 260 is started. After the mouse device 260 is started, the mouse device 260 is paired with a notebook computer placed on the workbench 210 through wireless connection, and after the pairing is successful, the mouse device 260 can be used for operating the notebook computer.

FIG. 3 is a schematic block diagram of a control module of an intelligent wheelchair in accordance with some embodiments of the present invention. The control module may contain at least one processor 310, memory 320, input/output interfaces 330, and communication ports 340.

Processor 310 may process information to generate one or more results. In some embodiments, the information may include image data, gyroscope data, accelerometer data, location data, distance data, and the like transmitted by sensing device 220. In some embodiments, the information may include real-time status information sent by the workstation 210. In some embodiments, the one or more results may include displacement information and depth information (e.g., displacement of the camera between two adjacent frames, depth of objects in two adjacent frames). In some embodiments, the processor 310 may construct a map of the location of the wheelchair based on the one or more results, which may contain real-time information of surrounding obstacle information. Based on the map of the location of the wheelchair, the processor 310 can determine whether the location of the wheelchair is suitable for opening the table 210 for the wheelchair user to work with. The processor 310 may also transmit the map to the database 140 for updating. In some embodiments, processor 310 may include one or more processors (e.g., a single-core processor or a multi-core processor). Merely by way of example, the processor 310 may include one or any combination of a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), an application specific instruction set processor (ASIP), a Graphics Processing Unit (GPU), a Physical Processing Unit (PPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a Programmable Logic Device (PLD), a controller, a micro-controller unit, a reduced instruction set computer, a microprocessor, and the like. As another example, processor 310 may be a specially designed processing element or device with special functionality.

The memory 320 may store instructions for the processor 310, and when executing the instructions, the processor 310 may perform one or more functions or operations described in the present disclosure. For example, storage 320 may store, for example, instructions that are executable by processor 310 to process information obtained by sensing device 220. As another example, the memory 320 may store a condition that determines whether the position of the wheelchair is suitable for opening the table 210. For another example, the memory 320 may store instructions for turning on the brake device 230 and turning on the table 210 after confirming that the position of the wheelchair is suitable for the conditions for turning on the table 210. In some embodiments, the processor 310 may automatically store information obtained by the sensing device 220. The memory 320 may also store one or more results generated by the processor 310 (e.g., displacement information and/or depth information for constructing a map). For example, the processor 310 may generate and store one or more results in the memory 320, and the one or more results may be read by the processor 310 from the memory 320 to construct a map. In some embodiments, the memory 320 may store maps constructed by the processor 310. In some embodiments, the memory 320 may store maps obtained by the processor 310 from the database 140 or the user device 130. For example, the memory 320 may store a map constructed by the processor 310, and then may transmit the constructed map to the database 140 to update the corresponding portion of the complete map. As another example, the memory 320 may temporarily store maps downloaded by the processor 310 from the database 140 or the user device 130. In some embodiments, memory 320 may include one or any combination of mass storage, removable storage, volatile read-write memory, read-only memory (ROM), and the like. Exemplary mass storage devices may include magnetic disks, optical disks, solid state drives, and the like. Exemplary removable memories may include flash drives, floppy disks, optical disks, memory cards, compact disks, magnetic tape, and the like. Exemplary volatile read and write memories can include Random Access Memory (RAM). Exemplary RAM may include Dynamic RAM (DRAM), double-date rate synchronous dynamic RAM (DDR SDRAM), Static RAM (SRAM), thyristor RAM (T-RAM), zero-capacitor RAM (Z-RAM), and the like. Exemplary ROMs may include Mask ROM (MROM), Programmable ROM (PROM), Erasable Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), compact disk ROM (CD-ROM), digital versatile disk ROM (DVD ROM).

Input/output interface 330 may be an interface for communication with other external devices, such as database 140, user device 130, and the like. In some embodiments, the input/output interface 330 may control data transfer with the smart wheelchair 110. For example, the latest map may be sent from the database 140 to the smart wheelchair 110. As another example, a map constructed based on information obtained by the sensing device 220 may be transmitted from the database 140 to the smart wheelchair 110. The input/output interface 330 may also include various additional elements such as a wireless communication module (not shown) for wireless communication or a tuner (not shown) for adjusting a broadcast signal, depending on the type of design of the smart wheelchair 110 and elements for receiving signals/data from external inputs. The input/output interface 330 may be used for a communication module for known wireless local area communication, such as Wi-Fi, bluetooth, Infrared (IR), Ultra Wideband (UWB), ZigBee, etc., or as a mobile communication module such as 3G, 4G or Long Term Evolution (LTE), or as a known input/output interface for wired communication. In some embodiments, the input/output interface 330 may be provided as a communication module for known wired communication such as optical fiber or Universal Serial Bus (USB). For example, the smart wheelchair 110 may exchange data with the computer's database 140 via a USB interface.

The communication port 340 may be a port for communicating within the smart wheelchair 110. That is, the communication port 240 may exchange information between components of the smart robot 110. The communication port 340 may be distributed among internal devices of the smart wheelchair 110, such as the workbench 210, the sensing device 220, the brake device 230, the control module 240, the power device 250, the mouse device 260, and the like. In some embodiments, the communication port 340 may transmit signals/data/signals of the processor 310 to and receive signals from an interior portion of the smart wheelchair 110. For example, the communication port 340 may be used for data transmission of the control module 240 with the table 210, the sensing device 220, the braking device 230, and the wheels of a wheelchair. In particular, the processor 310 may receive information from the sensing device 220. The processor 310 may send control operations to the table 210, the brake device 230, and the wheels of the wheelchair through the communication port 340. The transmit-receive process may be implemented through the communication port 340. The communication port 340 may receive various wireless signals according to certain wireless communication specifications. In some embodiments, the communication port 340 may be provided as a communication module for known wireless local area communication such as Wi-Fi, bluetooth, Infrared (IR), Ultra Wideband (UWB), ZigBee, etc., or as a mobile communication module such as 3G, 4G, or Long Term Evolution (LTE), or as a known communication method for wired communication. In some embodiments, the communication port 340 is not limited to an element for transmitting/receiving a signal from an internal device, and may be used as an interface for interactive communication. For example, the communication port 340 may establish communication between the processor 310 and other portions of the smart wheelchair 110 through circuitry using an Application Program Interface (API). In some embodiments, the user device 130 may be part of the smart wheelchair 110. In some embodiments, communication between the processor 310 and the user device 130 may be performed by the communication port 340.

Figure 4 is a schematic view of a workbench of an intelligent wheelchair according to some embodiments of the present invention. The work bench 210 may include a table top 410, an interface 420, a clasp 430, a first telescoping rod 440, a second telescoping rod 450, a third telescoping rod 460, a fourth telescoping rod 470, a first rotating shaft 480, and a second rotating shaft 490.

The table 410 may be a square panel or a combination of square panels. In some embodiments, the table 410 may be a square panel, and the table 410 is fixed to the front ends of the third extension bar 460 and the fourth extension bar 470. In some embodiments, the table 410 may be a combination of panels, for example, the table 410 may be three panels, wherein the middle panel is fixed to the front ends of the third and fourth telescoping bars 460 and 470, and the remaining two panels are fixed to the two sides of the middle panel and are foldable. When the desired footprint of the table 410 is small, both panels can be folded, using only the middle panel. When a larger footprint is desired for the playing surface 410, one or both of the panels on either side may be unfolded to lie in a plane with the middle panel.

The port 420 is located on the upper surface of the table 410. The port 420 may be an overall interface that may be integrated by the communication ports of the table 210, the sensing device 220, the brake device 230, the control module 240, the power device 250, the mouse device 260, and the like. The port 420 may be connected to a port of a notebook computer disposed on the table 410, so that the notebook computer disposed on the table 410 may perform data transmission with the workbench 210, the sensing device 220, the brake device 230, the control module 240, the power device 250, the mouse device 260, and the like through the port 420. In some embodiments, the port 420 may be connected to the power source of the power device 250 at the same time, and the port 420 may include a charging interface to provide power to a laptop computer placed on the table 410. In some embodiments, the charging interface may be a separate interface, and may have different types of shapes, for providing power to different types of user devices 130.

The buckle 430 is located on the upper surface of the table 410 and is used for fixing the notebook computer placed on the table 410. The buckle 430 can be of multiple types and can be matched with notebook computers with different fixing structures. In some embodiments, the fixing device of the notebook computer is located at the bottom of the notebook computer, and the notebook computer can be fixed by using the buckle 430 on the surface of the table 410. In some embodiments, when the fixing device of the notebook computer is located on the side of the notebook computer, a protruding portion may be provided on the portion of the table 410 near the edge, and a corresponding type of buckle may be installed to fix the notebook computer. For another example, when the notebook computer is not equipped with a fixing device, the table 410 may be provided with clip-type fastening structures with adjustable length, width and height, which are located at the left and right, upper and lower or four corners of the notebook computer, for fixing notebook computers with different sizes.

The first, second, third,

fourth telescoping rods

440, 450, 460, 470, 480, and 490 together form a structure for supporting and adjusting the table 410. As shown in fig. 4, the lower ends of the first telescopic rod 440 and the second telescopic rod 450 are located at the back of the wheelchair seat and can be fixed at the back of the wheelchair seat by welding or bolt structure. The upper ends of the third telescopic rod 460 and the fourth telescopic rod 470 are located at the bottom of the table 410, and can be fixed below the table 410 through welding or a bolt structure, and the plane of the table 410 is parallel to the plane of the third telescopic rod 460 and the fourth telescopic rod 470. The first and second

rotating shafts

480 and 490 are connected to the upper ends of the first and second telescopic bars 440 and 450 and the lower ends of the third and fourth

telescopic bars

460 and 470, respectively. In some embodiments, when the workbench 210 is in the first state, the first and second telescopic bars 440 and 450 are in the extended state, and the third and fourth

telescopic bars

460 and 470 are rotated by the first and second

rotating shafts

480 and 490 to a horizontal direction perpendicular to the first and second telescopic bars 440 and 450. The height of the table-board 410 can be adjusted by means of the first and second expansion rods 440 and 450, the front and rear positions of the table-board 410 can be adjusted by means of the third and

fourth expansion rods

460 and 470, and the inclination angle of the table-board 410 can be adjusted by means of the first and

second rotation shafts

480 and 490. In some embodiments, the work bench 210 is in the second state, the first and second expansion bars 440 and 450 are in the retracted state, and the third and fourth expansion bars 460 and 470 are rotated by the first and

second rotation shafts

480 and 490 to a vertical direction parallel to the first and second expansion bars 440 and 450.

FIG. 5 is a block diagram of an exemplary processing module shown in accordance with some embodiments of the invention. The processing module 310 may include an acquisition unit 501, a processing unit 502, a determination unit 503, and a control unit 504. The obtaining unit 501 may obtain a request for the workbench 210 to switch to the first state and sensing information of the sensing device 220. The processing unit 502 can determine the environmental status around the wheelchair, such as the type, distance, and speed of the surrounding obstacles, according to the acquired sensing information of the sensing device 220. In some embodiments, the processing unit 502 for determining the state of the environment surrounding the wheelchair may be located in the sensing device 220. The determination unit 503 may determine whether it is appropriate for the wheelchair to be parked and switch the state of the table 210 according to the state of the environment around the wheelchair. The control unit 504 may call an instruction to control the wheelchair according to the determination result of the determination unit 503 to control the wheelchair. In some embodiments, the environmental conditions around the wheelchair are suitable for the wheelchair to be parked and the work bench 210 is switched, and the control unit 504 can call a command to activate the brake device 230 to brake the wheelchair to gradually stop. In some embodiments, the environmental status around the wheelchair is not suitable for the wheelchair to stop and switch the status of the workbench 210, and the control unit 504 can call a command of continuing to travel, and perform path planning on the nearest stoppable place, so that the wheelchair continues to travel, and continuously judge whether the environmental status around the wheelchair is suitable for the wheelchair to stop and switch the status of the workbench 210 until reaching a place suitable for the wheelchair to stop and switch the status of the workbench 210. The wheelchair is then braked and brought to a gradual stop by invoking a command to activate the brake 230.

FIG. 6 is a schematic flow diagram illustrating opening of a workbench in accordance with some embodiments of the invention. The wheelchair user is currently outside the company and needs to work in a suitable place for emergency, but the user needs to work on the wheelchair-carried table 210 because the wheelchair user is far away from the company and a suitable room for work and there is no desk nearby for the user to work. At this time, the working platform 210 is in the second state, the working platform 410 is folded behind the back of the wheelchair, and the user can press a key switching button on the right armrest of the wheelchair to request switching to the first state.

In step 601, the control module 240 may receive a request for the stage 210 to switch to a first state.

In step 602, sensing information of the sensing device 220 is received, and the surrounding environment state of the wheelchair, such as the type, distance, speed, etc. of surrounding obstacles, is obtained according to the sensing information of the sensing device 220. In some embodiments, the sensing device 220 can directly obtain the surrounding environment state of the wheelchair according to the sensed information.

In step 603, the control module 240 determines whether the surrounding state of the wheelchair is suitable for the wheelchair to be parked and switches the state of the table 210.

In step 604, when the control module 240 determines that the surrounding state of the wheelchair is suitable for the wheelchair to be parked and switches the state of the workbench 210, the brake device 230 is controlled to be activated to gradually decrease the speed by 0. In some embodiments, a deadlock unit in the brake device 230 may be opened to prevent the wheelchair from slipping due to an external force.

In step 605, when the control module 240 determines that the surrounding state of the wheelchair is not suitable for the wheelchair to be parked and switches the state of the workbench 210, the control module 240 may plan a path according to the nearest parking place in the searched or stored map data and control the wheelchair to continue to travel. During the driving process, the control module 240 may continuously determine the environment state around the wheelchair to determine whether the wheelchair is suitable for the parking and switch the state of the workbench 210, until reaching a place suitable for the parking of the wheelchair and the switching of the state of the workbench 210.

While the invention has been shown and described with respect to several embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.

Claims

An intelligent wheelchair with a workbench, comprising:

the working table comprises a first state and a second state, the working table is located in front of the wheelchair in the first state, the working table is retracted to the rear of the wheelchair in the second state, the working table comprises at least one buckle, and a notebook is fixed on the working table through the buckle;

at least one brake device, the brake device is positioned on the wheel of the wheelchair, and the brake device is used for braking the wheelchair;

at least one sensing device for sensing the ambient environmental status of the intelligent wheelchair;

at least one control module, control module with the workstation, brake equipment with sensing device is connected, control module is used for:

acquiring a request for switching to a first state, which is sent by the workbench;

acquiring the surrounding environment state of the wheelchair sent by the sensing device;

judging whether the surrounding environment state of the wheelchair is suitable for the wheelchair to stop;

when the surrounding environment state of the wheelchair is determined to be suitable for the wheelchair to stop, controlling the brake device to brake, and then opening the workbench; and

and when the surrounding environment state of the wheelchair is determined to be not suitable for the wheelchair to stop, the wheelchair continues to run to a place suitable for the wheelchair to stop, then the brake device is controlled to brake, and then the workbench is opened.
The smart wheelchair of claim 1 wherein a control button is provided on the right armrest of the wheelchair for controlling the table to switch between the first and second states.
The smart wheelchair of claim 1 wherein said platform comprises at least four telescoping poles and at least two rotating shafts;

the lower ends of the first and second telescopic rods are fixed at the rear side of the wheelchair, and the first and second telescopic rods extend and retract in the direction vertical to the ground to control the height of the workbench;

the upper ends of the third and fourth telescopic rods are fixed on the workbench, and the third and fourth telescopic rods extend and retract in a direction parallel to the workbench to control the front and rear positions of the workbench;

the first rotating shaft and the second rotating shaft are respectively connected with the first telescopic rod, the third telescopic rod, the second telescopic rod and the fourth telescopic rod, the rotating shafts are used for controlling the angles of the third telescopic rod and the fourth telescopic rod, the angles are 360 degrees, and then the inclination of the workbench is controlled.
The smart wheelchair of claim 3 wherein the third and fourth telescoping poles fold behind the wheelchair in a direction parallel to the first and second telescoping poles when the work bench is in the second state.
The smart wheelchair of claim 1 wherein the workstation includes at least one port, the port being connected to the control module, the notebook being used to visually control the wheelchair when the port is connected to the notebook.
The smart wheelchair of claim 5 wherein the visual controls include controlling path planning, speed, steering, and the table of the smart wheelchair.
The intelligent wheelchair as claimed in claim 1, wherein the intelligent wheelchair comprises a power device, and the notebook is configured to display the detected power level of the power device.
The intelligent wheelchair of claim 1 wherein said workstation includes a charging interface, said charging interface being connected to said power device for providing power to said notebook.
The intelligent wheelchair of claim 1 including a mouse device, said mouse device being a wireless mouse, automatically paired with said notebook.
The intelligent wheelchair as claimed in claim 8, wherein the wireless mouse is located inside the right armrest and used after the surface cover is opened.
The intelligent wheelchair as claimed in claim 1, wherein the sensing means comprises a radar, a camera and a laser range finder for sensing the state of the environment around the intelligent wheelchair.
The intelligent wheelchair as claimed in claim 1, wherein the working platform comprises a thermal energy collection device, and the thermal energy collection device is used for collecting the notebook heat to generate electricity to provide power for the intelligent wheelchair.