CN111759605A

CN111759605A - Intelligent wheelchair robot

Info

Publication number: CN111759605A
Application number: CN202010645384.8A
Authority: CN
Inventors: 廖力; 杨超; 文稀; 卢纯; 莫文娟; 赵会琴
Original assignee: Nanhua University
Current assignee: Nanhua University; University of South China
Priority date: 2020-07-07
Filing date: 2020-07-07
Publication date: 2020-10-13

Abstract

The invention relates to an intelligent wheelchair robot, which comprises a base with traveling wheels, a telescopic support positioned above the base, a chair cushion positioned at the upper end of the telescopic support, a chair back connected to the chair cushion in a switching way and a leg support piece arranged at the front part of the chair cushion, wherein the lower end of the base is provided with a crawler belt for climbing stairs, the rear part of the telescopic support is provided with a hydraulic support rod for connecting the chair cushion and the base, and the upper end of the chair back is provided with a telescopic frame; the two sides of the upper part of the chair cushion are symmetrically provided with inverted L-shaped armrests, and one armrest is provided with an operating rod; a leg baffle is arranged at the front part of the chair cushion and close to the leg supporting piece, and an operation display screen is arranged at the rear part of the chair cushion; the robot is also provided with a control module, an intelligent distance measuring and obstacle avoiding module, an intelligent health detection module, an information support module and a wheelchair driving module, wherein the intelligent distance measuring and obstacle avoiding module is in electric signal connection with the control module. The device has strong functionality and high stability, and can be widely applied to the technical field of wheelchairs.

Description

Intelligent wheelchair robot

Technical Field

The invention relates to the technical field of wheelchairs, in particular to an intelligent wheelchair robot.

Background

At present, the wheelchair applied to patients is gradually improved in structure and function, so that the burden of the patients with inconvenient actions and the family members of the patients is reduced, and the nursing quality and efficiency are also improved. According to the prior art, common wheelchairs include a hand-push type wheelchair and a self-propelled wheelchair, and have different corresponding auxiliary functions respectively; furthermore, since some patients have a stair-type accommodation, a wheelchair capable of walking on stairs is provided, thereby reducing the work intensity of a caregiver when moving on the stairs. However, the conventional wheelchair is functionally deficient, so that the nursing rhythm of the patient and the caregiver is affected, and the operability is low.

Disclosure of Invention

In order to solve the technical problems, the technical scheme provided by the invention is as follows:

an intelligent wheelchair robot comprises a base with traveling wheels, a telescopic bracket positioned above the base, a chair cushion positioned at the upper end of the telescopic bracket, a chair back connected to the chair cushion in a switching way, and leg supporting pieces arranged at the front part of the chair cushion, wherein,

the lower end of the base is provided with a crawler belt for climbing stairs, the rear part of the telescopic bracket is provided with a hydraulic support rod for connecting the chair cushion and the base, and the upper end of the chair back is provided with a telescopic frame; the two sides of the upper part of the chair cushion are symmetrically provided with inverted L-shaped armrests, and one of the armrests is provided with an operating rod; a leg baffle is arranged at the front part of the chair cushion and close to the leg supporting piece, and an operation display screen is arranged at the rear part of the chair cushion;

the robot is also provided with a control module, an intelligent distance measuring and obstacle avoiding module, an intelligent health detection module, an information support module and a wheelchair driving module, wherein the intelligent distance measuring and obstacle avoiding module is in electric signal connection with the control module.

Furthermore, the walking wheel comprises two front wheels and two rear wheels, a first corresponding electric push rod is arranged on the base, and the pushing end of the first electric push rod is used for pushing the walking wheel to ascend or descend; the crawler belt is wound on the belt wheel, the belt wheel is connected to the lower end of the base in a shaft mode, the up-and-down movement is achieved through the electric push rods II which are arranged in the front and at the back, and the electric push rods II are connected to the base in a switching mode; the wheelchair comprises two front wheels, two rear wheels and a connecting rod, wherein the two front wheels and the two rear wheels are respectively provided with a transverse shaft, the two transverse shafts are connected through the connecting rod, and the transverse shaft between the front wheels is controlled and driven through the wheelchair driving module.

Furthermore, the telescopic support comprises two hinged folding rods, the folding rods are crossed and hinged left and right to form a structure with a parallelogram middle part, the lower ends of the two folding rods are connected to the base, and the upper ends of the two folding rods are connected to the chair cushion; the lower end of the hydraulic supporting rod is fixedly connected to the upper portion of the base, the upper end of the hydraulic supporting rod is hinged to the rear portion of the chair back, and a hinge piece is arranged on the chair back and close to the chair cushion.

Furthermore, a rotating shaft and an adjusting shaft wheel positioned at the end part of the rotating shaft are arranged between the chair back and the chair cushion and are used for adjusting the inclination of the chair back; the chair back is characterized in that penetrating holes penetrating through the telescopic frame are further formed in two sides of the chair back, and the telescopic frame is of an inverted U shape.

Further, the shaft wheels are positioned at the left end and the right end of the chair back.

Furthermore, the operating rod is in signal connection with the control module and is used for controlling the robot to move; the leg baffle comprises a support rod fixedly connected to the chair cushion and an arc baffle which is integrally formed, the arc baffle is bent downwards, and one end of the arc baffle is connected with the support rod; the leg supporting piece is L-shaped and is fixedly connected to the seat cushion through one end of the leg supporting piece, and the leg supporting piece is arranged close to the leg baffle.

Furthermore, massage balls are arranged on the leg supporting pieces, the balls are arranged in a linear mode, and the balls are driven by a motor.

Furthermore, a manual and voice input button is arranged on the display screen and is connected with the control module; the intelligent distance measurement and obstacle avoidance module comprises a GPS positioning chip, a geomagnetic sensor and an infrared sensor which are connected in parallel, and the GPS positioning chip, the geomagnetic sensor and the infrared sensor are all sent to the control module after signals are collected; the intelligent health detection module comprises a pressure sensor, a position sensor, a temperature sensor and an optical fiber sensor which are electrically connected in parallel, and the intelligent health detection module transmits signals to the display screen after acquiring the signals; the information support module is accessed to a wireless communication chip or wireless WIFI and receives health monitoring data; the wheelchair driving module comprises a motor driver and a direct current motor and is used for driving the robot to move forwards and backwards and climb stairs; the control module comprises a main control chip and a human-computer interaction interface, and the human-computer interaction interface is positioned on the display screen.

Furthermore, the optical fiber sensor is arranged in the chair back and/or the chair cushion and is connected with the robot node host through an optical fiber; the intelligent control module is further electrically connected with a voice acquisition module, and the height, the weight and the expected body position of the user are acquired through human-computer interaction.

Further, the base is of a hollow box-shaped structure; and a power supply is arranged in the base and is a lithium battery.

After adopting the structure, the invention has the following advantages:

the adjustable chair back arranged by the device achieves the purpose of adapting to patients with different body positions, and has stronger functionality; the purpose of monitoring vital signs of a patient and the position of the device and automatically adjusting the position of the device to realize automatic obstacle avoidance is achieved through the arranged control module and each functional module connected with the control module; furthermore, the leg supporting piece and the leg baffle which are arranged are used for fixing the device in a standing state, and the stability of the device in the using process is improved.

Drawings

FIG. 1 is a side view of an embodiment of the present invention;

FIG. 2 is a front view of an embodiment of the present invention;

FIG. 3 is a rear view of an embodiment of the present invention;

FIG. 4 is a bottom view of an embodiment of the present invention;

FIG. 5 is a diagram of module connections according to an embodiment of the present invention;

fig. 6 is a flow chart of the operation of an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

With reference to the attached drawings 1-6, an intelligent wheelchair robot comprises a base 1 with traveling wheels, a telescopic bracket 2 positioned above the base 1, a chair cushion 3 positioned at the upper end of the telescopic bracket 2, a chair back 4 connected to the chair cushion 3 in a switching way, and leg supporting pieces 5 arranged at the front part of the chair cushion 3, wherein,

the lower end of the base 1 is provided with a crawler belt 6 for climbing stairs, the rear part of the telescopic bracket 2 is provided with a hydraulic support rod 7 for connecting the chair cushion 3 and the base 1, and the upper end of the chair back 4 is provided with a telescopic frame 8; the two sides of the upper part of the chair cushion 3 are symmetrically provided with inverted L-shaped armrests 9, and one armrest 9 is provided with an operating rod 10; a leg baffle 11 is arranged at the front part of the chair cushion 3 and close to the leg support 5, and an operation display screen 12 is arranged at the rear part of the chair cushion 3;

the robot is also provided with a control module 13, an intelligent distance measuring and obstacle avoiding module 14, an intelligent health detection module 15, an information support module 16 and a wheelchair driving module 17 which are in electric signal connection with the control module 13.

In the device, the manual or voice input control of the device is realized through the arranged display screen 12, the display screen 12 is fixedly connected through a telescopic rod, and the purpose of adjusting the position of the display screen 12 can be realized through the expansion and contraction of the telescopic rod; when a patient sits on the device, the upper end cover of the leg baffle plate 11 is arranged above the legs to play a certain role in fixing; the whole movement and state conversion of the device are realized through a wheelchair driving module 17, and the device is specifically a direct current motor and a motor driver.

The walking wheels comprise two front wheels 18 and two rear wheels 19, the base 1 is provided with a corresponding electric push rod I20, and the pushing end of the electric push rod I is used for pushing the walking wheels to ascend or descend; the crawler belt 6 is wound on a belt wheel 21, the belt wheel 21 is connected to the lower end of the base 1 in a shaft mode, the up-and-down movement is achieved through a second electric push rod 22 which is arranged in the front-and-back mode, and the second electric push rod 22 is connected to the base 1 in a switching mode; the two front wheels 18 and the two rear wheels 19 are provided with transverse shafts, the two transverse shafts are connected through a connecting rod, and the transverse shafts between the front wheels are controlled and driven through the wheelchair driving module 17.

The telescopic bracket 2 comprises two hinged folding rods 201, the folding rods 201 are crossed and hinged left and right to form a structure with a parallelogram middle part, the lower ends of the two folding rods 201 are connected to the base 1, and the upper ends of the two folding rods 201 are connected to the chair cushion 3; the lower end of the hydraulic supporting rod 7 is fixedly connected to the upper part of the base 1, the upper end of the hydraulic supporting rod 7 is hinged to the rear part of the chair back 4, and a hinge part 23 is arranged on the chair back 4 and close to the chair cushion 3.

When a patient sitting on the upper part of the folding device needs to take things at a certain height position, the device is provided with a direct current motor inside the base 1, the output end of the direct current motor is connected with the folding rod through a lead screw, and when the folding rod rotates in the positive direction, a parallelogram in the middle of the folding rod 201 extends upwards under the drive of the lead screw, so that the purpose of improving the vertical height of the chair cushion 3 is achieved; when the automobile needs to descend, the direct current motor rotates reversely. To hydraulic pressure branch 7's mode of action, its lower extreme rigid coupling is on base 1, and the upper end articulates on back of the chair 4 through an articulated elements 23, specifically is: the articulated elements 23 are U-shaped or V-shaped, and the two ends of the articulated elements are respectively connected with the chair back 4 through the nose seats, in order to realize the purpose of integrally lifting the chair back 4 and the chair cushion 3, in the device, the two ends of the articulated elements are respectively arranged on the chair back 4 and the chair cushion 3.

A rotating shaft and an adjusting shaft wheel 24 positioned at the end part of the rotating shaft are arranged between the chair back 4 and the chair cushion 5 and are used for adjusting the inclination of the chair back 4; two sides of the chair back 4 are also provided with through holes for the telescopic frames 8 to pass through, and the telescopic frames 8 are designed into an inverted U shape.

By arranging the shaft wheels 24 and particularly positioning the shaft wheels 24 at two sides of the lower end part of the chair back 4, the aim of adjusting the inclination angle of the chair back 4 is achieved by screwing the shaft wheels 24; moreover, in order to cooperate with patients with different heights, a telescopic frame 8 is arranged, and the telescopic frame can be specifically in an inverted U shape formed by combining telescopic rods. The arbor 24 may be a self-locking arbor as is commonly known in the art.

The pulleys 24 are located at the left and right ends of the seat back 4.

The purpose of convenient operation is achieved by arranging the shaft wheels 24 in the form of left and right ends.

The control rod 10 is in signal connection with a control module 13 and is used for controlling the robot to move; the leg guard 11 comprises a support rod 1101 fixedly connected to the seat cushion 3 and an integrally formed arc-shaped guard 1102, the arc-shaped guard 1102 bends downwards, and one end of the arc-shaped guard 1102 is connected with the support rod 1101; the leg support 5 is formed in an L-shape and is fixed to the seat cushion 3 by one end thereof, and the leg support 5 is disposed near the leg shield 11.

Through setting up cowl 1102, and its lower part cambered surface is unanimous with the shank lines to comfort level when improving the two contacts.

The leg support 5 is provided with massage balls 25, the balls 25 are arranged in a line, and the balls 25 are driven by a motor.

The massage balls 25 are driven by a shaft-connected driving motor, so that the purpose of massage is achieved in the rolling process.

The display screen 12 is provided with manual and voice input buttons which are connected with the control module 13; the intelligent distance measurement and obstacle avoidance module 14 comprises a GPS positioning chip, a geomagnetic sensor and an infrared sensor which are connected in parallel, and sends signals to the control module 13 after acquiring the signals; the intelligent health detection module 15 comprises a pressure sensor, a position sensor, a temperature sensor and an optical fiber sensor which are electrically connected in parallel, and sends signals to a display screen after the signals are collected; the information support module 16 is accessed to a wireless communication chip or wireless WIFI and receives health monitoring data; the wheelchair driving module 17 comprises a motor driver and a direct current motor and is used for driving the robot to move forward, backward and climb stairs; the control module 13 includes a main control chip and a human-computer interaction interface, and the human-computer interaction interface is located on the display screen 12.

A user using the device can establish a health management file at a community service station, and is convenient for emergency call or application of health service. Through the setting of display screen 12, can carry out the option of pronunciation password and manual password to four limbs paralysis or the person of loseing uses, after the user is in the selection password mode, follow-up operation all sends through this mode, specifically accessible pronunciation collection module carries out the collection of sound.

The optical fiber sensor is arranged in the chair back 4 and/or the chair cushion 3 and is connected with the robot node host through an optical fiber; the control module 13 is also electrically connected with a voice acquisition module, and the height, the weight and the expected body position of the user are acquired through human-computer interaction.

The base 1 is of a hollow box-shaped structure, and a power supply is arranged in the base 1.

For the setting of the power supply, a lithium battery can be adopted to provide power for the device.

Some users sitting on the device sometimes need to take articles at a certain height, and the articles can be taken by the telescopic bracket 2; then, the hydraulic support rod 7 arranged at the rear part of the chair back 4 in the device can lift the chair back 4 and the associated chair cushion 3 and is in an oblique standing state, and the foot support piece 5 and the leg baffle plate 11 can play the roles of fixing the knees of a patient and preventing the legs from bending, thereby assisting the patient to finish the standing action; through track 6 that sets up in this device, can also reach the purpose of going up and down stairs, specific process is: when the user needs to go upstairs, the crawler 6 touches the steps, the front wheels 18 are slowly lifted, and the rear wheels 19 are retracted when the whole crawler 6 completely touches the steps, so that the purpose of going upstairs is achieved; when the user needs to go downstairs, the front wheels 18 are retracted, the whole crawler belt 6 touches the steps, and the rear wheels are retracted to reach the purpose of going downstairs; the device can also be changed into an emergency cot device, and the operation is as follows: the shaft wheels 24 positioned at the two ends of the chair back 4 are rotated to slowly adjust the inclination angle of the chair back 4 until the chair back is in a horizontal state, and the telescopic frame 8 at the upper part of the chair back 4 is stretched, so that the first-aid bed in the horizontal state is formed, the functionality of the first-aid bed is improved, and the first-aid bed is used in the daily first-aid process; as is apparent from the above description of the structure, since the leg supporter 5 is used for placing the region below the knee, and the blood circulation is not smooth in the region below the leg after the patient sits for a long time, the present apparatus is designed to massage the side surface of the leg by adding the balls 25, thereby improving the blood circulation effect of the leg.

When the invention is implemented, the device comprises a robot main body structure and a software control system, and the function relationship is as follows: the walking state and the structure of the robot main body are controlled by all modules and electronic components in the software system. Generally speaking, the device performs information fusion on each assembled sensor through a microcontroller in a control module, receives information of a human-computer interaction interface, and makes a decision autonomously. Specifically, the device respectively sets each sensor as a geomagnetic sensor, an infrared sensor, a capacitive pressure sensor for measuring blood pressure, a capacitive position sensor for measuring electrocardiogram, a resonant quartz crystal temperature sensor for measuring body temperature and an optical fiber sensor for monitoring respiration, so as to monitor parameters such as physical signs of a user sitting on the device, the position of a wheelchair and the like, and realizes a man-machine interaction interface of the device by accessing a wireless communication chip or wireless WIFI (wireless fidelity), receiving health monitoring data, performing cloud analysis according to big data and making result judgment; through the Internet, a community health service center or a hospital shares user data in real time and receives help seeking of a user; in the process of intelligently measuring distance and avoiding obstacles, the device senses the position and direction of the device and the distribution of obstacles in the environment by fusing positioning, geomagnetic and infrared sensor distance measurement, and returns the detected information to the control module 13, thereby changing the traveling route of the device; furthermore, the device is networked with the traffic vehicles, the positioning information is confirmed through the GPS positioning and the real-time road condition information, the information transmission of the destination and the position of the robot is realized through the microcontroller, after the corrected position is confirmed, a coordinate system is established by depending on corresponding coordinates, and the return values of all the sensors are confirmed on a mathematical model, so that the position of the whole system is determined, the real-time performance of acquisition is achieved through the terminal of the microcontroller, and the real-time correction can be carried out, so that the obstacle is avoided.

In the device, a series of automatic control is realized through a control module 13 with a main chip, the device completes an appointed task after receiving a command of a human-computer interaction end of the device, processes data information of an intelligent distance measuring and obstacle avoiding module 14, makes a decision, controls the device to complete an autonomous navigation appointed task, and realizes the functions of automatically avoiding obstacles, driving, sending a climbing or stair climbing password in real time and the like.

In each sensor of the device, the heart of the patient is monitored by a capacitive position sensor, and data are transmitted to a cloud database for backup and analysis, so that the physical condition of the user is comprehensively mastered; furthermore, the temperature condition of the whole device is mastered through the arranged resonant quartz crystal temperature sensor, so that the safety of a user and related electronic instruments is guaranteed; when the parameter indexes of respiration, temperature and the like of a patient are abnormal in the monitoring process, the control module 13 is connected with an alarm through an electric signal to realize alarming, and a user can select emergency call or health service consultation and reservation.

Claims

1. An intelligent wheelchair robot is characterized by comprising a base with traveling wheels, a telescopic bracket positioned above the base, a chair cushion positioned at the upper end of the telescopic bracket, a chair back connected to the chair cushion in a switching way and leg supporting pieces arranged at the front part of the chair cushion, wherein,

2. The intelligent wheelchair robot as claimed in claim 1, wherein the walking wheels comprise two front wheels and two rear wheels, the base is provided with a corresponding electric push rod I, and the pushing end of the electric push rod I is used for pushing the walking wheels to ascend or descend; the crawler belt is wound on the belt wheel, the belt wheel is connected to the lower end of the base in a shaft mode, the up-and-down movement is achieved through the electric push rods II which are arranged in the front and at the back, and the electric push rods II are connected to the base in a switching mode; the wheelchair comprises two front wheels, two rear wheels and a connecting rod, wherein the two front wheels and the two rear wheels are respectively provided with a transverse shaft, the two transverse shafts are connected through the connecting rod, and the transverse shaft between the front wheels is controlled and driven through the wheelchair driving module.

3. The intelligent wheelchair robot as claimed in claim 1, wherein the telescopic bracket comprises two hinged folding rods, the folding rods are crossed and hinged left and right to form a parallelogram structure in the middle, the lower ends of the two folding rods are connected to the base, and the upper ends of the two folding rods are connected to the seat cushion; the lower end of the hydraulic supporting rod is fixedly connected to the upper portion of the base, the upper end of the hydraulic supporting rod is hinged to the rear portion of the chair back, and a hinge piece is arranged on the chair back and close to the chair cushion.

4. The intelligent wheelchair robot as claimed in claim 3, wherein a rotating shaft and an adjusting shaft wheel are arranged between the chair back and the chair cushion and positioned at the end part of the rotating shaft, and the adjusting shaft wheel is used for adjusting the inclination of the chair back; the chair back is characterized in that penetrating holes penetrating through the telescopic frame are further formed in two sides of the chair back, and the telescopic frame is of an inverted U shape.

5. The intelligent wheelchair robot of claim 4 wherein the axle wheels are located at the left and right ends of the chair back.

6. The intelligent wheelchair robot of claim 1 wherein the joystick is in signal communication with a control module for controlling the robot motion; the leg baffle comprises a support rod fixedly connected to the chair cushion and an arc baffle which is integrally formed, the arc baffle is bent downwards, and one end of the arc baffle is connected with the support rod; the leg supporting piece is L-shaped and is fixedly connected to the seat cushion through one end of the leg supporting piece, and the leg supporting piece is arranged close to the leg baffle.

7. The intelligent wheelchair robot of claim 6 wherein massage balls are provided on the leg supports, the balls are arranged in a linear pattern, and the balls are driven by a motor.

8. The intelligent wheelchair robot of claim 1, wherein manual and voice input buttons are provided on the display screen and connected to the control module; the intelligent distance measurement and obstacle avoidance module comprises a GPS positioning chip, a geomagnetic sensor and an infrared sensor which are connected in parallel, and the GPS positioning chip, the geomagnetic sensor and the infrared sensor are all sent to the control module after signals are collected; the intelligent health detection module comprises a pressure sensor, a position sensor, a temperature sensor and an optical fiber sensor which are electrically connected in parallel, and the intelligent health detection module transmits signals to the display screen after acquiring the signals; the information support module is accessed to a wireless communication chip or wireless WIFI and receives health monitoring data; the wheelchair driving module comprises a motor driver and a direct current motor and is used for driving the robot to move forwards and backwards and climb stairs; the control module comprises a main control chip and a human-computer interaction interface, and the human-computer interaction interface is positioned on the display screen.

9. The intelligent wheelchair robot of claim 1, wherein the optical fiber sensor is arranged in the chair back and/or the chair cushion and connected with the robot node host through an optical fiber; the intelligent control module is further electrically connected with a voice acquisition module, and the height, the weight and the expected body position of the user are acquired through human-computer interaction.

10. The intelligent wheelchair robot as claimed in any one of claims 1 to 9, wherein the base is a hollow box-shaped structure; and a power supply is arranged in the base and is a lithium battery.