CN113133876B

CN113133876B - Intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains and use method

Info

Publication number: CN113133876B
Application number: CN202110308869.2A
Authority: CN
Inventors: 张建军; 熊堂飞; 刘宗诚; 胡心怡; 肖月瑶; 孙颖超
Original assignee: Qingdao University of Technology
Current assignee: Qingdao University of Technology
Priority date: 2021-03-23
Filing date: 2021-03-23
Publication date: 2022-06-07
Anticipated expiration: 2041-03-23
Also published as: CN113133876A

Abstract

The disclosure relates to an intelligent man-machine interaction multifunctional wheelchair suitable for multiple terrains and a use method thereof, belonging to the technical field of wheelchairs, the wheelchair comprises a wheelchair base, the wheelchair base is respectively hinged with a wheelchair backrest and a wheelchair leg support, a crawler-type stair climbing structure is arranged below the wheelchair base, the wheelchair base comprises an upper base layer and a lower base layer, the upper base layer can move relative to the lower base layer along the walking direction of the wheelchair, the wheelchair leg support comprises a second telescopic arm, the end part of the second telescopic arm is connected with a second driving wheel, a crawler support is arranged between a first crawler and a second crawler, the crawler support is connected with the wheelchair base through a third telescopic arm, the bottom of the track support is hinged with a first support rod, the end part of the first support rod is connected with an auxiliary travelling wheel, the first support rod is connected with the track support through a second support rod, and a fourth telescopic arm for controlling the first supporting rod to move along the advancing direction of the wheelchair is arranged on the crawler support.

Description

Intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains and use method

Technical Field

The disclosure belongs to the technical field of wheelchairs, and particularly relates to an intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains and a using method thereof.

Background

The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.

In recent years, the aging of the world population is gradually intensified, especially in China with large population, meanwhile, the number of disabled people caused by various accidents is quite large, wheelchairs for the old and the disabled are various in the market, the self-care needs of the old and the disabled except walking are greatly met, some wheelchairs can cross obstacles such as small steps and doorsills, and some wheelchairs can go up and down stairs, so that the traveling of the old or the disabled is facilitated.

The inventor finds that: various wheelchairs in the current wheelchair market are single in function, cannot really adapt to the traveling scene of various terrains, are designed to be very complicated, do not maximize the utilization degree of related structures, are still inconvenient when a rider goes out, need personnel assistance, and are full of difficulty when going upstairs and downstairs.

Disclosure of Invention

Aiming at the problems in the prior art, the intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains and the using method are provided.

The wheelchair comprises a wheelchair base, wherein the wheelchair base is hinged with a wheelchair backrest and a wheelchair leg support respectively; the bottom of wheelchair base is connected with first drive wheel through first flexible arm, and the wheelchair base includes base upper strata and base lower floor, and the base upper strata can remove along the wheelchair walking direction for base lower floor, and the wheelchair leg holds in the palm including the flexible arm of second, and the end connection second drive wheel of the flexible arm of second is equipped with crawler support between first track and the second track, be connected through the flexible arm of third between crawler support and the wheelchair base the articulated first bracing piece in crawler support's bottom, the end connection auxiliary traveling wheel of first bracing piece, first bracing piece pass through second bracing piece and crawler support connection, be equipped with the flexible arm of fourth that the first bracing piece of control removed along the wheelchair advancing direction on the crawler support.

Furthermore, the upper layer of the base and the lower layer of the base are connected through a sliding block and a guide rail.

Furthermore, a motor controller, an electric push rod controller, a single chip microcomputer and a microcomputer are arranged between the upper layer of the base and the lower layer of the base.

Furthermore, a driving gear is arranged at the end part, far away from the wheelchair backrest, of the wheelchair base, and arc-shaped racks meshed with the driving gear are arranged on the wheelchair leg supports.

Furthermore, a distance sensor is arranged on the first driving wheel, and a pressure sensor is arranged on the second driving wheel.

Furthermore, two sides of the bottom of the crawler support along the moving direction of the wheelchair are respectively provided with a guide rail, slide blocks are arranged in the guide rails, each slide block is hinged with one first support rod, the second support rod is hinged with the end part of the guide rail, the first support rods on the two sides of the bottom of the crawler support are connected through a connecting rod, and the fourth telescopic arm is connected with the connecting rod.

Furthermore, a horizontal wheelchair armrest for placing upper limbs is arranged above the wheelchair base, one end of the wheelchair armrest in the length direction is hinged to the wheelchair backrest, the other end of the wheelchair armrest is connected with the wheelchair base through a connecting mechanism, and a control panel and an operating lever are arranged on the wheelchair armrest.

Furthermore, a GPS positioner and an ultrasonic sensor for detecting the height are arranged on the wheelchair base, and a camera is arranged on the crawler support.

Furthermore, the wheelchair also comprises a collector for collecting electrocardio, heart sound, blood oxygen, body temperature and blood pressure of the old or the disabled.

At least one embodiment of the present disclosure provides a use method of an intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains, which includes the following steps:

when the wheelchair needs to go up a step, a track structure for controlling a first telescopic arm of a wheelchair base to extend to the bottom exceeds the upper surface of the step;

adjusting the angle of the wheelchair leg support, simultaneously controlling the second telescopic arm to automatically extend to the point that the second driving wheel is contacted with the top surface of the upper step, controlling the upper layer of the base to move forwards, then driving the wheelchair to move forwards, and automatically controlling the front telescopic arm in front of the wheelchair base to extend; when the wheelchair moves to the position that the front telescopic arm is positioned on the upper step, the driving wheel of the front telescopic arm, which extends to the bottom, is automatically controlled to contact with the top surface of the upper step again;

and continuously driving the wheelchair to advance until a driving wheel on a rear telescopic arm of the wheelchair base is contacted with the step, and finally automatically controlling the rear telescopic arm to stretch until the driving wheel at the bottom of the rear telescopic arm is higher than the upper step.

Further, when the wheelchair climbs a gentle slope, the height of the wheelchair is reduced, the second telescopic arm on the leg support of the wheelchair is controlled to extend to the second driving wheel to land, the upper layer of the wheelchair base is controlled to transmit forwards to adjust the gravity center of the wheelchair after the pressure sensor of the second driving wheel senses, and then the first driving wheel and the second driving wheel are driven in a combined mode, so that the wheelchair climbs the gentle slope; when the rider needs to climb the steep slope, the first telescopic arm and the second telescopic arm are contracted to the greatest extent to enable the first driving wheel and the second driving wheel and the crawler-type stairs-climbing structural crawler to simultaneously land, and the crawler mechanism and the first driving wheel drive the wheelchair, so that the steep slope is climbed.

The beneficial effects of this disclosure are as follows:

(1) the cooperation of the first flexible arm on this disclosed many topography operation wheelchair base and the flexible arm of second on the wheelchair leg holds in the palm can realize crossing barrier, go up and down the step etc. and the holistic focus position of base upper strata control wheelchair of wheelchair base has avoided the phenomenon that appears toppling when many topography is marchd.

(2) The multi-terrain operation wheelchair can not only realize obstacle crossing, up-down step climbing and the like, but also realize functions of going up and down stairs, climbing and passing through frozen roads and the like through the stretching and retracting cooperation of the telescopic arm on the wheelchair and the retraction and extension of the crawler. The obstacle crossing wheelchair in the market mostly adopts a hydraulic jack structure to receive and release the crawler belt or various complex ways to receive and release the travelling wheels to cross the obstacle, the structure is complex and the function is single, compared with the existing products in the market, the multi-terrain operation wheelchair using the telescopic arm to cross the obstacle, go up and down the steps and the like, the structure is simple, the weight is light, and the expected effect can be realized.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.

FIG. 1 is an overall block diagram of a multi-terrain operating intelligent wheelchair according to an embodiment of the present disclosure;

FIG. 2 is a block diagram of a wheelchair base provided in accordance with an embodiment of the present disclosure;

FIG. 3 is a block diagram of a sliding block and a guide rail in a wheelchair base according to an embodiment of the present disclosure;

FIG. 4 is a block diagram of a wheelchair leg rest provided in an embodiment of the present disclosure;

FIG. 5 is a block diagram of a wheelchair wheel arm linkage provided in accordance with an embodiment of the present disclosure;

FIG. 6 is a block diagram of a wheelchair with a backrest reclined and a leg rest raised in accordance with an embodiment of the present disclosure;

FIG. 7 is a track mechanism frame configuration view of a wheelchair provided by an embodiment of the present disclosure;

FIG. 8 is a first angle block diagram of a wheelchair track and its support wheel mechanism configuration provided by an embodiment of the present disclosure;

FIG. 9 is a second perspective view of a wheelchair track and its support wheel mechanism configuration provided by an embodiment of the present disclosure;

figures 10(a) -10(e) are schematic views of steps on a wheelchair provided by an embodiment of the present disclosure;

fig. 11(a) -10(d) are schematic views of stairs on a wheelchair according to an embodiment of the disclosure.

In the figure: 1. wheelchair base, 101, upper base layer, 102 lower base layer, 103, ultrasonic sensor, 104, GPS locator, 2, wheelchair backrest, 3, wheelchair leg rest, 301, auxiliary drive wheel, 302, auxiliary drive motor, 303, foot pedal, 304, leg guard, 305, worm mechanism, 306, drive motor, 307, pressure sensor, 4, armrest, 401, vertical portion, 402, horizontal portion, 403, joystick, 404, control panel, 5, track mechanism, 501, guide wheel, 502, drive wheel, 503, support wheel, 504, idler wheel, 505, rubber track, 506, motor, 507, track support, 508, left track, 509, right track, 511, slide rail, 512 slider, 513, support wheel leg, 514, support wheel, 515, wheel leg assist lever, 516, link, 517, electric putter, 6, electric putter, 7, motor controller, 8, putter electric controller, 9. the device comprises a single chip microcomputer 10, a microcomputer 11, a gear 1101, a turnover motor 12, an arc-shaped rack 13, a transmission mechanism 14, a distance sensor 15, a main driving wheel 16, a driven wheel 17, a warning device 18, a pinhole camera 19, a safety belt 20, a lithium battery 21, an I-shaped guide rail 23, a gear fixing plate 24, a driving motor 34, a rack 35, a gear 36, a limit slider 38, a pinhole camera 39, an angle sensor 40, a coupler 41, a connecting rod 42, a main driving wheel telescopic arm 4201, a telescopic arm upper portion 4202, a telescopic arm lower portion 4204, a main driving motor 43, a driven wheel telescopic arm 44 and a lead screw motor.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

Finally, the above embodiments are only intended to illustrate the technical solutions of the present disclosure and not to limit, although the present disclosure has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present disclosure without departing from the spirit and scope of the technical solutions, and all of them should be covered in the claims of the present disclosure.

As shown in fig. 1, the disclosed embodiment provides a multi-terrain operating intelligent wheelchair, which mainly comprises a wheelchair base 1, on which a wheelchair backrest 2, a wheelchair leg support 3, a crawler mechanism 5 and a transmission mechanism 13 are arranged, wherein the wheelchair backrest 2 is respectively rotatably connected with the wheelchair leg support 3 and the wheelchair base 1, and it can be understood that the wheelchair backrest 2 and the wheelchair leg support 3 can be adjusted to be in a horizontal state.

The left side and the right side of the wheelchair base 1 are respectively provided with a wheelchair armrest 4 for placing arms, the wheelchair armrest 4 comprises a horizontal part 402 and a vertical part 401 which are hinged with each other, the horizontal part 402 is hinged with the wheelchair backrest 2, meanwhile, one of the horizontal parts is provided with a control rod 403 and a control panel 404, a patient can intelligently control the operation of the whole wheelchair through the control rod and the control panel, and the condition of the bottom of the wheelchair base is observed through the control panel.

Further, vertical portion 401 through the connecting rod with wheelchair base 1 is connected, and when wheelchair leg support and wheelchair back were in horizontal position like this, the wheelchair handrail also can rotate into the horizontality, and the patient of being convenient for lies down the rest, and the flexible arm and the ultrasonic sensor of cooperation wheelchair base bottom make the patient can be according to the height of sick bed, and the height of automatic adjustment wheelchair realizes standing up and gets to the bed.

Still be equipped with alarm 17, pinhole camera 18 and safety belt 19 on the wheelchair back, wherein the safety belt can be used for fixed patient's upper part of the body, pinhole camera on the wheelchair back can be long-range looks over through cell-phone app, makes things convenient for the family to know the condition around the person of taking in real time, can pass through alarm 17 remote alarm when meetting danger, has further ensured the safety of person of taking.

As shown in fig. 2, the wheelchair base includes a base upper layer 101 and a base lower layer 102, wherein the base upper layer 101 can move relative to the base lower layer 102 along the advancing direction of the wheelchair, specifically, as shown in fig. 3, an i-shaped guide rail 21 is arranged at the top of the base lower layer, a slider 36 matched with the i-shaped guide rail 21 is arranged at the bottom of the base upper layer, the slider 36 is fixed at the bottom of the base upper layer, the slider 36 is nested on the i-shaped guide rail 21, a rack 34 is arranged inside the base along the length direction of the i-shaped guide rail 21, a driving motor 24 is further arranged on the upper surface of the base lower layer, an output shaft of the driving motor 24 is connected with a gear 35 engaged with the rack, and the movement of the base upper layer is realized by controlling the driving motor 24 to work.

A motor controller 7, an electric push rod controller 8, a single chip microcomputer 9 and a microcomputer 10 are arranged between the upper layer of the base and the lower layer of the base, the control components are fixed on the lower layer of the base, and meanwhile, a lithium battery 20 is arranged on the lower layer of the base and used for supplying power to electric appliances on the whole wheelchair. Still be equipped with ultrasonic sensor 103 on the base lower floor and be used for detecting the distance between base and the ground, still be equipped with GPS locator 104 on the base lower floor and be used for realizing the locate function of wheelchair, make things convenient for the family to know the specific position of person of taking in real time, can prevent burglary simultaneously.

Further, as shown in fig. 4, the wheelchair leg rest 3 in the present embodiment mainly includes a sub drive wheel 301, a sub drive motor 302, a foot pedal 303, a leg shield 304, a worm mechanism 305, and a drive motor 306.

Specifically, the wheelchair leg support comprises two outer sleeves and two inner sleeves which are nested with each other, wherein the two outer sleeves are connected together through a leg protection plate 304, and meanwhile, the outer surfaces of the two outer cylinders are provided with foot pedals 303 for placing foot surfaces.

In order to realize the extension and retraction of the inner sleeve in the outer sleeve, the outer sleeve and the inner sleeve are connected through a worm mechanism 305, a driving motor 306 connected with the worm mechanism 305 is arranged at the inner top of the outer sleeve, and the movement of the worm mechanism is controlled through the driving motor 306.

Further, the bottom of the inner sleeve is connected with a secondary driving wheel 301 through a secondary driving motor 302, as shown in fig. 1, the whole wheelchair can be driven to advance through the secondary driving wheel 301, and a pressure sensor 307 is installed on an output shaft of the secondary driving motor 302.

It should be noted that the foot pedal 303 in this embodiment is slidable on the outer sleeve, so as to accommodate patients of different heights.

In order to realize the rotation of the wheelchair leg rest 3 in the embodiment, a transmission mechanism 13 is installed at the front part of the base upper layer 101, the transmission mechanism 13 comprises a gear 11 and a turnover motor 1101, and an arc-shaped rack 12 meshed with the gear 11 is arranged on a leg protection plate 304 on the wheelchair leg rest 3, so that the rotation of the wheelchair leg rest 3 is realized through the rotation of the gear 11.

Further, as shown in fig. 5-6, a main driving wheel telescopic arm 42 and a driven wheel telescopic arm 43 are respectively disposed on two sides of a lower base layer of the wheelchair base in the present embodiment, wherein a bottom of the main driving wheel telescopic arm 42 is connected to the main driving wheel 15, a bottom of the driven wheel telescopic arm 43 is connected to the driven wheel 16, the driven wheel telescopic arm 43 is further provided with a distance sensor 14 for detecting a distance between the driven wheel 16 and an obstacle, the lifting arm mainly includes a telescopic arm upper portion 4201 and a telescopic arm lower portion 4202, and a bottom of the telescopic arm lower portion 4202 is connected to the road wheel through a main driving motor 4204.

The upper portion 4201 of the telescopic arm is connected with the lower portion 4202 of the telescopic arm through a screw mechanism, meanwhile, the main driving wheels 15 on two sides of the front portion of the bottom of the wheelchair base or the tops of the driven wheels 16 on two sides of the rear portion are connected through a connecting rod 41, specifically, the tops of the screws in the telescopic arms on two sides are connected with a coupling 40, the connecting rod 41 penetrates through the couplings 40 on two sides, the end portion of the connecting rod 41 is connected with a screw motor 44, the telescopic arm linkage on two sides of the lower layer of the wheelchair base is realized through the rotation of the connecting rod 41, and the screw motor 4 is fixed on the wheelchair base.

As shown in fig. 7-9, the crawler 5 of the present embodiment mainly comprises a left crawler 508 and a right crawler 509, wherein the left crawler 508 and the right crawler 509 are connected by a crawler support 507, the crawler support 507 is connected with the wheelchair base by an inclined electric push rod 6, see fig. 1, and both ends of the inclined electric push rod 6 are hinged with the crawler support and the wheelchair base respectively.

Further, as shown in fig. 8, in this embodiment, the left and right sides of the bottom of the track frame are provided with slide rails 511 along the direction of advancing the wheelchair, wherein each slide rail is further provided with a slide block 512, the slide block can slide in the slide rail, the slide block is hinged with a support wheel leg 513, the bottom of each support wheel leg 513 is connected with a support wheel 514, meanwhile, the front of the slide rail 511 is hinged with a wheel leg auxiliary rod 515, the support wheel legs 513 on the two sides of the track frame are connected through a connecting rod 516, the bottom of the track frame is further provided with an electric push rod 517, and the end of the electric push rod 517 is connected with the connecting rod 516, so that the electric push rod 517 extends and retracts to drive the slide block 512 to slide, thereby changing the angle of the support wheel legs 513.

It should be noted that the left crawler 508 and the right crawler 509 have the same structure and belong to the prior art, and therefore, redundant description is not repeated here. Each crawler belt is internally provided with a guide wheel 501, a driving wheel 502, a thrust wheel 503, a supporting wheel 504 and a rubber crawler belt 505, wherein a crawler belt driving motor 506 is arranged on the crawler belt bracket, and an output shaft of the crawler belt driving motor is connected with the driving wheel 502 in the crawler belt to realize the rotation of the crawler belt.

Further, a pinhole camera 38 and an angle sensor 39 are arranged on the track support 507 in the embodiment, wherein the pinhole camera is connected with a control panel on the wheelchair armrest and used for a patient to observe the bottom condition, and the angle sensor is used for detecting the inclination angle of the whole track structure.

In addition, the wheelchair provided by the embodiment further comprises a collector for collecting electrocardio, heart sound, blood oxygen, body temperature and blood pressure of the old or the disabled, the collector is connected with the wireless transmission module of the controller to form a health monitoring system, the health monitoring system on the wheelchair can enable family members to know the physical condition of a passenger in real time through a mobile phone, and the system can be freely and selectively detached or installed.

The following describes in detail the use method of the intelligent wheelchair operating on multiple terrains:

when the intelligent wheelchair running on multiple terrains in the embodiment normally runs, the telescopic arms of the walking wheels at the bottom of the wheelchair base are in a semi-contraction state, when a rider needs to cross an obstacle, the ultrasonic sensor 103 on the wheelchair base 1 automatically detects the height of the obstacle, the telescopic arms of the main driving wheel 15 and the driven wheel 16 automatically extend simultaneously, when the wheelchair runs to the obstacle, the leg rest 3 is controlled to adjust the angle, the worm mechanism 305 of the leg rest is controlled to automatically extend until the auxiliary driving wheel 301 lands, after the pressure sensor 307 on the auxiliary driving wheel 301 senses, the gear rack transmission mechanism 13 on the wheelchair base 1 is controlled to forward transmit the upper layer 101 of the wheelchair base and the mechanisms above the wheelchair base to adjust the gravity center, the auxiliary driving wheel 301 also forwards at the transmission speed of the transmission mechanism 13 while adjusting the gravity center, after the transmission is finished, the telescopic arm 42 of the wheelchair main driving wheel is automatically contracted until the main driving wheel 15 is higher than the obstacle, then the wheelchair moves forwards, when the distance sensor 14 at the driven wheel 16 of the wheelchair senses that the driven wheel reaches an obstacle, the telescopic arm 42 of the main driving wheel of the wheelchair automatically extends until the main driving wheel 15 lands, then the telescopic arm 43 of the driven wheel of the wheelchair automatically retracts until the driven wheel 16 is higher than the obstacle, the main driving wheel 15 and the auxiliary driving wheel 301 drive the wheelchair to move forwards, then when the telescopic arm 43 of the driven wheel crosses the obstacle, the wheelchair automatically extends again until the driven wheel 16 lands, the rack-and-pinion transmission mechanism 13 transmits the upper layer 101 of the wheelchair base backwards and the above mechanisms return to the original state, and at the moment, the main driving wheel 15 and the driven wheel 16 support the wheelchair so as to cross the obstacle.

When a rider needs to go upstairs, firstly, the angle change of the wheelchair leg support 3 is controlled, then the worm mechanism 305 in the wheelchair leg support 3 is controlled to automatically extend and retract until the auxiliary driving wheel 301 is positioned on the upper step and lands on the ground, after the pressure sensor 37 at the auxiliary driving wheel generates sensing, the rack-and-pinion transmission mechanism 13 on the wheelchair base is controlled to forwardly transmit the upper layer of the wheelchair base and the above mechanisms to adjust the gravity center, then the main driving wheel telescopic arm 42 is automatically contracted until the main driving wheel 15 at the bottom of the main driving wheel telescopic arm is higher than the upper step, then the auxiliary driving wheel 301 drives the wheelchair to move forward, when the distance sensor 9 at the driven wheel 16 on the wheelchair senses that the step is far enough from the driven wheel 9, the main driving wheel telescopic arm 42 on the wheelchair is automatically extended to land on the main driving wheel 15, if the rider has too light weight and worrys that the wheelchair rolls over backwards, the inclined electric push rod 6 on the wheelchair base can be controlled to extend to enable the crawler mechanism 5 to land on the step, the driven wheel telescopic arm 43 is automatically contracted, the main driving wheel 15 and the auxiliary driving wheel 301 drive the wheelchair to move forward, then the driven wheel 16 automatically extending to the bottom automatically lands when the driven wheel telescopic arm 43 travels to the upper layer table top, the driven wheel 16 lands, the rack-and-pinion transmission mechanism 13 on the wheelchair base 1 transmits backwards to enable the base upper layer 101 and the mechanisms above to return to the original state, and then the height of the wheelchair is automatically adjusted, so that the function of going upstairs is realized. Similarly, when descending steps, the worm mechanisms 305 of the respective telescopic arms and the wheelchair leg holders 3 are contracted, and then sequentially extended and landed while advancing forward, so that the function of descending steps can be realized, as shown in fig. 10(a) -10 (e).

When a rider needs to go upstairs, each telescopic arm of the wheelchair and the worm support mechanism 305 of the wheelchair leg support are contracted to the maximum extent, after the contraction is completed, the crawler 5 lands, the angle sensor 39 on the crawler 5 automatically detects the gradient of the stairs, then the electric push rod 517 on the crawler 5 automatically extends to enable the supporting wheel 514 of the crawler 5 to pop up to prop up the crawler 5 to the corresponding gradient, the wheelchair base 1 is also propped up at the same angular speed under the pushing of the electric push rod 6 while the crawler 5 is propped up, so that the rider is always in a horizontal state, at the moment, the main driving wheel 15 and the driven wheel 16 are not in contact with the ground, then the rubber crawler 505 starts to run under the driving of the crawler driving motor 506, meanwhile, the supporting wheel 514 automatically rebounds along with the electric push rod 517, the stair condition can be checked through the pinhole camera 38 on the crawler 404, when the wheelchair reaches the top of the stairs, the control panel 404 controls the crawler support wheels 514 to automatically pop up, then the climbing of the stairs is completed under the cooperation of the support wheels 514, the crawler 5 and the wheelchair base 1 return to the original state at the same angular speed, and the height of the wheelchair is adjusted, which is shown in fig. 11(a) -11 (d).

When a rider needs to go down the stairs, the worm mechanisms 305 on the telescopic arms and the leg supports 3 of the wheelchair contract to the maximum extent, after the contraction is completed, the angle sensor 39 on the crawler mechanism 5 automatically detects the gradient of the stairs, then the electric push rod 517 on the crawler mechanism extends to enable the supporting wheels 514 of the crawler mechanism 5 to pop up automatically to support the crawler mechanism 5 to the corresponding gradient, the wheelchair base 1 is also supported at the same angular speed under the pushing of the electric push rod 6 while the crawler mechanism is supported, so that the rider is always in a horizontal state, then the driven wheel telescopic arms 43 are automatically extended to the driven wheels 16 to be grounded, the crawler mechanism 5 starts to run under the driving of the driving motor 506 of the crawler mechanism, the supporting wheels 514 and the driven wheels 16 can be emergently braked if an emergency occurs when the rider starts to go down the stairs, the supporting wheels 514 and the driven wheels 16 are simultaneously retracted when the rider starts to go down the stairs normally, when the wheelchair reaches the bottom of the stairs, the control panel 404 controls the supporting wheels 514 to automatically pop up, the descending of the stairs is completed under the cooperation of the supporting wheels 514, and then the crawler mechanisms 5 and the wheelchair base 1 are restored to the original state at the same angular speed, and the height of the wheelchair is adjusted.

When a rider needs to climb a gentle slope, the height of the wheelchair is reduced, the worm mechanism 305 on the leg support 3 of the wheelchair is controlled to extend until the auxiliary driving wheel 301 lands, the pressure sensor 307 on the auxiliary driving wheel 301 senses the height, the rack-and-pinion transmission mechanism 13 on the base of the wheelchair is controlled to transmit forwards to adjust the center of gravity, and then the main driving motor 4204 of the main driving wheel 15 and the auxiliary driving motor 302 of the auxiliary driving wheel 301 are controlled to operate simultaneously, so that the gradual slope climbing is realized. When the rider needs to climb the steep slope, the worm mechanisms 305 on the telescopic arms and the leg supports are contracted to the maximum extent, so that the main driving wheels 15, the driven wheels 16 and the rubber crawler belts 505 are simultaneously grounded, and the crawler belt mechanisms 5 and the main driving wheels 15 drive the wheelchair, thereby realizing the steep slope climbing.

When the rider needs to pass through the icy road, the worm mechanisms 305 on the telescopic arms and the leg supports 3 are contracted to the maximum extent, so that the main driving wheel 15, the driven wheels 16 and the rubber crawler 505 simultaneously touch the ground, and the crawler mechanisms 5 and the main driving wheel 15 drive the wheelchair, thereby realizing the passing through the icy road.

In the embodiment, wheelchair armrests 4 composed of a horizontal part 402 and a vertical part 401 are respectively arranged on two sides of the seat cushion on the chair frame, wherein the wheelchair armrests 4 are hinged with the upper layer 101 of the wheelchair base through a parallel four-bar mechanism. Simultaneously the place ahead of wheelchair base 1 is equipped with the wheelchair leg that is used for placing the leg and holds in the palm 3, the wheelchair leg holds in the palm 3 and is articulated each other with wheelchair base upper layer 101, like this when old person or the incomplete weak person need lie down the rest, can lie down wheelchair back 2, wheelchair handrail 4 and see that figure 6 is shown, hold in the palm 3 clockwise upset to the horizontality with the wheelchair leg simultaneously, old person or the incomplete weak person can lie down and take a rest. Meanwhile, the lying angle of the wheelchair backrest 2 and the clockwise turning angle of the wheelchair leg support 3 can be adjusted at will, so that the rider can be in a corresponding comfortable state through adjustment.

At present, when the old or the disabled with injured legs or waist are in a rest in bed, it is difficult for the old or the disabled to go to the bed, so in this embodiment, the wheelchair base is provided with the ultrasonic sensor 103 to detect the height of the bed, then the wheelchair base 1 is automatically adjusted by the wheel legs in a telescopic manner, and finally the wheelchair is allowed to move to the bedside, the wheelchair backrest 2 and the wheelchair leg support 3 can respectively lie down and turn over to the horizontal direction, as shown in fig. 6, the lower surface of the upper layer 101 of the wheelchair base can also be provided with an electric push rod which is rotatably connected with the wheelchair backrest 2 through a connecting piece, the front end of the lower surface of the upper layer 101 of the wheelchair base is provided with the gear 11, the gear 11 is provided with the driving motor 1101, the wheelchair leg support leg guard plate 304 is welded with the arc-shaped rack 12, the arc-shaped rack 12 is meshed with the gear 11, when the old or the disabled needs to go to the bed for a rest, the height of the bed can be detected by the ultrasonic sensor 103 first, then the control panel 404 controls the main driving wheel 15 and the driven wheel 16 telescopic arm at the bottom of the wheelchair base 1 to automatically stretch, when the upper surface 101 of the wheelchair base 1 and the bed surface are on the same horizontal plane, the control panel 404 can control the backrest 2 and the leg support 3 to be in a horizontal state, and then the old or the disabled can turn over to get on the bed, thereby assisting the old or the disabled to get on or off the bed.

Therefore, the wheelchair provided by the embodiment can not only realize obstacle crossing, stair ascending and descending, slope climbing and ice road crossing, but also assist the old or the disabled to get on or off the bed by controlling the intelligent contraction and extension of the telescopic arm at the lower part of the wheelchair base.

Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.

Claims

1. An intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains comprises a wheelchair base, wherein the wheelchair base is hinged with a wheelchair backrest and a wheelchair leg support respectively;

the wheelchair is characterized in that the bottom of the wheelchair base is connected with a first driving wheel through a first telescopic arm, the wheelchair base comprises an upper base layer and a lower base layer, the upper base layer can move relative to the lower base layer along the wheelchair travelling direction, the wheelchair leg support comprises a second telescopic arm, the end part of the second telescopic arm is connected with a second driving wheel, a crawler support is arranged between a first crawler and a second crawler, the crawler support is connected with the wheelchair base through a third telescopic arm, the bottom of the crawler support is hinged with a first supporting rod, the end part of the first supporting rod is connected with an auxiliary travelling wheel, the first supporting rod is connected with the crawler support through a second supporting rod, and a fourth telescopic arm for controlling the first supporting rod to move along the wheelchair travelling direction is arranged on the crawler support.

2. The intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains as claimed in claim 1, wherein the upper base layer and the lower base layer are connected through a slide block and a guide rail.

3. The intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains as claimed in claim 1 or 2, wherein a motor controller, an electric push rod controller, a single chip microcomputer and a microcomputer are arranged between the upper layer of the base and the lower layer of the base.

4. The intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains as claimed in claim 1, wherein a driving gear is arranged at the end of the wheelchair base far away from the wheelchair backrest, and arc-shaped racks meshed with the driving gear are arranged on the wheelchair leg holders.

5. The multifunctional wheelchair as claimed in claim 1, wherein a distance sensor is provided on the first driving wheel and a pressure sensor is provided on the second driving wheel.

6. The multifunctional wheelchair as claimed in claim 1, wherein a track is provided at the bottom of the track frame at both sides of the wheelchair in the moving direction, and each track has a slider, each slider is hinged to a first support rod, the second support rod is hinged to the end of the track, the first support rods at both sides of the bottom of the track frame are connected to each other by a link, and the fourth telescopic arm is connected to the link.

7. The intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains as claimed in claim 1, wherein a horizontal wheelchair armrest for placing upper limbs is arranged above the wheelchair base, one end of the wheelchair armrest in the length direction is hinged with the wheelchair backrest, the other end of the wheelchair armrest is connected with the wheelchair base through a connecting mechanism, and the wheelchair armrest is provided with a control panel and a control lever.

8. The multifunctional wheelchair as claimed in claim 1, wherein a GPS locator and an ultrasonic sensor for height detection are provided on the wheelchair base, cameras are provided on the track frame and the backrest, and the wheelchair further comprises a collector for collecting electrocardio, heart sound, blood oxygen, body temperature and blood pressure of the elderly or the disabled.

9. Use method of an intelligent human-computer interaction multifunctional wheelchair suitable for multiple terrains based on any one of claims 1-8, characterized by comprising the following processes

When the wheelchair needs to go up a step, a first telescopic arm of a wheelchair base is controlled to automatically extend to a crawler structure at the bottom to exceed the upper surface of the step;

adjusting the angle of the leg support of the wheelchair, controlling the second telescopic arm to automatically extend to the point that the second driving wheel is contacted with the top surface of the upper step, controlling the upper layer of the base to move forwards, driving the wheelchair to move forwards, and controlling the front telescopic arm in front of the wheelchair base to automatically contract; when the wheelchair moves to the position that the front telescopic arm is positioned on the upper step, the front telescopic arm is controlled to automatically extend to the position that the driving wheel at the bottom of the front telescopic arm is contacted with the top surface of the upper step again;

and continuously driving the wheelchair to advance until a driving wheel on a rear telescopic arm of the wheelchair base is contacted with the step, and finally controlling the rear telescopic arm to automatically contract until the driving wheel at the bottom of the rear telescopic arm is higher than the upper step.

10. The use method of claim 9, wherein when the wheelchair climbs a gentle slope, the height of the wheelchair is reduced, the second telescopic arm on the leg support of the wheelchair is controlled to extend until the second driving wheel lands, the pressure sensor of the second driving wheel senses the extension, the upper layer of the wheelchair base is controlled to drive forwards to adjust the gravity center of the wheelchair, and then the first driving wheel and the second driving wheel are driven jointly, so that the gradual slope climbing is realized; when the rider needs to climb the steep slope, the first telescopic arm and the second telescopic arm are contracted to the greatest extent to enable the first driving wheel and the second driving wheel and the crawler-type stairs-climbing structural crawler to simultaneously land, and the crawler mechanism and the first driving wheel drive the wheelchair, so that the steep slope is climbed.