CN115192324A - Anti-falling control device and method for perception intelligent standing wheelchair - Google Patents
Anti-falling control device and method for perception intelligent standing wheelchair Download PDFInfo
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- CN115192324A CN115192324A CN202210842518.4A CN202210842518A CN115192324A CN 115192324 A CN115192324 A CN 115192324A CN 202210842518 A CN202210842518 A CN 202210842518A CN 115192324 A CN115192324 A CN 115192324A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/006—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs convertible to stretchers or beds
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/043—Mid wheel drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
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- A—HUMAN NECESSITIES
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- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
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- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
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- A—HUMAN NECESSITIES
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- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
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- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
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- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
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- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
Abstract
The invention relates to an anti-falling control method of a perception intelligent standing wheelchair, wherein the method comprises the steps that a laser radar device detects the driving road surface data of the wheelchair, and the data are transmitted to an MCU (microprogrammed control unit) controller on the wheelchair for operation processing to obtain real-time operation data of the wheelchair; if the slope exists in the driving front of the wheelchair, the MCU controller sends an alarm signal and controls the wheelchair to decelerate and change the posture of the wheelchair; the gyroscope device measures angle data of the wheelchair relative to a road surface, and transmits the data to the MCU controller for operation processing to obtain direction balance data of the wheelchair; and judging whether the wheelchair inclines, if the inclination angle of the wheelchair exceeds a preset threshold value, sending an alarm signal by the MCU controller, controlling the wheelchair to decelerate, and simultaneously changing the posture of the wheelchair. The invention has the advantages that: according to the current driving state of the wheelchair, the posture of the wheelchair is adjusted and the action feedback is carried out, and when the wheelchair is inclined in a standing mode, the wheelchair has the function of automatically adjusting the posture of the center of gravity, so that the safety of the wheelchair is improved.
Description
Technical Field
The invention relates to the field of intelligent wheelchairs, in particular to a falling-prevention control device and method for a perception intelligent standing wheelchair.
Background
The traditional wheelchair can only keep sitting posture all the time, and a user can cause slow venous return after sitting for a long time, the waist burden of a patient is increased, and complications such as blood stasis, lumbar disc herniation and the like occur, so that the standing wheelchair is an important research direction. The standing wheelchair not only can be used as a common wheelchair, but also can be used for assisting a user to lie down or stand up, and aims to help people with special requirements, such as patients with inconvenient actions, disabled people, old people and the like, to stand/lie down by themselves, so that various diseases caused by long-time sitting posture maintenance are avoided. However, the safety of the standing wheelchair is greatly reduced when the standing wheelchair is moved in a standing posture, for example, when a user operates the wheelchair to go down a slope or up a slope while the wheelchair is in a standing posture, the center of gravity is unstable, or when the user jolts on a road to an excessive degree, the user is easy to turn over to hurt the user.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a device and a method for controlling the falling prevention of a perception intelligent standing wheelchair.
The utility model provides a perception intelligent wheelchair of standing prevents falling controlling means, includes that head holds in the palm, the back holds in the palm, the seat holds in the palm, shank frame, support frame and leg hold in the palm, head holds in the palm swing joint with the back, back support and seat support swing joint, seat support and shank frame swing joint, the leg holds in the palm the below and is provided with universal wheel and drive wheel, shank frame and handrail trace pole swing joint, the seat holds in the palm the below and is provided with the adjustable shelf, the adjustable shelf connection electric putter, the electric putter is used for promoting the adjustable shelf drive seat to hold in the palm and change the wheelchair gesture, the support frame includes first support frame and second support frame, and first support frame and back support swing joint, second support frame and handrail link swing joint, second support frame below is provided with electromagnetic locking mechanism, the shank frame is last to have the couple piece corresponding with electromagnetic locking mechanism, electromagnetic locking mechanism is connected with couple piece hasp, with the leg hold in the palm and be provided with laser radar device, gyroscope device and MCU controller, the gyroscope device electricity is connected with laser radar device respectively.
The invention also provides a falling-prevention control method of the perception intelligent standing wheelchair, which comprises the following steps:
the laser radar device detects the road surface data of the wheelchair and transmits the data to the MCU controller on the wheelchair for operation processing to obtain the real-time operation data of the wheelchair; judging whether a slope or a bumpy road surface exists in front of the wheelchair according to the real-time operation data of the wheelchair, and when the slope or the bumpy road surface exists, sending an alarm signal by the MCU controller, controlling the wheelchair to decelerate, and controlling the electric push rod to change the posture of the wheelchair by the MCU controller; the gyroscope device measures angle data and acceleration data of the wheelchair relative to a road surface, and transmits the data to the MCU controller for operation processing to obtain direction balance data of the wheelchair; judging whether the wheelchair inclines or not according to the direction balance data of the wheelchair, and when the wheelchair inclines, if the inclination angle exceeds a preset threshold value, the MCU controller controls the transmission of an alarm signal, controls the deceleration of the wheelchair and controls the electric push rod to change the posture of the wheelchair.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the laser radar is adopted to detect the road condition in front in real time, the laser radar warns and reminds before the standing wheelchair enters a slope with a larger gradient or when the front bumps, and meanwhile, the controller MCU controls the electric push rod to change the current standing posture of the wheelchair, so that accidents are avoided, and the safe and smooth passing of the wheelchair is ensured;
2. the invention uses the gyroscope to detect the acceleration and the angle of the wheel roll angle in real time, sends out warning and controls the electric push rod to lower when the roll angle is too large, and adjusts the standing posture of the wheelchair into the leaning state or the sitting posture, thereby adjusting the gravity center of the wheelchair according to the current load weight and position, leading the wheelchair to recover the balance state and avoiding the side turning.
Drawings
FIG. 1 is a schematic flow chart of a fall prevention control method for a sensory intelligent standing wheelchair according to the present invention;
FIG. 2 is an overall structural view of the anti-falling control device for a sensory intelligent standing wheelchair according to the present invention in a sitting posture;
FIG. 3 is an overall structure view of the anti-falling control device for the intelligent sensing standing wheelchair according to the present invention when standing;
FIG. 4 is a right side view of the fall prevention control device for a sensory intelligent standing wheelchair according to the present invention when standing;
FIG. 5 is an overall structure view of the anti-falling control device of the intelligent stand sensing wheelchair according to the present invention in a flat lying state;
FIG. 6 is a schematic diagram of an active structure of an anti-falling control device of the intelligent stand sensing wheelchair according to the present invention;
FIG. 7 is an overall structure view of the anti-falling control device of the intelligent stand-up sensing wheelchair according to the present invention when leaning against;
fig. 8 is an overall structural diagram of the anti-falling control device of the perception intelligent standing wheelchair in the prone position.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments.
As shown in fig. 2-8, the invention provides an anti-falling control device of a perception intelligent standing wheelchair, which comprises a head support 2, a backrest support 3, a seat support 4, a shank support 7, a support frame and a leg support 13, wherein the head support 2 is movably connected with the backrest support 3, the backrest support 3 is movably connected with the seat support 4, the seat support 4 is movably connected with the shank support 7, a universal wheel 6 and a driving wheel 5 are arranged below the leg support 13, the shank support 7 is movably connected with a handrail linkage rod 8, a movable frame 16 is arranged below the seat support 4, the movable frame 16 is connected with an electric push rod 18, the electric push rod 18 is used for pushing the movable frame 16 to drive the seat support 4 to change the posture of the wheelchair, the support frame comprises a first support frame 12 and a second support frame 121, the first support frame 12 is movably connected with the backrest support 3, the second support frame 121 is movably connected with the handrail linkage rod 8, an electromagnetic locking mechanism 11 is arranged below the second support frame 121, the shank support frame 7 is provided with an electromagnetic locking plate 15 corresponding to the electromagnetic locking mechanism, the electromagnetic locking plate is electrically connected with a laser locking device, and a gyroscope control device and a laser control device are respectively connected with a gyroscope support coupler 13 and a gyroscope control device.
The anti-falling control device of the perception intelligent standing wheelchair further comprises a reinforcing frame 16, a seat support air pressure rod 17 and a support 9, wherein the reinforcing frame 16 is arranged below the seat support 4, the support 9 is movably connected to the reinforcing frame 16, one end of the seat support air pressure rod 17 is connected with the lower leg frame 7, the other end of the seat support air pressure rod is connected with the reinforcing frame 16, and the lower leg frame 7 is provided with a lower leg frame air pressure rod 14.
The anti-falling control device of the perception intelligent standing wheelchair further comprises a head support telescopic mechanism 10 and a handrail plate 1, one end of the head support telescopic mechanism 10 is connected with the backrest support 3, the other end of the head support telescopic mechanism is connected with the head support 2, and the backrest support 3 is connected with the handrail plate 1.
Fig. 2 is a general block diagram of the intelligent standing wheelchair with the fall prevention control device in the sitting position. At this time, the protection support 9 is in a retracted state, and the height of the head support 2 can be changed according to the head support extension mechanism 10, so as to meet the requirements of different people with different heights. When the wheelchair is changed from the sitting posture to the standing posture, as shown in fig. 3-4, the electromagnetic locking mechanism 11 and the hook piece 15 are in a locked state, the electric push rod 18 pushes the movable frame 19 to drive the seat support 4, the backrest support 3 and the armrest linkage rod 8, so that the wheelchair is changed to the standing state, at this time, the protective support 9 extends out to drag and prevent the patient from sliding downwards, and the armrest plate 1 rotates downwards so that the hands of the person can lean on the upper side. Meanwhile, the hydraulic rod 122 can drive the first support frame 12 to fold and contract, so that potential safety hazards caused by the supporting state of the first support frame 12 under the condition of a standing posture of the wheelchair are prevented; when the standing posture of the wheelchair is changed into the sitting posture, the hydraulic rod 122 can drive the first support frame 12 to be unfolded, support the seat support and be movably connected with the backrest support, so that the problem that the wheelchair is easy to lose balance and cannot effectively support the instant weight when the standing posture of the wheelchair is changed into the sitting posture is effectively solved.
When the wheelchair is in the gesture motion process of standing, if meet jolt or uneven road surface and lead to electromagnetic locking mechanism and couple piece to be in unblock state and the activity connecting rod takes place the activity and drives the seat support, the back support, when the leg holds in the palm simultaneously backward the upset accident, MCU controller receives the upset response after, can control hydraulic stem 122 at once and drive first support frame 12 automatic expansion, thereby jack-up upset wheelchair of coming, realize stress protection feedback mechanism, make the user follow the gesture safe transition of standing for the state of lying, the protection user does not receive the injury when the wheelchair takes place the unexpected upset.
As shown in fig. 5, the whole structure of the intelligent standing wheelchair is sensed when the anti-falling control device is lying down. At this time, the electromagnetic locking mechanism 11 and the hook piece 15 are in an unlocked state, the first support frame 12 is in an unfolded state for supporting the lying state of the wheelchair, and at this time, the protective support 9 is in a folded state for the patient to lie down.
As shown in fig. 1, the invention further provides a method for controlling the anti-falling of the intelligent sensing standing wheelchair, which is applied to the anti-falling control device of the intelligent sensing standing wheelchair, and during the operation process of the standing wheelchair, the front road condition is monitored in real time to control the balance state of the wheelchair operation and solve the anti-falling problem.
The invention adopts a laser radar device to detect road surface data of a road section in front of the wheelchair, and transmits the road surface data to an MCU controller on the wheelchair in a wired or wireless mode for operation processing to obtain the road surface data in front of the wheelchair. The MCU controller adopted by the invention is an ARM architecture chip for data transmission and processing. The detection mode of the laser radar device is realized by adopting a triangular ranging algorithm. The laser emits incident light, the CCD sensor is used for receiving reflected light, an optical path is established through the receiving lens and the photosensitive unit acquisition module, and the distance of an object to be side can be obtained: d = f (L + D)/D, where f is the focal length of the receiving lens, L is the offset (i.e., the baseline distance) between the optical axis of the emission light path and the main optical axis of the receiving lens, and D is the amount of positional offset on the receiving CCD. When the front slope or bumpy road surface is detected, the MCU controller triggers the preset logic and executes a series of actions to keep the wheelchair stably when the MCU controller obtains the data transmitted by the laser radar at the moment. Firstly, the MCU controller sends an alarm signal, then controls the wheelchair to decelerate according to the gradient data of the current road surface, and calculates the running speed which can be stably passed through according to the front gradient, and meanwhile, the MCU controller obtains the weight of the current wheelchair user and dynamically adjusts the running acceleration of the current rolling wheel according to the weight of the current wheelchair user, so that the speed is more stable when the wheelchair runs into a slope or enters a bumpy road surface; secondly, the MCU controller judges whether the current wheelchair is in a standing state, if so, the electric push rod 18 of the wheelchair is controlled to contract to drive the movable frame 19, the seat support 4 and the backrest support 3, and meanwhile, the MCU controls the hydraulic rod 122 to unfold the first support frame 12 to change the standing state of the current wheelchair into a sitting state. After waiting for wheelchair safety to pass, MCU controller can pass through a period of time of predetermineeing again, judges whether the place ahead road surface still has the slope or jolt the road surface, if do not pass through after the time of predetermineeing, do not receive relevant slope or jolt the data on road surface, then the wheelchair resumes to the state of standing once more to realize the automatic feedback of wheelchair regulation, realize the wheelchair gesture of standing under the circumstances of guaranteeing human safe operation.
The invention also adopts a gyroscope device to collect the current operating angle and acceleration of the wheelchair idler wheels and transmit the current operating angle and acceleration to the MCU controller, and the MCU controller calculates and converts the obtained data. The gyroscope chip adopted by the invention is an MPU6050, three 16 ADC are used, the measured analog quantity can be effectively and accurately converted into digital quantity, and the MCU controller converts the digital quantity into floating point number through the output q30 format and then converts the floating point number into a pitch angle, a roll angle and a course angle through operation. Judging whether the wheelchair inclines or not according to the euler angle obtained by conversion; when the wheelchair inclines, the MCU controller sends out a warning signal, controls the idler wheels to decelerate, and simultaneously controls the electric push rod to contract, so that the posture of the wheelchair is changed, the gravity center is reduced, and the wheelchair restores the balance state again. If the wheelchair is in a standing state, the electric push rod is controlled to change the state of the wheelchair, the wheelchair is slowly adjusted from the state of leaning to a sitting state, and the electric push rod is controlled to restore the standing state again after the balance is restored, so that the safety of a single person using the wheelchair is greatly protected, and the automatic detection and the balance feedback can be realized.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. The anti-falling control device of the perception intelligent standing wheelchair is characterized by comprising a head support (2), a backrest support (3), a seat support (4), a shank support (7), a support frame and a leg support (13), wherein the head support (2) is movably connected with the backrest support (3), the backrest support (3) is movably connected with the seat support (4), the seat support (4) is movably connected with the shank support (7), the shank support (7) is movably connected with an armrest linkage rod (8), universal wheels (6) and driving wheels (5) are arranged below the leg support (13), a movable frame (19) is arranged below the seat support (4), the movable frame (19) is connected with an electric push rod (18), the electric push rod (18) is used for pushing the movable frame (19) to drive the seat support (4) to change the posture, the support frame comprises a first support frame (12) and a second support frame (121), the first support frame (12) is movably connected with the backrest support (3), the second support frame (121) is movably connected with the armrest linkage rod (8), an electromagnetic hook plate locking mechanism (15) is arranged below the electromagnetic hook plate (11), and a locking mechanism (15) is arranged corresponding to the electromagnetic hook plate (11), the leg support (13) is provided with a laser radar device, a gyroscope device and an MCU controller, and the MCU controller is electrically connected with the laser radar device and the gyroscope device respectively.
2. The anti-falling control device of the perception intelligent standing wheelchair as claimed in claim 1, further comprising a reinforcing frame (16), a seat support air pressure bar (17) and a support (9), wherein the reinforcing frame (16) is arranged below the seat support (4), the support (9) is movably connected to the reinforcing frame (16), one end of the seat support air pressure bar (17) is connected with the shank support (7), the other end of the seat support air pressure bar is connected with the reinforcing frame (16), and the shank support air pressure bar (14) is arranged on the shank support (7).
3. The anti-falling control device of the perception intelligent standing wheelchair as claimed in claim 2, further comprising a head support telescoping mechanism (10) and a handrail plate (1), wherein one end of the head support telescoping mechanism (10) is connected with the back support (3), the other end is connected with the head support (2), and the back support (3) is connected with the handrail plate (1).
4. An anti-falling control method of a perception intelligent standing wheelchair, which is applied to the anti-falling control device of the perception intelligent standing wheelchair, comprising:
the laser radar device detects the road surface data of the wheelchair and transmits the data to the MCU controller on the wheelchair for operation processing to obtain the real-time operation data of the wheelchair;
judging whether a slope or a bumpy road surface exists in front of the wheelchair according to the real-time operation data of the wheelchair, and when the slope or the bumpy road surface exists, sending an alarm signal by the MCU controller, controlling the wheelchair to decelerate by the MCU controller, and controlling the electric push rod (18) to change the posture of the wheelchair by the MCU controller;
the gyroscope device measures angle data and acceleration data of the wheelchair relative to a road surface, and transmits the data to the MCU controller for operation processing to obtain direction balance data of the wheelchair;
judging whether the wheelchair inclines or not according to the direction balance data of the wheelchair, and when the wheelchair inclines, if the inclination angle exceeds a preset threshold value, controlling the MCU controller to send an alarm signal, controlling the wheelchair to decelerate, and controlling the electric push rod (18) to change the posture of the wheelchair by the MCU controller.
5. The anti-fall control method of the intelligent stand-sensing wheelchair as claimed in claim 4, wherein the MCU controller uses an ARM architecture chip for data transmission and processing.
6. The anti-falling control method of the intelligent stand-sensing wheelchair as claimed in claim 4, wherein the lidar device detects wheelchair travel road data by using a triangulation method, and the gyroscope device uses an MPU6050 chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210842518.4A CN115192324A (en) | 2022-07-18 | 2022-07-18 | Anti-falling control device and method for perception intelligent standing wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210842518.4A CN115192324A (en) | 2022-07-18 | 2022-07-18 | Anti-falling control device and method for perception intelligent standing wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115192324A true CN115192324A (en) | 2022-10-18 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210842518.4A Pending CN115192324A (en) | 2022-07-18 | 2022-07-18 | Anti-falling control device and method for perception intelligent standing wheelchair |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115487002A (en) * | 2022-11-17 | 2022-12-20 | 潍坊医学院附属医院 | Electric wheelchair |
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2022
- 2022-07-18 CN CN202210842518.4A patent/CN115192324A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115487002A (en) * | 2022-11-17 | 2022-12-20 | 潍坊医学院附属医院 | Electric wheelchair |
| CN115487002B (en) * | 2022-11-17 | 2023-01-13 | 潍坊医学院附属医院 | Electric wheelchair |
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