CN116585109B

CN116585109B - Lying intelligent wheelchair

Info

Publication number: CN116585109B
Application number: CN202310470120.7A
Authority: CN
Inventors: 刘松国; 范诗扬
Original assignee: Zhijiang Laboratory Technology Holdings Co ltd
Current assignee: Zhijiang Laboratory Technology Holdings Co ltd
Priority date: 2023-04-27
Filing date: 2023-04-27
Publication date: 2023-11-03
Anticipated expiration: 2043-04-27
Also published as: CN116585109A

Abstract

The application discloses a lying intelligent wheelchair, which belongs to the field of wheelchairs and comprises a wheelchair main body and a wheelchair interaction system arranged on the wheelchair main body; the wheelchair main body specifically comprises: the device comprises a machine body, wherein the top end of the machine body is movably connected with a seat board, one end of the seat board is rotationally connected with a backrest, the other end of the seat board is rotationally connected with a leg support, and the leg support and the backrest are both in fastening connection with the seat board through fastening pins; the wheelchair interaction system specifically comprises: the device comprises a sleep monitoring module, an information acquisition module, an information processing module, a preset data importing module, a short message notification module, a bed distance detection module, a wheelchair leveling module and a sideslip adjustment module; the sleep monitoring module is used for detecting the body temperature, the respiratory rate and the pulse rate of a user respectively through the body temperature sensor, the radar respiratory detection sensor and the pulse detector. The application can timely detect the sleeping condition of the wheelchair user when the user sleeps. When the user takes a rest, the information that the user has taken a rest can be transmitted to the guardian in time, so that the guardian can transfer the user to the bed in time for taking a rest.

Description

Lying intelligent wheelchair

Technical Field

The application relates to a wheelchair, in particular to an intelligent wheelchair capable of lying on a horizontal plane.

Background

For many old people and patients, the wheelchair can be taken when the legs and feet are inconvenient, and in general, other people take care of the wheelchair during traveling, but the accompanying people also take away for a while. If the user falls asleep in the wheelchair during the period, the lumbar flexion is easily induced to sink downwards, and the lumbar flexion is caused to deform.

Although the existing wheelchair can be adjusted to be lying, a user can sleep on the wheelchair, so that not only is the activity space narrow, but also the comfort level of the wheelchair is obviously inferior to that of a bed, and the waist and back pain of the user can be caused after sleeping. Therefore, how to transfer the user to bed to sleep in time when the user is drowsy is a problem that we need to solve at present. To this end, a person skilled in the art provides a recumbent intelligent wheelchair to solve the above-mentioned problems set forth in the background art.

Disclosure of Invention

The application aims to provide a lying intelligent wheelchair, which can timely transfer a user to a bed for sleeping when the user sleeps, so as to solve the problems in the background technology.

In order to achieve the above purpose, the present application provides the following technical solutions:

an intelligent wheelchair capable of lying on a horizontal type comprises a wheelchair main body and a wheelchair interaction system arranged on the wheelchair main body; the wheelchair main body specifically comprises: the device comprises a machine body, wherein the top end of the machine body is movably connected with a seat board, one end of the seat board is rotationally connected with a backrest, the other end of the seat board is rotationally connected with a leg support, and the leg support and the backrest are both in fastening connection with the seat board through fastening pins; the wheelchair interaction system specifically comprises: the device comprises a sleep monitoring module, an information acquisition module, an information processing module, a preset data importing module, a short message notification module, a bed distance detection module, a wheelchair leveling module and a sideslip adjustment module; the sleep monitoring module is used for respectively detecting the body temperature, the respiratory rate and the pulse rate of a user through the body temperature sensor, the radar respiratory detection sensor and the pulse detector; the information acquisition module is used for acquiring the body temperature, the respiratory rate and the pulse frequency data of the user; the preset data importing module is used for importing preset sleep data and preset bed distance data to the information processing module, wherein the preset sleep data comprise preset body temperature, respiratory rate and pulse frequency data; the information processing module is used for constructing a sleep detection model, importing body temperature, respiratory rate, pulse frequency data and preset sleep data into the sleep detection model and outputting a sleep detection result, and is also used for constructing a bed distance detection model, importing data transmitted by the bed distance detection module and preset bed distance data into the bed distance detection model and outputting a distance detection result; the short message notification module is used for sending a corresponding short message notification to a preset number after receiving the sleep detection result; the bed distance detection module is used for detecting the distance between the wheelchair main body and the bed, and transmitting distance information to the information processing module; the wheelchair leveling module is used for determining whether the auxiliary wheelchair main body is adjusted to be lying after receiving the interval detection result; the transverse movement adjusting module is used for determining whether to push the seat board, the backrest and the leg support to the sleeping bed after receiving the interval detection result.

As a further scheme of the application: the specific detection process of the sleep detection model is as follows: step one: the body temperature, the respiratory rate and the pulse rate of a user detected in real time are respectively marked as T1, F1 and V1, and the body temperature, the respiratory rate and the pulse rate preset in preset sleep data are respectively marked as T1, F1 and V1; step two: comparing T1 with T1, comparing F1 with F1, and comparing V1 with V1; step three: if T1 is less than T1, F1 is less than F1, and V1 is less than V1, outputting a sleep detection result as deep sleep; step four: if T1 is less than T1, F1 is less than F1, or F1 is less than F1, V1 is less than V1, or T1 is less than T1, V1 is less than V1, outputting a sleep detection result as shallow sleep; step five: if T1 is less than T1, F1 is less than F1, or V1 is less than V1, outputting a sleep detection result as falling asleep; step six: if T1 is more than or equal to T1, F1 is more than or equal to F1, and V1 is more than or equal to V1, outputting a sleep detection result as waking.

As still further aspects of the application: the short message notification module sends a corresponding short message notification to a preset number after receiving the sleep detection result, specifically: when the received sleep detection result is 'deep sleep', a short message notification sent to a preset number is 'the edge of instantly going to a wheelchair to transfer the wheelchair to a sleep bed'; when the received sleep detection result is 'shallow sleep', a short message notification sent to a preset number is 'the edge of a wheelchair which is moved to a sleep bed when the wheelchair is moved to the wheelchair within ten minutes'; when the received sleep detection result is "falling asleep", a short message notification sent to a preset number is "the edge of the wheelchair which is moved to the sleep bed when the wheelchair is moved to the wheelchair within twenty minutes"; and when the received sleep detection result is 'awake', not sending a short message notification to a preset number.

As still further aspects of the application: the preset sleep data also comprises thresholds of body temperature, respiratory rate and pulse rate, when any one of the body temperature, respiratory rate and pulse rate of the user detected in real time is smaller than the corresponding threshold, the information processing module sends a detection abnormal result to the short message notification module, and the short message notification module sends a short message notification to a preset number immediately after receiving the detection abnormal result, wherein the short message notification is that the user state is abnormal, please look over immediately before.

As still further aspects of the application: the bed distance detection module comprises cameras embedded on two sides of the machine body, ultrasonic sensors are respectively arranged on two sides of the cameras, an indicator light is arranged on the top end of the backrest, and the specific detection process of the bed distance detection module is as follows: when the wheelchair main body is pushed to the edge of the sleeping bed, the camera is used for collecting images right against the sleeping bed, the collected images are transmitted to the information processing module for image recognition, after the wheelchair main body is determined to reach the edge of the sleeping bed, the information processing module gives an operation instruction to the ultrasonic sensors, the two ultrasonic sensors collect the distance between the machine body and the sleeping bed respectively and are marked as L1 and L2, and then the collected L1 and L2 are transmitted to the information processing module.

As still further aspects of the application: the specific detection process of the bed distance detection model is as follows: marking the preset bed distance data as l; then comparing L1 and L2 with L respectively, if L1 is less than L and L2 is less than L, entering the next step, otherwise outputting a gap detection result of 'mismatch'; comparing L1 with L2, if the absolute value of the difference between L1 and L2 is smaller than the preset value, outputting a spacing detection result as 'matching', otherwise outputting a spacing detection result as 'mismatch'.

As still further aspects of the application: the indicator lights illuminate red lights when the output interval detection result is 'mismatch', and illuminate green lights when the output interval detection result is 'match'.

As still further aspects of the application: the wheelchair leveling module decides not to assist the wheelchair main part to adjust to lying when receiving interval testing result and is "unmatched", and the wheelchair leveling module decides to assist the wheelchair main part to adjust to lying when receiving interval testing result and is "matched", the wheelchair leveling module is including rotating the support arm of connecting in back both sides face and leg support both sides face, and the back corresponds the position of support arm with the inside that the leg held in the palm and inlay biax motor, two output shafts of biax motor respectively with the support arm fixed connection who corresponds, and the telescopic tank has been seted up to the inside of support arm, the inside swing joint of telescopic tank has rather than assorted telescopic arm, and the one end fixedly connected with rubber pad of telescopic arm, the screw thread groove has been seted up to the inside of telescopic arm, and the screw thread inslot portion is equipped with the screw thread post, the tip of telescopic tank is inlayed and is equipped with rotating electrical machines, and rotating electrical machines's output shaft and screw thread post tip fixed connection, the wheelchair leveling module is for lying in the concrete process of assisting the wheelchair main part adjustment: the two double-shaft motors respectively drive the corresponding supporting arms to rotate by a certain angle, and then the rotating motors drive the threaded columns to rotate, so that the telescopic arms extend out of the telescopic slots by a certain length.

As still further aspects of the application: after a person corresponding to the preset number receives a short message to inform the person to push the wheelchair to the edge of the sleeping bed and adjust the distance between the sleeping bed and the bed, the fastening pins of the seat board, the leg support and the backrest are unscrewed, the leg support and the backrest are rotated by a certain angle until the leg support and the backrest are flush with the seat board, the fastening pins are screwed, the wheelchair leveling module assists the wheelchair main body to adjust to a lying type, finally, the supporting arm of the wheelchair leveling module is vertically downward, and the rubber pad on the telescopic arm contacts the ground, so that the supporting arm can provide support for the leg support and the backrest.

As still further aspects of the application: the sideslip adjustment module is including seting up the upper groove at organism top end face and seting up the lower groove at organism bottom end face, and upper groove bottom end face fixedly connected with linear guide, linear guide's top swing joint has linear motor, and fixedly connected with connecting seat between linear motor and the bedplate, the top face in lower groove inlays and is equipped with the cylinder, and the bottom output shaft fixedly connected with sucking disc of cylinder, sideslip adjustment module is when receiving interval testing result and is "matcing", pushes away the bedplate together with back, leg support to the sleeping bed, and sideslip adjustment module is when receiving interval testing result and is "unmatched", does not push away the bedplate together with back, leg support to the sleeping bed, wherein, pushes away the concrete process of sleeping bed with the bedplate together with back, leg support to the sleeping bed: the cylinder operates to press down the sucking disc to adsorb on ground, and then, the linear motor operates to move along the linear guide rail to the sleeping bed direction for a certain distance, and the seat board is driven to move to the sleeping bed together with the backrest and the leg rest for a certain distance through the connecting seat.

Compared with the prior art, the application has the beneficial effects that:

1. the intelligent wheelchair can monitor and collect the body temperature, the respiratory rate and the pulse frequency data of a user in real time, and the body temperature, the respiratory rate and the pulse frequency are reduced when a human body sleeps, so that the acquired data are compared with preset data to determine whether the user sleeps, and after the user sleeps, the user is transferred to a bed before being notified to a corresponding care person through a short message, so that the result of waist soreness after sleeping on the wheelchair caused by sleeping of the patient is avoided. In addition, the sleep detection model can detect which stage the user is in sleeping, and the sleeping notification carers in different stages can arrive in different time periods, so that the carers can be left with a certain time to process things in hands, and the user cannot sleep on the wheelchair for a long time.

2. When a user on the wheelchair is transferred to a bed, the bed distance between the wheelchair and the bed is detected through the bed distance detection module, whether the bed distance is matched is detected through the bed distance detection model, after the bed distance is matched, the wheelchair leveling module is matched with a carer to level the wheelchair, the user at the moment lies on the bedside but still falls on the bed, and then the user is further pushed towards the bedside through the traversing adjustment module, at the moment, the user is very close to the bed body, the carer only needs to lift the upper half of the user on the bed, and then lift the lower half of the user on the bed, so that the transfer of the user can be completed.

Drawings

FIG. 1 is a schematic view of a reclining intelligent wheelchair;

FIG. 2 is an interior view of a support arm in a recumbent intelligent wheelchair;

FIG. 3 is a view showing the combination of the upper and lower channels in a recumbent intelligent wheelchair;

FIG. 4 is a block diagram of a wheelchair interaction system in a recumbent intelligent wheelchair.

In the figure: 1. a body; 2. a seat plate; 3. a backrest; 4. a leg rest; 5. a biaxial motor; 6. a support arm; 7. a telescopic slot; 8. a telescoping arm; 9. a rubber pad; 10. a rotating electric machine; 11. a thread groove; 12. a threaded column; 13. an ultrasonic sensor; 14. a camera; 15. an indicator light; 16. a lower groove; 17. a cylinder; 18. a suction cup; 19. an upper groove; 20. a linear guide rail; 21. a linear motor; 22. and a connecting seat.

Detailed Description

In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.

Referring to fig. 1 to 4, in an embodiment of the present application, a reclining intelligent wheelchair includes a wheelchair main body and a wheelchair interaction system disposed on the wheelchair main body; wheelchair main part specifically includes: the device comprises a machine body 1, wherein the top end of the machine body 1 is movably connected with a seat board 2, one end of the seat board 2 is rotatably connected with a backrest 3, the other end of the seat board 2 is rotatably connected with a leg support 4, and the leg support 4 and the backrest 3 are both fixedly connected with the seat board 2 through fastening pins; wheelchair interaction system specifically includes: the device comprises a sleep monitoring module, an information acquisition module, an information processing module, a preset data importing module, a short message notification module, a bed distance detection module, a wheelchair leveling module and a sideslip adjustment module; the sleep monitoring module is used for respectively detecting the body temperature, the respiratory rate and the pulse rate of a user through the body temperature sensor, the radar respiratory detection sensor and the pulse detector; the information acquisition module is used for acquiring the body temperature, the respiratory rate and the pulse frequency data of the user; the preset data importing module is used for importing preset sleep data and preset bed distance data to the information processing module, wherein the preset sleep data comprise preset body temperature, respiratory rate and pulse frequency data; the information processing module is used for constructing a sleep detection model, importing body temperature, respiratory rate, pulse frequency data and preset sleep data into the sleep detection model and outputting a sleep detection result, and is also used for constructing a bed distance detection model, importing data transmitted by the bed distance detection module and preset bed distance data into the bed distance detection model and outputting a distance detection result; the short message notification module is used for sending a corresponding short message notification to a preset number after receiving the sleep detection result; the bed distance detection module is used for detecting the distance between the wheelchair main body and the bed, and transmitting distance information to the information processing module; the wheelchair leveling module is used for determining whether the auxiliary wheelchair main body is adjusted to be in a lying state after receiving the interval detection result; the traversing adjusting module is used for determining whether to push the seat board 2, the backrest 3 and the leg rest 4 to the sleeping bed after receiving the interval detection result. The intelligent wheelchair can monitor and collect the body temperature, the respiratory rate and the pulse frequency data of a user in real time, and the body temperature, the respiratory rate and the pulse frequency are reduced when a human body sleeps, so that the acquired data are compared with preset data to determine whether the user sleeps, and after the user sleeps, the user is transferred to a bed by informing corresponding caretakers through short messages before, thereby avoiding the result of waist soreness after the patient sleeps on the wheelchair.

In this embodiment: the specific detection process of the sleep detection model is as follows: step one: the body temperature, the respiratory rate and the pulse rate of a user detected in real time are respectively marked as T1, F1 and V1, and the body temperature, the respiratory rate and the pulse rate preset in preset sleep data are respectively marked as T1, F1 and V1; step two: comparing T1 with T1, comparing F1 with F1, and comparing V1 with V1; step three: if T1 is less than T1, F1 is less than F1, and V1 is less than V1, outputting a sleep detection result as deep sleep; step four: if T1 is less than T1, F1 is less than F1, or F1 is less than F1, V1 is less than V1, or T1 is less than T1, V1 is less than V1, outputting a sleep detection result as shallow sleep; step five: if T1 is less than T1, F1 is less than F1, or V1 is less than V1, outputting a sleep detection result as falling asleep; step six: if T1 is more than or equal to T1, F1 is more than or equal to F1, and V1 is more than or equal to V1, outputting a sleep detection result as waking. The application can detect which stage the user is in sleeping through the constructed sleep detection model.

In this embodiment: the short message notification module sends a corresponding short message notification to a preset number after receiving the sleep detection result, specifically: when the received sleep detection result is 'deep sleep', a short message notification sent to a preset number is 'the edge of instantly going to a wheelchair to transfer the wheelchair to a sleep bed'; when the received sleep detection result is 'shallow sleep', a short message notification sent to a preset number is 'the edge of a wheelchair which is moved to a sleep bed when the wheelchair is moved to the wheelchair within ten minutes'; when the received sleep detection result is "falling asleep", a short message notification sent to a preset number is "the edge of the wheelchair which is moved to the sleep bed when the wheelchair is moved to the wheelchair within twenty minutes"; and when the received sleep detection result is 'awake', not sending a short message notification to a preset number. The sleeping notification caretakers of different stages catch up in different time periods, so that the caretakers can be left with a certain time to handle things in hands, and the user cannot sleep in the wheelchair for a long time.

In this embodiment: the preset sleep data also comprises thresholds of body temperature, respiratory rate and pulse rate, when any one of the body temperature, respiratory rate and pulse rate of the user detected in real time is smaller than the corresponding threshold, the information processing module sends a detection abnormal result to the short message notification module, and the short message notification module sends a short message notification to a preset number immediately after receiving the detection abnormal result to be 'user state abnormal, please look over immediately before'. This arrangement prevents untimely appearance of the user and failure of the caretaker to discover in time.

In this embodiment: the bed distance detection module comprises cameras 14 embedded in two side surfaces of the machine body 1, ultrasonic sensors 13 are respectively arranged on two sides of the cameras 14, an indicator lamp 15 is arranged on the top end of the backrest 3, and the specific detection process of the bed distance detection module is as follows: when the wheelchair main body is pushed to the edge of the sleeping bed, the camera 14 is used for collecting images of the sleeping bed, the collected images are transmitted to the information processing module for image recognition, after the wheelchair main body is determined to reach the edge of the sleeping bed, the information processing module gives an operation instruction to the ultrasonic sensors 13, the two ultrasonic sensors 13 respectively collect the distance between the machine body 1 and the sleeping bed and are marked as L1 and L2, and the collected L1 and L2 are transmitted to the information processing module. The bed distance detection module can accurately detect the distance between the wheelchair main body and the bed, so that the accuracy of the output detection result of the follow-up bed distance detection module is improved.

In this embodiment: the specific detection process of the bed distance detection model is as follows: marking the preset bed distance data as l; then comparing L1 and L2 with L respectively, if L1 is less than L and L2 is less than L, entering the next step, otherwise outputting a gap detection result of 'mismatch'; comparing L1 with L2, if the absolute value of the difference between L1 and L2 is smaller than the preset value, outputting a spacing detection result as 'matching', otherwise outputting a spacing detection result as 'mismatch'. The bed distance data of two different positions can avoid inaccurate detection of the bed distance caused by the inclination of the wheelchair main body.

In this embodiment: the indicator lamp 15 lights up a red light when the output pitch detection result is "no match", and the indicator lamp 15 lights up a green light when the output pitch detection result is "match". This setting makes things convenient for caretaker to know whether the interval of wheelchair main part and bed matches that can be audio-visual, when mismatch, caretaker continues to adjust the position of wheelchair main part until lighting the green light.

In this embodiment: the wheelchair leveling module decides not to assist in adjusting the wheelchair main body to lie when receiving the interval detection result and is not matched, and decides to assist in adjusting the wheelchair main body to lie when receiving the interval detection result and is matched, the wheelchair leveling module comprises support arms 6 which are rotationally connected to two sides of a backrest 3 and two sides of a leg support 4, a double-shaft motor 5 is embedded in the position of the backrest 3 corresponding to the support arms 6 in the leg support 4, two output shafts of the double-shaft motor 5 are fixedly connected with the corresponding support arms 6 respectively, a telescopic groove 7 is formed in the support arms 6, a telescopic arm 8 which is matched with the telescopic groove 7 is movably connected in the telescopic groove 7, a rubber pad 9 is fixedly connected with one end of the telescopic arm 8, a thread groove 11 is formed in the telescopic arm 8, a thread column 12 is arranged in the thread groove 11, a rotating motor 10 is embedded in the end of the telescopic groove 7, an output shaft of the rotating motor 10 is fixedly connected with the end of the thread column 12, and the wheelchair leveling module adjusts the wheelchair main body to lie in a specific process of: the two double-shaft motors 5 respectively drive the corresponding supporting arms 6 to rotate by a certain angle, and then the rotating motor 10 operates to drive the threaded column 12 to rotate, so that the telescopic arms 8 extend out of the telescopic slots 7 by a certain length. After the wheelchair is leveled by a carer, the backrest 3 and the leg support 4 lack a certain support, and the wheelchair leveling module can solve the defect, and can rotate the support arm 6 to a vertical downward state through the double-shaft motor 5, and then the telescopic arm 8 is driven to extend out of the telescopic slot 7 for a certain length through the operation of the rotating motor 10, so that the rubber pad 9 is propped against the ground, wherein the rubber pad 9 can reduce the friction loss between the telescopic arm 8 and the ground. It should be noted that, the certain angle of rotation of the support arm 6 is preset in advance and can be changed, and the certain length of the extension arm 8 extending out of the extension groove 7 is also preset in advance and can be changed.

In this embodiment: after a person corresponding to a preset number receives a short message to inform the person to push the wheelchair to the edge of a sleeping bed and adjust the distance between the sleeping bed and the bed, unscrewing the fastening pins of the seat board 2, the leg support 4 and the backrest 3, rotating the leg support 4 and the backrest 3 by a certain angle until the leg support is flush with the seat board 2, screwing the fastening pins, and at the moment, the wheelchair leveling module assists the wheelchair main body to adjust to a lying type, finally, the supporting arm 6 of the wheelchair leveling module is vertically downward, and the rubber pad 9 on the telescopic arm 8 contacts the ground, so that the supporting arm 6 can provide support for the leg support 4 and the backrest 3.

In this embodiment: the sideslip adjustment module is including seting up the upper groove 19 at the terminal surface of organism 1 and seting up the lower groove 16 at the terminal surface of organism 1 bottom, and upper groove 19 bottom terminal surface fixedly connected with linear guide 20, linear guide 20's top swing joint has linear motor 21, and fixedly connected with connecting seat 22 between linear motor 21 and the bedplate 2, the top face of lower groove 16 inlays and is equipped with cylinder 17, and the bottom output shaft fixedly connected with sucking disc 18 of cylinder 17, sideslip adjustment module is when receiving interval testing result and is "matching", push away bedplate 2 with backrest 3, leg support 4 to the sleeping bed, and sideslip adjustment module is when receiving interval testing result and be "mismatch", do not push away bedplate 2 with backrest 3, leg support 4 to the sleeping bed, wherein, the concrete process of pushing away bedplate 2 with backrest 3, leg support 4 to the sleeping bed does: the cylinder 17 operates to press and adsorb the sucking disc 18 on the ground, and then the linear motor 21 operates to move along the linear guide rail 20 for a certain distance in the sleeping bed direction, and the connecting seat 22 drives the seat board 2, the backrest 3 and the leg rest 4 to move for a certain distance in the sleeping bed. The sideslip adjustment module can further promote the user towards the bedside for the user is more close to with the bed, thereby makes things convenient for follow-up carer to the transfer of user, alleviates carer's hard to a certain extent. It should be noted that, the certain distance that the linear motor 21 moves along the linear guide rail 20 toward the sleeping bed is preset in advance, and can be changed.

In this embodiment: the wheelchair interaction system also comprises a power module which is used for supplying power to the sleep monitoring module, the information acquisition module, the information processing module, the preset data importing module, the short message notification module, the bed distance detection module, the wheelchair leveling module and the sideslip adjustment module.

The intelligent wheelchair can monitor and collect the body temperature, the respiratory rate and the pulse frequency data of a user in real time, and the body temperature, the respiratory rate and the pulse frequency are reduced when a human body sleeps, so that the acquired data are compared with preset data to determine whether the user sleeps, and after the user sleeps, the user is transferred to a bed before being notified to a corresponding care person through a short message, so that the result of waist soreness after sleeping on the wheelchair caused by sleeping of the patient is avoided. In addition, the sleep detection model can detect which stage the user is in sleeping, and the sleeping notification carers in different stages can arrive in different time periods, so that the carers can be left with a certain time to process things in hands, and the user cannot sleep on the wheelchair for a long time. When a user on the wheelchair is transferred to a bed, the bed distance between the wheelchair and the bed is detected through the bed distance detection module, whether the bed distance is matched is detected through the bed distance detection model, after the bed distance is matched, the wheelchair leveling module is matched with a care person to level the wheelchair, the user at the moment lies on the bedside but still falls on the bed, the user is further pushed towards the bedside through the sideslip adjustment module, at the moment, the user is very close to the bed body, the care person only needs to lift the upper half of the user on the bed, then lift the lower half of the user on the bed, the transfer of the user can be completed, the whole process is easy and labor-saving, one person can complete the transfer, discomfort caused to the wheelchair user is very small, and the trouble of the care person is relieved to a certain extent.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

The foregoing description is only a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art, who is within the scope of the present application, should make equivalent substitutions or modifications according to the technical solution of the present application and the inventive concept thereof, and should be covered by the scope of the present application.

Claims

1. An intelligent wheelchair capable of lying on a horizontal type is characterized by comprising a wheelchair main body and a wheelchair interaction system arranged on the wheelchair main body;

the wheelchair main body specifically comprises: the novel seat comprises a machine body (1), wherein the top end of the machine body (1) is movably connected with a seat board (2), one end of the seat board (2) is rotatably connected with a backrest (3), the other end of the seat board (2) is rotatably connected with a leg support (4), and the leg support (4) and the backrest (3) are both fixedly connected through fastening pins and the seat board (2);

the wheelchair interaction system specifically comprises: the device comprises a sleep monitoring module, an information acquisition module, an information processing module, a preset data importing module, a short message notification module, a bed distance detection module, a wheelchair leveling module and a sideslip adjustment module; the sleep monitoring module is used for respectively detecting the body temperature, the respiratory rate and the pulse rate of a user through the body temperature sensor, the radar respiratory detection sensor and the pulse detector; the information acquisition module is used for acquiring the body temperature, the respiratory rate and the pulse frequency data of the user; the preset data importing module is used for importing preset sleep data and preset bed distance data to the information processing module, wherein the preset sleep data comprise preset body temperature, respiratory rate and pulse frequency data; the information processing module is used for constructing a sleep detection model, importing body temperature, respiratory rate, pulse frequency data and preset sleep data into the sleep detection model and outputting a sleep detection result, and is also used for constructing a bed distance detection model, importing data transmitted by the bed distance detection module and preset bed distance data into the bed distance detection model and outputting a distance detection result; the short message notification module is used for sending a corresponding short message notification to a preset number after receiving the sleep detection result; the bed distance detection module is used for detecting the distance between the wheelchair main body and the bed, and transmitting distance information to the information processing module; the wheelchair leveling module is used for determining whether the auxiliary wheelchair main body is adjusted to be lying after receiving the interval detection result; the transverse movement adjusting module is used for determining whether to push the seat board (2), the backrest (3) and the leg support (4) to the sleeping bed after receiving the interval detection result;

the specific detection process of the sleep detection model is as follows:

step one: the body temperature, the respiratory rate and the pulse rate of a user detected in real time are respectively marked as T1, F1 and V1, and the body temperature, the respiratory rate and the pulse rate preset in preset sleep data are respectively marked as T1, F1 and V1;

step two: comparing T1 with T1, comparing F1 with F1, and comparing V1 with V1;

step three: if T1 is less than T1, F1 is less than F1, and V1 is less than V1, outputting a sleep detection result as deep sleep;

step four: if T1 is less than T1, F1 is less than F1, or F1 is less than F1, V1 is less than V1, or T1 is less than T1, V1 is less than V1, outputting a sleep detection result as shallow sleep;

step five: if T1 is less than T1, F1 is less than F1, or V1 is less than V1, outputting a sleep detection result as falling asleep;

step six: if T1 is more than or equal to T1, F1 is more than or equal to F1, and V1 is more than or equal to V1, outputting a sleep detection result as 'wakefulness';

the short message notification module sends a corresponding short message notification to a preset number after receiving the sleep detection result, specifically:

when the received sleep detection result is 'deep sleep', a short message notification sent to a preset number is 'the edge of instantly going to a wheelchair to transfer the wheelchair to a sleep bed';

when the received sleep detection result is 'shallow sleep', a short message notification sent to a preset number is 'the edge of a wheelchair which is moved to a sleep bed when the wheelchair is moved to the wheelchair within ten minutes';

when the received sleep detection result is "falling asleep", a short message notification sent to a preset number is "the edge of the wheelchair which is moved to the sleep bed when the wheelchair is moved to the wheelchair within twenty minutes";

when the received sleep detection result is 'awake', a short message notification is not sent to a preset number;

the bed distance detection module comprises cameras (14) embedded in two side surfaces of the machine body (1), ultrasonic sensors (13) are respectively arranged on two sides of the cameras (14), an indicator lamp (15) is arranged at the top end of the backrest (3), and the specific detection process of the bed distance detection module is as follows: when the wheelchair main body is pushed to the edge of the sleeping bed, the camera (14) is used for collecting images facing the sleeping bed, the collected images are transmitted to the information processing module for image recognition, after the wheelchair main body is determined to reach the edge of the sleeping bed, the information processing module gives an operation instruction to the ultrasonic sensors (13), the two ultrasonic sensors (13) respectively collect the distance between the machine body (1) and the sleeping bed and mark the distance as L1 and L2, and then the collected L1 and L2 are transmitted to the information processing module;

the specific detection process of the bed distance detection model is as follows:

marking the preset bed distance data as l;

then comparing L1 and L2 with L respectively, if L1 is less than L and L2 is less than L, entering the next step, otherwise outputting a gap detection result of 'mismatch';

comparing L1 with L2, outputting a spacing detection result as 'matching' if the absolute value of the difference between L1 and L2 is smaller than a preset value, otherwise outputting a spacing detection result as 'mismatch';

the wheelchair leveling module decides not to assist the wheelchair main part to adjust to lying when receiving interval testing result and is "unmatched", and wheelchair leveling module decides to assist the wheelchair main part to adjust to lying when receiving interval testing result and is "matched", wheelchair leveling module is including rotating support arm (6) of connecting in back (3) both sides face and leg support (4) both sides face, and back (3) and leg support (4) inside correspond support arm (6) the position inlay have biax motor (5), two output shafts of biax motor (5) respectively with support arm (6) fixed connection that correspond, and the inside of support arm (6) has seted up expansion groove (7), the inside swing joint of expansion groove (7) has telescopic arm (8) rather than assorted, and the one end fixedly connected with rubber pad (9) of telescopic arm (8), screw thread groove (11) are seted up to the inside of telescopic arm (8), and screw thread groove (11) inside is equipped with screw thread post (12), the tip of expansion groove (7) is equipped with rotating electrical machine (10), and output shaft (10) and the inside of support arm (6) are the main part fixed connection of lying for horizontal wheelchair, the wheelchair is the leveling module is adjusted specifically in the process of adjusting to the wheelchair: the two double-shaft motors (5) respectively drive the corresponding supporting arms (6) to rotate for a certain angle, and then the rotating motor (10) operates to drive the threaded column (12) to rotate, so that the telescopic arms (8) extend out of the telescopic slots (7) for a certain length.

2. The intelligent wheelchair according to claim 1, wherein the preset sleep data further includes thresholds of body temperature, respiratory rate and pulse rate, and when any one of the body temperature, respiratory rate and pulse rate of the user detected in real time is smaller than the corresponding threshold, the information processing module sends a detection abnormality result to the short message notification module, and the short message notification module sends a short message notification to the preset number as "user status abnormality" immediately after receiving the detection abnormality result, please check immediately before.

3. The intelligent wheelchair according to claim 1, wherein the indicator light (15) lights up a red light when the output pitch detection result is "no match", and the indicator light (15) lights up a green light when the output pitch detection result is "no match".

4. The intelligent wheelchair capable of lying on the floor according to claim 1, wherein after a person corresponding to the preset number receives a short message to push the wheelchair to the edge of a sleeping bed and adjust the distance between the sleeping bed and the sleeping bed, the fastening pins of the seat plate (2) and the leg rest (4) and the backrest (3) are unscrewed, the fastening pins are screwed down after the leg rest (4) and the backrest (3) are rotated by a certain angle until the leg rest and the seat plate (2) are flush, the wheelchair leveling module assists the wheelchair main body to adjust to the lying on the floor, finally, the supporting arm (6) of the wheelchair leveling module is vertically downward, and the rubber pad (9) on the telescopic arm (8) is contacted with the ground, so that the supporting arm (6) can provide support for the leg rest (4) and the backrest (3).

5. The intelligent wheelchair according to claim 4, wherein the lateral movement adjusting module comprises an upper groove (19) formed in the top end surface of the machine body (1) and a lower groove (16) formed in the bottom end surface of the machine body (1), the bottom end surface of the upper groove (19) is fixedly connected with a linear guide rail (20), the top end of the linear guide rail (20) is movably connected with a linear motor (21), a connecting seat (22) is fixedly connected between the linear motor (21) and the seat plate (2), a cylinder (17) is embedded in the top end surface of the lower groove (16), a sucker (18) is fixedly connected with the bottom output shaft of the cylinder (17), the lateral movement adjusting module pushes the seat plate (2) together with the backrest (3) and the leg rest (4) to the sleeping bed when the distance detection result is "matching", and the lateral movement adjusting module does not push the seat plate (2) together with the backrest (3) and the leg rest (4) to the sleeping bed when the distance detection result is "not matching", wherein the specific sleeping process of pushing the seat plate (2) together with the backrest (3) and the leg rest (4) to the sleeping bed is "matching". The cylinder (17) operates to press down and adsorb the sucking disc (18) on the ground, then, the linear motor (21) operates to move a certain distance along the linear guide rail (20) to the direction of the sleeping bed, and the connecting seat (22) drives the seat plate (2) together with the backrest (3) and the leg support (4) to move a certain distance to the sleeping bed.