CN203291128U - Intelligent obstacle avoiding wheelchair based on bioelectrical multi-modal control - Google Patents
Intelligent obstacle avoiding wheelchair based on bioelectrical multi-modal control Download PDFInfo
- Publication number
- CN203291128U CN203291128U CN2013202379920U CN201320237992U CN203291128U CN 203291128 U CN203291128 U CN 203291128U CN 2013202379920 U CN2013202379920 U CN 2013202379920U CN 201320237992 U CN201320237992 U CN 201320237992U CN 203291128 U CN203291128 U CN 203291128U
- Authority
- CN
- China
- Prior art keywords
- processing unit
- information processing
- wheelchair
- central information
- electric wheelchair
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The utility model discloses an intelligent obstacle avoiding wheelchair based on bioelectrical multi-modal control. The intelligent obstacle avoiding wheelchair comprises an electrically powered wheelchair, a central information processing unit, a distance sensing device and a portable multi-bioelectrical acquiring device, wherein the central information processing unit is arranged on the left side of the electrically powered wheelchair and communicated with the electrically powered wheelchair through a network cable; the distance sensing device comprises ultrasonic distance measurement sensors and an infrared distance measurement sensor; the ultrasonic distance measurement sensors are uniformly distributed on the left and right sides of the electrically powered wheelchair and the outer side of a backrest, the infrared distance measurement sensor is arranged on the lower surface of a pedal plate of the electrically powered wheelchair, a manual rocker is respectively arranged on each handrail of the electrically powered wheelchair, and the manual rockers, the distance sensing device and the central information processing unit are connected with one another through data lines; and the portable multi-bioelectrical acquiring device is wirelessly connected with the central information processing unit through Bluethooth. The intelligent obstacle avoiding wheelchair adopts multi-bioelectrical modal control, can realize the arbitrary switching of manual, electrocerebral and electromyographic signal control and can avoid obstacles.
Description
Technical field
This utility model relates to a kind of intelligent barrier avoiding wheelchair system of controlling based on multiple bio electricities such as brain electricity, eye electricity, myoelectricities, especially a kind of wheelchair of intelligent barrier avoiding based on the multi-modal control of bio electricity.
Background technology
Intelligent wheel chair comes again for a long time as medical assisted care instrument, and than traditional push chairs, the progress of intelligent wheel chair is mainly reflected in three part aspects: the one, and the progress of type of drive.Intelligent wheel chair is used motor instead and is driven the manual hand that has replaced traditional push chairs, and self has power wheelchair; The 2nd, the progress of control mode.The introducing of rocking bar and steering wheel, allow the user can the Autonomous Control wheelchair; The 3rd, the progress of machine intelligence aided control technology, unstability due to novel control modes such as rocking bar controls, for guaranteeing the safety of user, the intelligent barrier avoiding technology, anti-fall technology and arise at the historic moment, solved to a certain extent due to the safety problem that occupation mode is improper and the limitation of control method causes.
Along with the crowd of the different disabled degree expansion to the intelligent wheel chair demand, the developer mainly concentrates on control mode and two aspects of machine intelligence aided control technology to the exploitation of novel intelligent wheelchair.On control mode, the developer has gone out for the severe disability user design, the control modes such as voice control, brain electric control.At the machine intelligence slave side, some developers design have anticollision, anti-fall, the intelligent wheel chair of automatic obstacle avoidance functions.
Along with popularizing of new control technology and intelligent barrier avoiding technology, the defect of its prior art also slowly reveals.On control mode, as the voice for severe disabled exploitation, to control, it is controlled motility and is on duty mutually, can not show a candle to rocking bar and the steering wheel of traditional intelligence wheelchair, and the language identification response time is long, and easily is subjected to the category of language of user, the accent impact; Intelligent wheelchair system based on the brain electric control mainly is divided into two kinds: the first is based on right-hand man's imagination of moving, and its defect is that the time of user training is long, accuracy rate low (the average control accuracy is 80%-90%); The second, for utilizing Steady State Visual Evoked Potential or P300 signal to realize controlling, although higher control accuracy is arranged, because user will stare at screen when operating always, is also noted that the road surface situation simultaneously, is easy to fatigue, is not suitable for long-time use.Above two kinds of brain electric control methods all can't be realized comparatively meticulous control, and this will make the user in-house operation inconvenience comparatively narrow and small in space.In addition, the existing product major part is only supported single control model, can't realize the switching between each pattern, makes audient's face of technology that obvious limitation be arranged, and namely a kind of product can only be towards a certain class crowd of specific limitation.
Aspect intelligent aided control technology, existing anticollision, the anti-intelligent wheel chair that the barrier avoiding function such as falls such as only realize stopping before barrier at the operation, can not initiatively get around barrier, still need the operator to control voluntarily the cut-through thing, do not realize in essence " keeping away barrier " function, Practical significance is not strong.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, and a kind of wheelchair of intelligent barrier avoiding based on the multi-modal control of bio electricity is provided.Can to the course of wheelchair, adjust according to the information of the peripheral obstacle of collecting, thereby reach the purpose of keeping away barrier.
This utility model comprises electric wheelchair, central information processing unit, Distance-sensing device and portable many bio electricities harvester.The central information processing unit is arranged on electric wheelchair left side, and electric wheelchair and central information processing unit adopt netting twine to carry out communication; The Distance-sensing device comprises ultrasonic distance-measuring sensor, infrared distance sensor; A plurality of ultrasonic distance-measuring sensors are distributed on the left and right sides and the backrest outside of electric wheelchair, two infrared distance sensors are arranged on electric wheelchair pedal plate lower surface, on the electric wheelchair handrail, be provided with manual rocking bar, manually rocking bar, Distance-sensing device are connected by data wire with the central information processing unit; Portable many bio electricities harvester is connected by blue teeth wireless with the central information processing unit; Electric wheelchair seat board lower surface is provided with power supply, and power supply is electric wheelchair, the power supply of central information processing unit.
This utility model work process is as follows:
After user was put on portable many bio electricities harvester, this device gathered EEG signals and the electromyographic signal of user, and this signal is passed to the central information processing unit by bluetooth after simple noise reduction process; During the rocking bar control model, rocking bar identification user forward, backward, left, to right signal, and this signal is passed to the central information processing unit by data wire.By the central information processing unit, determined three kinds of patterns: between brain electric control pattern, myoelectricity control model and hand control model, switch.
Simultaneously, the Distance-sensing device is collected the information of wheelchair environment of living in.Wherein six pieces of ultrasonic distance-measuring sensors are collected position and the range information of wheelchair the place ahead, both sides and rear obstacle, infrared distance sensor under pedal is collected the information of road surface at wheelchair direct of travel front-wheel place, in order to judge whether the place ahead has step, pit and bulk rubble.The information exchange that the Distance-sensing device is collected is crossed data wire and is passed to the central information processing unit.
The control intention of user and Obstacle Position and the pavement behavior of surrounding are judged after receiving the signal that transmits from many bio electricities harvester and Distance-sensing device in the central information processing unit, and make accordingly the instruction of controlling wheel chair sport.The central information processing unit will pass to the built-in driver module of electric wheelchair by netting twine by this instruction, and then drive motor work, realize the motion of electric wheelchair.
This utility model beneficial effect is as follows:
This utility model adopts many bio electricities mode to control, can by manually, brain is electric and electromyographic signal is controlled electric wheelchair, and switching arbitrarily under three kinds of control models, enlarge the scope of using object, solved to a certain extent the problem that control accuracy is inadequate, user must pass through long-time training under single control model.
This utility model adopts multiple distance measuring sensor, wherein a plurality of ultrasonic range finder sensors are distributed in the wheelchair surrounding, can collect the complaint message of wheelchair all angles, and then has realized " keep away around " of wheelchair to barrier.The pavement behavior information that infrared sensor obtains, make wheelchair have to avoid the ability of hollow or bulk macadam pavement, increased wheelchair to the adaptive capacity under different environments for use.
The accompanying drawing explanation
Fig. 1 this utility model structural representation.
In figure, infrared distance sensor 1, ultrasonic distance-measuring sensor 2, central information processing unit 3, manual rocking bar 4.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
As shown in Figure 1, a kind of wheelchair of intelligent barrier avoiding based on the multi-modal control of bio electricity, comprise electric wheelchair, central information processing unit 3, Distance-sensing device and portable many bio electricities harvester.Central information processing unit 3 is arranged on electric wheelchair left side, and electric wheelchair and central information processing unit 3 adopt netting twines to carry out communication; The Distance-sensing device comprises ultrasonic distance-measuring sensor 2, infrared distance sensor 1; A plurality of ultrasonic distance-measuring sensors 2 are distributed on the left and right sides and the backrest outside of electric wheelchair, two infrared distance sensors 1 are arranged on electric wheelchair pedal plate lower surface, on the electric wheelchair handrail, be provided with manual rocking bar 4, manually rocking bar 4, Distance-sensing device are connected by data wire with central information processing unit 3; Portable many bio electricities harvester is connected by blue teeth wireless with central information processing unit 3; Electric wheelchair seat board lower surface is provided with power supply, and power supply is electric wheelchair, 3 power supplies of central information processing unit.
Described electric wheelchair is the common electric wheelchair; Portable many bio electricities harvester is that market is bought, for emotive company produces.
This utility model work process is as follows:
After user was put on portable many bio electricities harvester, this device gathered EEG signals and the electromyographic signal of user, and this signal is passed to central information processing unit 3 by bluetooth after simple noise reduction process; During the rocking bar control model, rocking bar identification user forward, backward, left, to right signal, and this signal is passed to central information processing unit 3 by data wire.By central information processing unit 3, determined three kinds of patterns: between brain electric control pattern, myoelectricity control model and hand control model, switch.
Simultaneously, the Distance-sensing device is collected the information of wheelchair environment of living in.Wherein six pieces of ultrasonic distance-measuring sensors 2 are collected position and the range information of wheelchair the place ahead, both sides and rear obstacle, infrared distance sensor 1 under pedal is collected the information of road surface at wheelchair direct of travel front-wheel place, in order to judge whether the place ahead has step, pit and bulk rubble.The information exchange that the Distance-sensing device is collected is crossed data wire and is passed to central information processing unit 3.
The control intention of user and Obstacle Position and the pavement behavior of surrounding are judged after receiving the signal that transmits from many bio electricities harvester and Distance-sensing device in central information processing unit 3, and make accordingly the instruction of controlling wheel chair sport.Central information processing unit 3 will pass to the built-in driver module of electric wheelchair by netting twine by this instruction, and then drive motor work, realize the motion of electric wheelchair.
Claims (1)
1. the wheelchair of the intelligent barrier avoiding based on the multi-modal control of bio electricity, is characterized in that comprising electric wheelchair, central information processing unit, Distance-sensing device and portable many bio electricities harvester;
The central information processing unit is arranged on electric wheelchair left side, and electric wheelchair and central information processing unit adopt netting twine to carry out communication; The Distance-sensing device comprises ultrasonic distance-measuring sensor, infrared distance sensor; A plurality of ultrasonic distance-measuring sensors are distributed on the left and right sides and the backrest outside of electric wheelchair, two infrared distance sensors are arranged on electric wheelchair pedal plate lower surface, on the electric wheelchair handrail, be provided with manual rocking bar, manually rocking bar, Distance-sensing device are connected by data wire with the central information processing unit; Portable many bio electricities harvester is connected by blue teeth wireless with the central information processing unit; Electric wheelchair seat board lower surface is provided with power supply, and power supply is electric wheelchair, the power supply of central information processing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202379920U CN203291128U (en) | 2013-05-06 | 2013-05-06 | Intelligent obstacle avoiding wheelchair based on bioelectrical multi-modal control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202379920U CN203291128U (en) | 2013-05-06 | 2013-05-06 | Intelligent obstacle avoiding wheelchair based on bioelectrical multi-modal control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203291128U true CN203291128U (en) | 2013-11-20 |
Family
ID=49567177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013202379920U Expired - Fee Related CN203291128U (en) | 2013-05-06 | 2013-05-06 | Intelligent obstacle avoiding wheelchair based on bioelectrical multi-modal control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203291128U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103777636A (en) * | 2014-01-24 | 2014-05-07 | 浙江大学 | Idiodynamic video trolley system based on wifi communication |
| CN104161629A (en) * | 2014-06-27 | 2014-11-26 | 西安交通大学苏州研究院 | Intelligent wheelchair |
| CN104799984A (en) * | 2015-05-14 | 2015-07-29 | 华东理工大学 | Assistance system for disabled people based on brain control mobile eye and control method for assistance system |
| CN106726200A (en) * | 2017-02-07 | 2017-05-31 | 德阳力久云智知识产权运营有限公司 | A kind of intelligent wheel chair based on the control of people's brain wave |
| CN106821628A (en) * | 2017-04-12 | 2017-06-13 | 中国医学科学院生物医学工程研究所 | A kind of controller system and its control method based on high speed SSVEP intelligent wheel chairs |
| CN107224359A (en) * | 2017-07-20 | 2017-10-03 | 李良 | The wheelchair automatically controlled |
| CN109414363A (en) * | 2016-06-24 | 2019-03-01 | 松下电器产业株式会社 | Electric wheelchair |
| CN110420097A (en) * | 2018-07-09 | 2019-11-08 | 江西斯麦高医疗器械科技有限公司 | A kind of fine motion control system of electric wheelchair |
| CN113101075A (en) * | 2021-03-09 | 2021-07-13 | 武汉理工大学 | Multifunctional intelligent wheelchair control system and control method |
-
2013
- 2013-05-06 CN CN2013202379920U patent/CN203291128U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103777636A (en) * | 2014-01-24 | 2014-05-07 | 浙江大学 | Idiodynamic video trolley system based on wifi communication |
| CN104161629A (en) * | 2014-06-27 | 2014-11-26 | 西安交通大学苏州研究院 | Intelligent wheelchair |
| CN104799984A (en) * | 2015-05-14 | 2015-07-29 | 华东理工大学 | Assistance system for disabled people based on brain control mobile eye and control method for assistance system |
| CN109414363A (en) * | 2016-06-24 | 2019-03-01 | 松下电器产业株式会社 | Electric wheelchair |
| CN109414363B (en) * | 2016-06-24 | 2020-02-18 | 松下电器产业株式会社 | Electric wheelchair |
| CN106726200A (en) * | 2017-02-07 | 2017-05-31 | 德阳力久云智知识产权运营有限公司 | A kind of intelligent wheel chair based on the control of people's brain wave |
| CN106821628A (en) * | 2017-04-12 | 2017-06-13 | 中国医学科学院生物医学工程研究所 | A kind of controller system and its control method based on high speed SSVEP intelligent wheel chairs |
| CN106821628B (en) * | 2017-04-12 | 2018-10-19 | 中国医学科学院生物医学工程研究所 | A kind of controller system and its control method based on high speed SSVEP intelligent wheel chairs |
| CN107224359A (en) * | 2017-07-20 | 2017-10-03 | 李良 | The wheelchair automatically controlled |
| CN110420097A (en) * | 2018-07-09 | 2019-11-08 | 江西斯麦高医疗器械科技有限公司 | A kind of fine motion control system of electric wheelchair |
| CN110420097B (en) * | 2018-07-09 | 2020-07-10 | 江西斯麦高医疗器械科技有限公司 | Micro-motion control system of electric wheelchair |
| CN113101075A (en) * | 2021-03-09 | 2021-07-13 | 武汉理工大学 | Multifunctional intelligent wheelchair control system and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203291128U (en) | Intelligent obstacle avoiding wheelchair based on bioelectrical multi-modal control | |
| CN202995348U (en) | An intelligent wheelchair controlling system | |
| CN102715988A (en) | Human-computer interactive intelligent wheelchair | |
| Machangpa et al. | Head gesture controlled wheelchair for quadriplegic patients | |
| CN102631280A (en) | Wearable blind-guiding device based on wireless sensor network and vibration feedback | |
| CN101190158A (en) | Intelligent wheelchair | |
| CN104095736B (en) | Lower limb rehabilitation training system based on multi-position electric wheelchair | |
| Bindhu | An enhanced safety system for auto mode E-vehicles through mind wave feedback | |
| CN106741137A (en) | A kind of personalized electric boosting steering system and control method | |
| CN107624656B (en) | Intelligent manure cleaning robot for pig house and control system | |
| CN202605225U (en) | Wearable guiding device for blind person based on wireless sensor network | |
| US10317448B2 (en) | Human sensing using electric fields, and associated systems and methods | |
| Mahmood et al. | Design of a low-cost hand gesture controlled automated wheelchair | |
| CN110308682A (en) | A kind of back massage robot control system and method | |
| CN111035543A (en) | Intelligent blind guiding robot | |
| CN106038098A (en) | Computer processor based electric wheelchair control system and electric wheelchair | |
| CN105182817A (en) | Intelligent shopping guide robot for detecting heart rate and electrocardiogram | |
| CN202844047U (en) | Blind person walking assist handy device based on multipath sensor | |
| Shaheen et al. | Intelligent wheelchair for people with disabilities | |
| CN104323891A (en) | Climbing electric wheelchair with health supervision and alarm functions | |
| Sridevi et al. | Automated Gesture Based Wireless Wheelchair Control by Means of Accelerometer | |
| CN209048037U (en) | Unmanned dirt cart | |
| CN203558160U (en) | Modular movable carrier provided with wheelbase extension mechanism | |
| KR101267012B1 (en) | Robot for guiding walking and system for guiding walking using the same | |
| Merlet | ANG, a family of multi-mode, low cost walking aid |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131120 Termination date: 20140506 |