CN205322640U - Independently trail formula intelligent wheelchair - Google Patents
Independently trail formula intelligent wheelchair Download PDFInfo
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- CN205322640U CN205322640U CN201620007496.XU CN201620007496U CN205322640U CN 205322640 U CN205322640 U CN 205322640U CN 201620007496 U CN201620007496 U CN 201620007496U CN 205322640 U CN205322640 U CN 205322640U
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Abstract
The utility model provides an independently trail formula intelligent wheelchair, relates to intelligent wheelchair technical field, and the control structure includes main control unit, motor driver module, takes hall element's brushless DC motor, drive wheel, remote control module, independently tracker, positioning system and keep away the barrier system. Motor driver module, remote control module, independently tracker, positioning system and keep away the barrier system and all link to each other with main control unit, main control unit passes through motor driver module control direct current motor's rotational speed. Independently tracker includes infrared communication module, human infrared sensor and ultrasonic sensor. Infrared communication module is the one -level and trails the module, and human infrared sensor trails the module for the second grade, and the one -level is trailed to have priority in the second grade and is trailed, and ultrasonic sensor is used for ensureing that wheelchair and human body remain certain distance throughout, independently trail formula intelligent wheelchair, have autonomic tracking, remote control, fix a position, keep away the barrier, the two -dimensional code function, sharpest edges lie in can be in a flexible way, in succession and accurately follow target person, solves the get off arrangement problem of walking hour wheel chair of old person, can realize freely switching of drive -by -wire and remote control mode, operates simplyr, traveles more in a flexible way reliably, also be convenient for asylum for the aged or hospital to handicapped personage's management, have very big practical value.
Description
Technical field
The present invention relates to the technical field of intelligent robot, be specifically related to one and there is the multifunctional intellectual wheelchairs such as autonomous tracking, avoidance, remote control。
Background technology
The individuals with disabilities caused along with aggravation and various disasters and the disease of the China aged increases year by year, and the raising of people's living standard, common electric wheelchair is due to comparatively heavy, function singleness, wayward, particularly when associate supported by the arm the handicapped personage being sitting on wheelchair take a walk time, the placement issue of wheelchair will certainly be accompanied and be made troubles, therefore increasingly cannot meet the needs of old people and disabled。
In order to improve their quality of life, them are helped to better blend into society, also allow for the management to handicapped personage of nursing house or hospital, it is multi-functional that exploitation one has remote control, location, autonomous tracking, avoidance, Quick Response Code etc., operation is simpler, and the intelligent wheel chair travelling safety and reliability is particularly important, the particularly autonomous following function of intelligent wheel chair, practical value is big, and its realization will become the huge welfare of old people and disabled。
Summary of the invention
It is an object of the invention to the deficiency overcoming above-mentioned prior art to exist, a kind of autonomous tracking mode intelligent wheel chair is provided, this intelligent wheel chair not only has the line traffic control function of common electric wheelchair, also there is autonomous tracking, remote control, location, avoidance, Quick Response Code multi-functional, operate simpler, travel more flexible reliably, have great practical value。
For realizing above-mentioned purpose, autonomous tracking mode intelligent wheel chair of the present invention, frame for movement includes car body, two universal front-wheels, two driving trailing wheels and two brshless DC motors with Hall element, car body includes wheel seat support, two side handrails and two pedals, and driving wheel and direct current generator are fixed as one。Control structure include master controller, motor drive module, with the brshless DC motor of Hall element, driving wheel, remote control module, independent tracking system, alignment system and obstacle avoidance system。Described remote control module, independent tracking system, alignment system and obstacle avoidance system are all connected with master controller, and described motor drive module is all connected with master controller and direct current generator, and master controller controls the rotating speed of described direct current generator by motor drive module。
Further, described independent tracking system includes infrared communication module, infrared sensor of the human body and ultrasonic sensor。Described infrared communication module, infrared sensor of the human body and ultrasonic sensor are connected with master controller, reasonable Arrangement is on wheelchair car body, infrared communication module is one-level tracking module, infrared sensor of the human body is two grades of tracking modules, one-level is followed the tracks of and is had precedence over two grades of tracking, and ultrasonic sensor is for guaranteeing that wheelchair and human body remain certain distance。
Further, described alignment system includes GPS locating module, and described GPS locating module connects master controller, is arranged on the inner side of wheelchair handrail。
Further, described obstacle avoidance system includes infrared sensor, and described infrared sensor is connected with master controller, is arranged on wheelchair pedal panel area。
Beneficial effect: autonomous tracking mode intelligent wheel chair of the present invention, sharpest edges are in that to follow flexibly, continuously and exactly target person, solve old people get off walking time wheelchair placement issue；Freely switching of line traffic control and remote control mode can be realized, it may be achieved automatic obstacle avoiding, it is to avoid the generation of wheelchair accident collision phenomenon；Alignment system is easy to the management to handicapped personage of nursing house or hospital；Quick Response Code function can for the contingency management under the emergency situations such as old people goes astray from the group。
Autonomous tracking mode intelligent wheel chair of the present invention, operation is simpler, uses safer, and function is more practical, can meet the needs of most old people and disabled。
Accompanying drawing explanation
Fig. 1 is the control structure schematic diagram of the autonomous tracking mode intelligent wheel chair of the present invention。
Detailed description of the invention
In order to make technical scheme and reach effect it can be readily appreciated that be further elaborated in conjunction with accompanying drawing。
Autonomous tracking mode intelligent wheel chair frame for movement includes car body, two servo-actuated front-wheels, two driving trailing wheels and two brshless DC motors with Hall element, car body includes wheel seat support, two side handrails and two pedals, servo-actuated front-wheel is Universal wheel structure, drives trailing wheel and brshless DC motor to be fixed as one。
Autonomous tracking mode intelligent wheel chair control structure as it is shown in figure 1, include master controller, motor drive module, with the brshless DC motor of Hall element, driving wheel, remote control module, independent tracking system, alignment system and obstacle avoidance system。Remote control module, independent tracking system, alignment system and obstacle avoidance system are all connected with master controller, motor drive module is all connected with master controller and direct current generator, master controller controls the rotating speed of direct current generator by motor drive module, the real-time speed feedback of motor to main controller, is formed closed loop speed control system by the Hall element on direct current generator。Independent tracking system is by two infrared communication module, two infrared sensor of the human bodies and ultrasonic sensor composition, infrared communication module, infrared sensor of the human body and ultrasonic sensor are all connected with master controller, and all rationally and be symmetrically distributed in around the handrail of the wheelchair left and right sides, ultrasonic sensor reasonable Arrangement is on wheelchair, guarantee that signal is not blocked by body part, infrared communication module is one-level tracking module, can the position of lock onto target person rapidly and accurately, and follow the step-movement of target person, infrared sensor of the human body is two grades of tracking modules, one-level is followed the tracks of and is had precedence over two grades of tracking, when master controller does not receive the positional information that infrared communication module sends, namely when one-level is followed the tracks of and was lost efficacy, two grades of tracking are opened immediately, to guarantee the seriality followed the tracks of, follow the tracks of in the process of human body at wheelchair, ultrasonic sensor is for guaranteeing that wheelchair and human body remain certain distance。Alignment system is made up of GPS locating module, GPS locating module connects master controller, it is arranged on the inner side of wheelchair handrail on one side, in the special environment such as geriatric nursing home or hospital, manager can use PC end website to realize the real-time positioning of administrative intelligent wheel chair, facilitates staff to inquire about and the specifying information such as the position monitoring user。Obstacle avoidance system is made up of two infrared sensors, and infrared sensor is connected with master controller, is symmetricly set on around two pedals of wheelchair。
Additionally, be provided with Quick Response Code module outside the handrail of autonomous tracking mode intelligent wheel chair, described Quick Response Code contains user such as name, family members' contact method relevant information, in order to the contingency management under bursty state。
Autonomous tracking mode intelligent wheel chair provided by the invention, sharpest edges are in that to follow flexibly, continuously and exactly target person, solve old people get off walking time wheelchair placement issue；Freely switching of line traffic control and remote control mode can be realized, it may be achieved automatic obstacle avoiding, it is to avoid the generation of wheelchair accident collision phenomenon；Alignment system is easy to the management to handicapped personage of nursing house or hospital；Quick Response Code function can for the contingency management under the emergency situations such as old people goes astray from the group。
Autonomous tracking mode intelligent wheel chair provided by the invention, operation is simpler, runs more steady, uses safer, and function is more practical, can meet the needs of most old people and disabled。
The set forth above basic comprising of the present invention, major function and advantage; it is to be noted that for a person skilled in the art, under the premise without departing from basic comprising of the present invention and principle of work and power; the present invention also has various deformation and improvement, and these broadly fall into protection scope of the present invention。
Claims (4)
1. autonomous tracking mode intelligent wheel chair, control structure include master controller, motor drive module, with the brshless DC motor of Hall element, driving wheel, remote control module, independent tracking system, alignment system and obstacle avoidance system, described motor drive module, remote control module, independent tracking system, alignment system and obstacle avoidance system are all connected with master controller, and master controller controls the rotating speed of described direct current generator by motor drive module。
2. autonomous tracking mode intelligent wheel chair according to claim 1, it is characterized in that: described independent tracking system includes infrared communication module, infrared sensor of the human body and ultrasonic sensor, described infrared communication module, infrared sensor of the human body and ultrasonic sensor are connected with master controller, reasonable Arrangement is on wheelchair car body, infrared communication module is one-level tracking module, infrared sensor of the human body is two grades of tracking modules, one-level is followed the tracks of and is had precedence over two grades of tracking, and ultrasonic sensor is for guaranteeing that wheelchair and human body remain certain distance。
3. autonomous tracking mode intelligent wheel chair according to claim 1, it is characterised in that: described alignment system includes GPS locating module, and described GPS locating module connects master controller, is arranged on the inner side of wheelchair handrail。
4. autonomous tracking mode intelligent wheel chair according to claim 1, it is characterised in that: described obstacle avoidance system includes infrared sensor, and described infrared sensor is connected with master controller, is arranged on wheelchair pedal panel area。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620007496.XU CN205322640U (en) | 2016-01-07 | 2016-01-07 | Independently trail formula intelligent wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620007496.XU CN205322640U (en) | 2016-01-07 | 2016-01-07 | Independently trail formula intelligent wheelchair |
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| Publication Number | Publication Date |
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| CN205322640U true CN205322640U (en) | 2016-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620007496.XU Expired - Fee Related CN205322640U (en) | 2016-01-07 | 2016-01-07 | Independently trail formula intelligent wheelchair |
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| CN (1) | CN205322640U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106680802A (en) * | 2017-03-16 | 2017-05-17 | 武汉理工大学 | Automatic wheelchair following method based on radio signal intensity and system |
| CN106923542A (en) * | 2017-03-10 | 2017-07-07 | 深圳市赛亿科技开发有限公司 | Intelligent chair |
| CN107616881A (en) * | 2017-09-11 | 2018-01-23 | 太仓史瑞克工业设计有限公司 | A kind of intelligent sharing wheelchair based on Quick Response Code |
| CN107997891A (en) * | 2016-10-28 | 2018-05-08 | 福特汽车公司 | The method and apparatus for manipulating wheelchair automatically relative to vehicle |
| CN108743086A (en) * | 2018-01-19 | 2018-11-06 | 西安电子科技大学 | Method for controlling intelligent wheelchair for tracking front entourage's target |
| CN109199718A (en) * | 2018-10-30 | 2019-01-15 | 西安星球通智能装备技术有限公司 | A kind of intelligent wheel chair and its control method with recovery function |
| CN109223345A (en) * | 2018-10-30 | 2019-01-18 | 深圳市班玛智行科技有限公司 | It is a kind of that the intelligent electric four-wheel vehicle persistently followed is realized from operation based on track |
| CN110338993A (en) * | 2019-07-12 | 2019-10-18 | 扬州大学 | A kind of method that electric wheelchair and electric wheelchair follow personnel automatically |
| CN113101075A (en) * | 2021-03-09 | 2021-07-13 | 武汉理工大学 | Multifunctional intelligent wheelchair control system and control method |
| CN114115220A (en) * | 2021-12-29 | 2022-03-01 | 桂林航天工业学院 | Wheelchair autonomous following and obstacle avoiding system based on mobile robot technology |
-
2016
- 2016-01-07 CN CN201620007496.XU patent/CN205322640U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10802501B2 (en) | 2016-10-28 | 2020-10-13 | Ford Global Technologies, Llc | Apparatus that automatically maneuvers a wheelchair relative to a vehicle |
| CN107997891A (en) * | 2016-10-28 | 2018-05-08 | 福特汽车公司 | The method and apparatus for manipulating wheelchair automatically relative to vehicle |
| CN106923542A (en) * | 2017-03-10 | 2017-07-07 | 深圳市赛亿科技开发有限公司 | Intelligent chair |
| CN106680802A (en) * | 2017-03-16 | 2017-05-17 | 武汉理工大学 | Automatic wheelchair following method based on radio signal intensity and system |
| CN106680802B (en) * | 2017-03-16 | 2019-05-24 | 武汉理工大学 | The automatic follower method of wheelchair and system based on radio signal strength |
| CN107616881A (en) * | 2017-09-11 | 2018-01-23 | 太仓史瑞克工业设计有限公司 | A kind of intelligent sharing wheelchair based on Quick Response Code |
| CN108743086A (en) * | 2018-01-19 | 2018-11-06 | 西安电子科技大学 | Method for controlling intelligent wheelchair for tracking front entourage's target |
| CN108743086B (en) * | 2018-01-19 | 2023-06-30 | 西安电子科技大学 | Intelligent wheelchair control method for tracking targets of front accompanying personnel |
| CN109223345A (en) * | 2018-10-30 | 2019-01-18 | 深圳市班玛智行科技有限公司 | It is a kind of that the intelligent electric four-wheel vehicle persistently followed is realized from operation based on track |
| CN109199718A (en) * | 2018-10-30 | 2019-01-15 | 西安星球通智能装备技术有限公司 | A kind of intelligent wheel chair and its control method with recovery function |
| CN109199718B (en) * | 2018-10-30 | 2023-10-24 | 西安星球通智能装备技术有限公司 | Intelligent wheelchair with rehabilitation function and control method thereof |
| CN110338993A (en) * | 2019-07-12 | 2019-10-18 | 扬州大学 | A kind of method that electric wheelchair and electric wheelchair follow personnel automatically |
| CN113101075A (en) * | 2021-03-09 | 2021-07-13 | 武汉理工大学 | Multifunctional intelligent wheelchair control system and control method |
| CN114115220A (en) * | 2021-12-29 | 2022-03-01 | 桂林航天工业学院 | Wheelchair autonomous following and obstacle avoiding system based on mobile robot technology |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160622 Termination date: 20210107 |
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| CF01 | Termination of patent right due to non-payment of annual fee |