CN205339349U - A autonomic tracker for intelligent wheelchair - Google Patents
A autonomic tracker for intelligent wheelchair Download PDFInfo
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- CN205339349U CN205339349U CN201520947137.8U CN201520947137U CN205339349U CN 205339349 U CN205339349 U CN 205339349U CN 201520947137 U CN201520947137 U CN 201520947137U CN 205339349 U CN205339349 U CN 205339349U
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Abstract
The utility model provides an autonomic tracker for intelligent wheelchair, relates to intelligent wheelchair's technical field, its characterized in that: it constitutes to trail module, second grade tracking module, ultrasonic sensor, main control unit, motor driver module, direct current motor and wheelchair by the one -level. One -level tracking module, second grade tracking module, ultrasonic sensor are connected with main control unit, and the position sigual of the tracking target that one -level (or second grade) tracking module and ultrasonic sensor will gather sends main control unit to, and main control unit accomplishes data processing and provides exact control signal driving motor the rotation for motor driver module to drive the motion of whole wheelchair. The module is trailed to the one -level can accurate locking tracking target, and the one -level was trailed when becoming invalid the second grade and is trailed and opened automatically. Ultrasonic sensor is used for surveing the distance between wheelchair and the human body, ensures to keep the certain distance between the two independently trailing the in -process. This system combines closely the infrared communication of the one -level technique of following the tracks of, super acoustic wave sensing technique, the human thermal infrared tracking technique of second grade, can not only accurate discovery tracking target, prevent can also improve the stability and the continuity of tracking with the emergence of wrong people's phenomenon the emergence of the problem of stagnation because communication signal acceptance is invalid that prevents the wheelchair. Entire system simple and practical consumes with low costsly, easily promotes.
Description
Technical field
This utility model relates to the technical field of intelligent wheel chair, relates in particular to a kind of independent tracking system for intelligent wheel chair.
Background technology
Wheelchair is as the basic walking-replacing tool of elderly and the disabled colony, for helping them to improve the quality of living, better blend into society to have played important effect.Due to manual wheelchair operation inconvenience, there is the trend replaced by electric wheelchair.Electric wheelchair is with driving device, and user only need to control stick, can realize the advance of wheelchair, retrogressing and left and right and turn.
But electric wheelchair there is also many defects, for instance, if user handles wrong action bars due to various problems, then electric wheelchair is likely to collide, and user will be caused certain injury by this；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.
So in order to provide more convenience to the life of handicapped personage, exploitation one uses novel intelligent wheelchair more safe and stable, convenient particularly important, complete autonomous following function is as the important symbol of intelligent wheel chair, its realization will greatly improve the use value of intelligent wheel chair, bringing more facility to old people etc., being brought into schedule so developing a kind of independent tracking system stable and reliable for performance for intelligent wheel chair.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, a kind of independent tracking system based on infrared communication, infrared and ultrasonic sensor for intelligent wheel chair is provided, this system can make wheelchair independently, stably and accurately follow the tracks of wheelchair user, and keep certain distance with user, simple to operate, easy to use.
This utility model provides a kind of independent tracking system for intelligent wheel chair, including one-level tracking module, two grades of tracking modules, ultrasonic sensor modules, master controller, motor drive module, direct current generator and wheelchair.Described one-level tracking module, two grades of tracking modules, ultrasonic sensor modules are connected with main control module by wire, one-level (or two grades) tracking module and ultrasonic sensor send the position signalling collected to master controller, master controller completes data and processes and provide correct control signal drive motor to rotate to motor drive module, thus driving the motion of whole wheelchair.
Described one-level tracking module is mainly made up of two infrared communication module and remote controller, and remote controller is the control switch of infrared communication, wheelchair user hold.Infrared communication module is responsible for gathering the positional information of tracked human body and sending master controller to, is respectively symmetrically the left and right sides being placed in wheelchair, and one-level is followed the tracks of can accurate locking tracking target, it is prevented that mistake is with the appearance of phenomenon.
Two grades of described tracking modules are made up of two Studies of Human Body Heat infrared sensors, and symmetrical placement is in the left and right sides of wheelchair, and Studies of Human Body Heat infrared sensor can detect that within the scope of certain angle, the existence of human body, detection angles and scope are adjustable, determine according to practical situation.When one-level follows the tracks of inefficacy (remote controller deviation wheelchair center exceedes certain angle, and two infrared communication module all do not receive the signal that remote controller is launched), two grades of tracking can automatically turn on.
Described ultrasonic sensor, for independently following the tracks of in the process of human body continuously at intelligent wheel chair, measures the distance between wheelchair and human body, it is ensured that keeping certain distance between the two, it is arranged on the position, middle of wheelchair.
Described wheelchair comprises two universal front-wheels and two driving trailing wheels, adopts the move mode of two-wheel differential.
Beneficial effect:
This utility model provides a kind of independent tracking system for intelligent wheel chair, one-level infrared communication tracking technique, Supersonic, two grades of Studies of Human Body Heat infrared tracking technology are combined closely, can not only accurately find to follow the tracks of target, prevent the generation with wrong people's phenomenon, stability and the seriality of tracking can also be improved, it is prevented that wheelchair generation of phenomenon of stagnating owing to signal of communication acceptance is invalid.Whole system is simple and practical, at the bottom of Expenses Cost, it is easy to promote.
Accompanying drawing explanation
Fig. 1 is this utility model system principle block diagram.
Fig. 2 is that intelligent wheel chair independently follows the tracks of overall process flow chart.
Detailed description of the invention
In order to make the technical solution of the utility model and reach effect it can be readily appreciated that be further elaborated in conjunction with accompanying drawing.
As it is shown in figure 1, a kind of independent tracking system for intelligent wheel chair, including one-level tracking module, two grades of tracking modules, ultrasonic sensor modules, master controller, motor drive module (left and right), direct current generator (left and right) and wheelchair.One-level tracking module, two grades of tracking modules, ultrasonic sensor modules are connected with master controller by wire, master controller and two, left and right motor drive module are respectively connected with, simultaneously, two motor drive modules are separate, motor drive module left (or right) left with direct current generator (or right) is connected, motor drive module receives the control signal driving direct current generator rotation that master controller sends, thus driving the motion of whole wheelchair.
One-level tracking module is mainly made up of two infrared communication module and remote controller, two infrared communication module are respectively symmetrically the left and right sides being placed in wheelchair, it is responsible for gathering the positional information of tracked human body and sending master controller to, remote controller is the control switch of infrared communication, wheelchair user hold.One-level is followed the tracks of can accurate locking tracking target, it is prevented that mistake is with the appearance of phenomenon.Ultrasonic sensor is mainly used to independently follow the tracks of in the process of human body continuously at intelligent wheel chair, measures the distance between wheelchair and human body, it is ensured that keeping certain distance between the two, it is arranged on the position, middle of wheelchair.
Two grades of tracking modules are made up of two Studies of Human Body Heat infrared sensors, symmetrical placement is in the left and right sides of wheelchair, Studies of Human Body Heat infrared sensor can detect the existence of human body within the scope of certain angle, detection angles and scope are adjustable, determine according to practical situation, in this specific embodiments, the detection angles of Studies of Human Body Heat infrared sensor is positioned 100 °.When one-level is followed the tracks of and lost efficacy, two grades of tracking can automatically turn on.
Wheelchair comprises two universal front-wheels and two driving trailing wheels, adopts the move mode of two-wheel differential.
Wheelchair independently follows the tracks of overall process as shown in Figure 2, after user presses the releasing the button of remote controller infrared communication, wheelchair enters one-level tracing mode, two, left and right infrared communication module can receive the signal of communication of remote controller transmitting simultaneously and send a signal to master controller, master controller sends relevant control instruction to respectively according to this information two motor drive modules, drive two electric machine rotations, thus controlling turning to and moving direction of wheelchair, ultrasonic sensor can measure the distance of wheelchair and human body in real time, it is ensured that wheelchair keeps certain distance with human body；When remote controller deviation wheelchair center exceedes certain angle, can cause that two infrared communication module all do not receive the signal that remote controller is launched, namely one-level tracing mode lost efficacy, now, master controller can judge, two grades of tracing modes automatically turn on, Studies of Human Body Heat infrared sensor can detect scope residing for human body, after finding target, first turning to, make wheelchair just to target, ultrasonic sensor can measure the distance of wheelchair and human body in real time, guarantee that wheelchair keeps certain distance with human body, thus realizing autonomous tracking.
The independent tracking system that this utility model provides, merge multiple sensors technology, can not only accurately find to follow the tracks of target, it is prevented that with the generation of wrong people's phenomenon, stability and the seriality of tracking can also be improved, it is prevented that wheelchair generation of problem of stagnating owing to signal of communication reception is invalid.Whole system is simple to operate, has bigger practical and popularizing value.
Set forth above ultimate principle of the present utility model and advantage; should be understood that; technical staff for the industry; under the premise without departing from this utility model know-why; this utility model also has multiple changes and improvements, and these changes and improvements also should fall in protection domain of the present utility model.
Claims (5)
1. for the independent tracking system of intelligent wheel chair, including one-level tracking module, two grades of tracking modules, ultrasonic sensor modules, master controller, motor drive module, direct current generator and wheelchair；Described one-level tracking module, two grades of tracking modules, ultrasonic sensor modules are connected with main control module by wire, one-level or two grades of tracking modules and ultrasonic sensor send the position signalling collected to master controller, master controller completes data and processes and provide correct control signal to carry out drive motor rotation to motor drive module, thus driving the motion of whole wheelchair.
2. according to claim1Described a kind of independent tracking system for intelligent wheel chair, it is characterised in that: described one-level tracking module is made up of remote controller and two infrared communication module, and remote controller is the control switch of infrared communication, wheelchair user hold；Infrared communication module is responsible for gathering the positional information of tracked human body and sending master controller to, and they symmetrical placement are in the left and right sides of wheelchair, and one-level is followed the tracks of can accurate locking tracking target, it is prevented that mistake is with the appearance of phenomenon.
3. according to claim1Described a kind of independent tracking system for intelligent wheel chair, it is characterized in that: described two grades of tracking modules are made up of two Studies of Human Body Heat infrared sensors, symmetrical placement is in the left and right sides of wheelchair, Studies of Human Body Heat infrared sensor can detect the existence of human body within the scope of certain angle, detection angles and scope are adjustable, determine according to practical situation；When one-level is followed the tracks of and lost efficacy, two grades of tracking can automatically turn on.
4. according to claim1Described a kind of independent tracking system for intelligent wheel chair, it is characterized in that: described ultrasonic sensor is for independently following the tracks of in the process of human body continuously at intelligent wheel chair, measure the distance between wheelchair and human body, it is ensured that keeping certain distance between the two, it is arranged on the position, middle of wheelchair.
5. according to claim1Described a kind of independent tracking system for intelligent wheel chair, it is characterised in that: described wheelchair comprises two universal front-wheels and two driving trailing wheels, adopts the move mode of two-wheel differential.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520947137.8U CN205339349U (en) | 2015-11-25 | 2015-11-25 | A autonomic tracker for intelligent wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520947137.8U CN205339349U (en) | 2015-11-25 | 2015-11-25 | A autonomic tracker for intelligent wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205339349U true CN205339349U (en) | 2016-06-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520947137.8U Expired - Fee Related CN205339349U (en) | 2015-11-25 | 2015-11-25 | A autonomic tracker for intelligent wheelchair |
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| Country | Link |
|---|---|
| CN (1) | CN205339349U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
-
2015
- 2015-11-25 CN CN201520947137.8U patent/CN205339349U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160629 Termination date: 20201125 |