CN208048905U - A kind of intelligent wheel chair - Google Patents
A kind of intelligent wheel chair Download PDFInfo
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- CN208048905U CN208048905U CN201720766229.5U CN201720766229U CN208048905U CN 208048905 U CN208048905 U CN 208048905U CN 201720766229 U CN201720766229 U CN 201720766229U CN 208048905 U CN208048905 U CN 208048905U
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Abstract
The utility model discloses intelligent wheel chairs, including：Intelligent wheel chair ontology, the forward laser light radar and postposition laser radar being arranged on intelligent wheel chair ontology, input equipment, processor, forward laser light radar is arranged in the front side of intelligent wheel chair ontology, and the rear side in intelligent wheel chair ontology is arranged in postposition laser radar, and input equipment receives order input by user；Processor is handled according to the data of the order and the acquisition of the forward laser light radar and the postposition laser radar, and controlling intelligent wheel chair according to handling result is moved to appointed place.The intelligent wheel chair of the utility model is arrived at according to user command self-navigation traveling, is simplified user's operation step, is met demand.
Description
Technical field
The utility model is related to Intelligent hardware technical fields, and in particular to a kind of intelligent wheel chair.
Background technology
There are millions of disabled persons or the crowd with dyskinesia in the whole world, they are dependent in daily life
Wheelchair, still, wherein a big chunk people can not normally operate wheelchair due to a variety of causes such as limbs disturbances.
Therefore, it is necessary to propose that a kind of intelligent wheel chair is met the needs of users.
Utility model content
The utility model provides a kind of intelligent wheel chair, to solve existing wheelchair, cannot be satisfied user demand, user's body
Test bad problem.
One side according to the present utility model provides a kind of intelligent wheel chair, including intelligent wheel chair ontology, is arranged in intelligence
Forward laser light radar in energy wheelchair body and postposition laser radar, input equipment and processor,
Forward laser light radar is arranged in the front side of intelligent wheel chair ontology, and postposition laser radar is arranged in intelligent wheel chair ontology
Rear side,
Input equipment receives order input by user；
Processor is connect with forward laser light radar, postposition laser radar, input equipment respectively, to order and it is preposition swash
Optical radar and the data of postposition laser radar acquisition are handled.
The utility model has the beneficial effects that：The intelligent wheel chair of the utility model embodiment receives order input by user,
And handled according to the data of order and the acquisition of forward laser light radar and postposition laser radar, realize intelligent wheel chair to current
The memory of environment recognizes；And automatically control intelligent wheel chair according to order and be moved to the appointed place that user wants to go to, without with
Family is operated manually, is simplified the rate-determining steps of wheelchair, is improved user experience.Furthermore by intelligent wheel chair ontology
Forward laser light radar and postposition laser radar is respectively set in front side and rear side, since two laser radars are located at wheelchair body
Front side and rear side, the two combine scanning, 360 ° of its periphery range can comprehensively be swept centered on intelligent wheel chair ontology
It retouches, ensures the integrality and accuracy of information collection, accurate guiding can be also provided for driving process, avoid collision barrier.
Description of the drawings
Fig. 1 is the side view of the intelligent wheel chair of the utility model one embodiment；
Fig. 2 is the functional block diagram of the intelligent wheel chair of the utility model one embodiment；
Fig. 3 is the map signal of the current environment of the intelligent wheel chair structure of the utility model one embodiment；
Fig. 4 is the workflow schematic diagram of the intelligent wheel chair of the utility model one embodiment；
Fig. 5 is the travel route schematic diagram of the intelligent wheel chair of the utility model one embodiment.
Specific implementation mode
The design concept of the utility model is：With the application of interactive voice technology in people's lives, such as hospital,
Application and existing wheelchair operation complexity in the environment such as workplace and family, which cannot be satisfied the wheelchairs such as limbs disturbance, to be made
The utility model people of the problem of user's demand, the application expect, interactive voice are applied in wheelchair control, and realize wheelchair
Independent navigation avoidance and traveling improve the intelligence degree of wheelchair, reduce behaviour of the users such as limbs disturbance to wheelchair
Make difficulty.
Referring to Fig. 1, the side view of intelligent wheel chair, intelligent wheel chair include in one embodiment：Intelligent wheel chair ontology 1, setting
Forward laser light radar 13 on intelligent wheel chair ontology 1 and postposition laser radar 12, input equipment 10 and processor 11,
Forward laser light radar 13 is arranged (such as to be arranged on front side of intelligent wheel chair ontology in the front side of intelligent wheel chair ontology 1
The lower position of foot pedal), postposition laser radar 12 is arranged the rear side in intelligent wheel chair ontology 1 and (such as is arranged in intelligent wheel chair
At the chair back of ontology), by the way that forward laser light radar and postposition laser thunder is respectively set in the front side of intelligent wheel chair ontology and rear side
It reaching, two laser radars combine scanning, can comprehensively be scanned to 360 ° of its periphery range centered on intelligent wheel chair ontology,
During building map, the integrality and accuracy of cartographic information ensure that, be subsequently moved to finger in control intelligent wheel chair
During determining place, accurate guiding can be also provided for driving process, avoid bumping against barrier.
In one embodiment, the foot pedal lower position in intelligent wheel chair is arranged in forward laser light radar 13.Postposition laser thunder
It is arranged on the chair back of intelligent wheel chair up to 12, and positioned at close to the side of wheel.In such manner, it is possible to scan indoor most barrier
Hinder object, avoiding obstacles in facilitating follow-up intelligent wheel chair to travel.
Input equipment 10 receives order input by user；
Processor 11 is connect with forward laser light radar 13, postposition laser radar 12, input equipment 10 respectively, to order with
And forward laser light radar 13 and the data of the postposition laser radar 12 acquisition are handled.Specifically, processor 11 can obtain
Fetching shows the structure order of the map of structure current environment, according to structure order and intelligent wheel chair in current environment moving process
In, the letter of target point in the current environment returned after the forward laser light radar and postposition laser radar scanning current environment that receive
Breath, builds the map of current environment and preservation；And processor 11, obtain the traveling that instruction reaches appointed place in current environment
Order, the map for the current environment ordered and preserved according to traveling, control intelligent wheel chair are moved to appointed place.
In addition, encoder 15 and driving motor 14 are installed on the wheel of intelligent wheel chair ontology 1, encoder 15, in intelligence
When wheelchair moves, records the number of turns of vehicle wheel rotation and feed back to processor 11；Processor 11, according to the number of turns and the wheel of preservation
Circumference calculating go out intelligent wheel chair movement distance；Driving motor 14 is operated according to the instruction of the processor 11 received,
Drive vehicle wheel rotation.
As shown in Figure 1 it is found that the intelligent wheel chair of the present embodiment, the map of current environment is built according to instruction input by user
Structure order in current environment moving process, receive laser radar acquisition 360 degree of intelligent wheel chair periphery within the scope of letter
The map of breath structure current environment realizes that intelligent wheel chair recognizes the memory of current environment；Then when receiving input by user arrive
Up to appointed place order when, according to reach appointed place order and structure current environment map independently drive to it is specified
Place does not need user and manually controls traveling, reduces operation difficulty, more intelligent, improves user experience.
It referring to Fig. 2, functionally divides, the aforementioned hardware of intelligent wheel chair can be divided into three kinds, that is, input terminal, processing end
And output end.
Input terminal, including microphone, microphone receive voice command, are then output to sound identification module, speech recognition
Voice command is converted to the processor that Text Command is sent to processing end by module.
Input terminal further includes laser radar scanning, forward laser light radar and postposition laser radar scanning current environment, will sweep
The information retouched is sent to the processor of processing end.
Laser radar is by objective emission detectable signal (that is, laser beam), then reflecting the slave target received
Signal (that is, target echo) back is compared with transmitting signal, after making proper treatment, so that it may obtain the related letter of target
Breath, such as target range, orientation, height, speed, posture, shape parameter, to object (such as desk, the wall in current environment
Wall etc.) it is detected and is identified.
The information that the processor of processing end is sent according to laser radar, and internal SLAM (Simultaneous
Localization And Mapping, instant positioning and map structuring) algorithm, it can accurately be calculated by certain operation
Go out absolute position or the relative position of current environment, positioning is synchronous with the structure map of current environment to be carried out.Also, processor
Corresponding control instruction is generated after being handled according to the Text Command received is sent to output end.
Output end, including driving motor and encoder, encoder and driving motor are mounted on intelligent wheel chair ontology.Specifically
, the quantity of encoder is two, and two encoders are separately mounted at two wheels of intelligent wheel chair.Driving motor is also two
It is a, it is separately mounted at two wheels of intelligent wheel chair.Driving motor drives wheelchair movement according to the control instruction of processor.It compiles
The number of turns of vehicle wheel rotation, is sent to processor, in this way, processor energy by lap information in code device acquisition intelligent wheel chair moving process
The distance that intelligent wheel chair currently moves enough is calculated, and judges whether that controling wheelchair stops movement for follow-up.
The intelligent wheel chair of the present embodiment in addition to can self-navigation traveling reach appointed place other than, more intelligentized body
Be now can avoidance, i.e. avoiding obstacles in the process of moving, ensure that the safety in intelligent wheel chair driving process.
Specifically, processor 11 also receives forward laser light thunder during control intelligent wheel chair is moved to appointed place
The information of target point in the current environment returned after up to 13 and 12 real time scan of postposition laser radar, according to the information meter of target point
Calculate intelligent wheel chair corresponding forbidden area on the map of current environment, and control intelligent wheel chair along the region other than forbidden area to
It moves appointed place.
In this way, improving the safety of the intelligent wheel chair traveling of the present embodiment, the manual control of user is not necessarily in driving process
System, meets user demand.It should be noted that in the present embodiment, the map of the current environment of structure is with current environment etc.
The virtual map of proportional zoom.Forward laser light radar is mainly used for scanning the information of the object in intelligent wheel chair front area, after
Laser radar is set to be mainly used for scanning the information of object in intelligent wheel chair posterior region.Two laser radars are located at wheelchair sheet
The front side of body and rear side, the two combine scanning, centered on intelligent wheel chair ontology, are swept comprehensively to 360 ° of its periphery range
It retouches, ensures the integrality and accuracy and to provide accurate guiding in wheelchair driving process of cartographic information, avoid bumping against barrier.
In embodiment, referring to Fig. 1, input equipment 10 is microphone, and the headrest in intelligent wheel chair ontology 1 is arranged in microphone
Place, for receiving voice command input by user, processor 11 is sent to by voice command.Setting just acquires use in headrest prescription
The voice at family improves the accuracy of voice collecting, it is to be understood that, the installation position of microphone is without being limited thereto.
The voice command received is sent to sound identification module and is identified by processor 11, obtains corresponding voice life
The Text Command information of order, processor 11, after obtaining Text Command information, by Text Command information and preset order rule
Each order rule in library is matched, and when Text Command information meets an order rule, determines Text Command information pair
The order answered is effective.
Here, sound identification module is arranged on server beyond the clouds or is arranged on intelligent wheel chair.
In one embodiment, sound identification module is provided on intelligent wheel chair, for example, pre- in the memory of intelligent wheel chair
A plurality of voice command is first stored, carrying out speech recognition after receiving the voice command of microphone acquisition determines whether controling wheelchair
Order, and when the voice command judged is the order of a controling wheelchair, then specifically to the command context of the order
Judged.
Preferably, it is contemplated that in practical application, each user speak custom and mode difference it is larger, the voice of user life
Irregular situation is enabled, sound identification module setting is beyond the clouds on server.There are more resources on cloud server, saves
A large amount of voice commands, faster, recognition result is more accurate for processing and calculating speed.It is sent after intelligent wheel chair receives voice command
Sound identification module on to cloud server is identified.In this case, the intelligent wheel chair of the present embodiment supports networking work(
Can, for example, being provided with communication module in processor, voice command is sent to cloud server by processor by the communication module
Carry out online speech recognition.
Here, order rule base is stored in the memory being arranged on intelligent wheel chair, each order in order rule base
Rule includes following information：Wake up word information, order word information and/or object information.
Referring to table 1, be the present embodiment order rule base in order rule list,
Table 1
It is " your good wheelchair " that word is waken up in table 1, and it is that a fixed phrase is kept away for activating speech recognition mechanism to wake up word
Exempt from erroneous judgement when daily and intelligent wheel chair talk.
Order word includes：" establishing map ", " understanding is here " " remembeing here " etc., object information, that is, location information, including：
" bedroom ", " kitchen ", " dining room " etc..Meeting comprising the primitive rule for waking up word information, order word information and/or object information
Under the premise of, the order rule in order rule base can be freely combined according to demand, and the application is not restricted this.
It should be noted that the wake-up word and order word information etc. in table 1 are only schematic example, it can basis in practice
Application demand is configured, in addition, the remark information in table 1 is the explanation to order rule, can be omitted in practical application.
In order to be further simplified the operation of user, the requirement to the user of intelligent wheel chair is reduced, in the present embodiment, work as identification
After going out voice input by user, according to it is input by user instruction current environment in each region location name voice command,
Voice command is sent to processor, processor obtains the ground that intelligent wheel chair corresponds to current environment when receiving voice command
Current position coordinates on figure preserve after establishing the one-to-one relationship of current position coordinates and location name；Processor, when obtaining
When getting the traveling order of appointed place in instruction arrival current environment, the location name of appointed place is believed in being ordered according to traveling
Breath determines location name corresponding coordinate on the map of current environment, and according to corresponding coordinate, control intelligent wheel chair moves
It moves to appointed place.
Table 2
Table 2 is that the location name of the present embodiment and the coordinate pair of corresponding points answer table, and referring to table 2, each location name is right
It should be there are one two-dimensional coordinate, that is, corresponding point coordinates.For example, in table 2 parlor correspondence point coordinates P1=(X1, Y1).Pair in bedroom
Answer point coordinates P2=(X2, Y2)。
It should be noted that when using self-navigation and the driving functions of the intelligent wheel chair of the present embodiment for the first time, need
At the learning process of intelligent wheel chair, i.e., control intelligent wheel chair first travels in current environment, and is driving to a specified ground
When point, input phonetic order tells intelligent wheel chair current location corresponding location name, and such intelligent wheel chair can be by structure
A specified coordinate in the map of current environment, location name input by user establish one-to-one relationship, subsequently work as user
When saying the arrival location name, intelligent wheel chair generates row by searching for correspondence according to the current position of intelligent wheel chair
It sails route self-navigation and drives to the appointed place.So there is no need to the position seats that user remembers each place in current environment
Mark, if user wants to reach some place in current environment, it is only necessary to a voice command is said, to reduce
Requirement to user.
In conjunction with the map of the information architecture of target point in Fig. 3, Fig. 3 current environment that be processor feed back according to laser radar
Illustrate, it is nothing that the region (that is, region shown in reference numeral 23) that gridline is drawn in Fig. 3, which is obstructing objects, other regions such as metope,
The region of barrier is the region of intelligent wheel chair wheeled.Fig. 3 further illustrates intelligent wheel chair 22 in the corresponding map of current environment
In position signal.It is further to note that illustrate some isolated target points 20 in Fig. 3, these target points 20 be
During being scanned to the interior space using laser radar, in space object scanning it is incomplete or scanning less than etc. reasons
It is caused.
Here by taking voice command input by user is the order for the map for building current environment as an example, to the work of intelligent wheel chair
It is illustrated as process.Referring to Fig. 4, flow starts, and executes step S401,
Step S401 receives the voice command of user；
That is, receiving the voice command of the map of structure current environment input by user by microphone.
Step S402 uploads to cloud server and carries out speech recognition；
Intelligent wheel chair uploads to the voice command of acquisition on cloud server, by the speech recognition mould on cloud server
Block carries out speech recognition.
Step S403 receives the Text Command that cloud server returns；
After the processor of intelligent wheel chair receives cloud server progress speech recognition, the Text Command of return, specifically,
Voice command is identified in cloud server, and the voice command that will identify that is converted to textual form, that is, is converted to text life
Order is issued to intelligent wheel chair.Here it is that the processor of intelligent wheel chair is facilitated to carry out order voice command to be converted to textual form
Signal coding and subsequent processing.
Step S404 judges whether to meet order rule；It is to then follow the steps S405, it is no to then follow the steps S406.
The processor of intelligent wheel chair judges whether the Text Command received meets preset order rule, is in the present embodiment
To judge whether to meet preset " your good wheelchair, establish map " order rule, when the Text Command received meets order rule
When then, determine that order is effective order, and execute step S405, when the Text Command received does not meet preset order rule
When, determine that order is invalid command and executes step S406.
Here by judging voice command, it is determined whether be effective order, phase is just executed when for effective order
The operation answered improves the satisfaction of user so as to avoid false triggering.
Step S405 executes corresponding order.
Here, that is, it is the real time information sent respectively according to forward laser light radar and postposition laser radar, is calculated using SLAM
Method builds the map of current environment.SLAM refers to information of the moving object according to sensor, calculates self-position on one side, on one side
The process of constructing environment map.The intelligent wheel chair of the present embodiment since current environment one to move unknown position, moving
Self poisoning is carried out according to location estimation and map during dynamic, while building increment type map on the basis of self poisoning.
Step S406, ignores.
Since the voice command of user does not meet preset order rule, so as to ignore the voice command, mistake is avoided
The inconvenience that operation is brought to user is accidentally executed, man-machine interaction experience is improved.
After according to the map for constructing current environment shown in Fig. 4, when intelligent wheel chair receives input by user reach currently
In environment when the order of appointed place, the map for the current environment ordered and preserved according to traveling, control intelligent wheel chair movement
To appointed place and it can realize the automatic obstacle-avoiding in driving process.
Fig. 5 is the travel route schematic diagram of the intelligent wheel chair of the utility model one embodiment, referring to Fig. 5, it can be seen that intelligence
Automatic obstacle avoidance functions in energy wheelchair traveling.Specifically, when processor according to it is input by user order and structure work as front ring
The map in border after generating the travel route for reaching appointed place, that is, controls intelligent wheel chair 22 and moves, and in control intelligent wheel chair
During 22 movements, each target point 201 that processor scans respectively according to forward laser light radar and postposition laser radar,
It is the center of circle with target point 201, is that radius draws circle 21 with pre-determined distance (such as 0.5 millimeter), all circles 21, which connect, to be constituted
Forbidden area, processor control intelligent wheel chair 22 are moved according to driving line to appointed place along the region other than forbidden area.
Based on the structure of aforementioned intelligent wheelchair, the utility model one embodiment provides a kind of control of intelligent wheel chair
Method, including：
Receive order input by user；
The structure order for obtaining the map of instruction structure current environment is working as front ring according to structure order and intelligent wheel chair
In the moving process of border, in the current environment returned after the forward laser light radar and postposition laser radar scanning current environment that receive
The information of target point builds the map of current environment and preservation；
The traveling order that instruction reaches appointed place in current environment is obtained, is ordered according to traveling and what is preserved works as front ring
The map in border, control intelligent wheel chair are moved to appointed place.
Here the map of the current environment built is the virtual map scaled with current environment equal proportion, ensure that intelligent wheel
The accuracy of chair independent navigation and traveling facilitates intelligent wheel chair to reach the place that user wants to go in current environment with user.
In one embodiment, this method further includes：During control intelligent wheel chair is moved to appointed place, also receive
The information of target point in the current environment returned after forward laser light radar and postposition laser radar real time scan, according to target point
Information computational intelligence wheelchair corresponding forbidden area on the map of current environment, and other than controlling intelligent wheel chair along forbidden area
It is moved to appointed place in region；
In one embodiment, receiving order input by user includes：Using being arranged at the headrest of intelligent wheel chair ontology
Microphone receives the voice command of input；The voice command received is sent to sound identification module to be identified, is obtained pair
The Text Command information of voice command is answered,
After obtaining Text Command information, by each order in Text Command information and preset order rule base it is regular into
Row matching determines that the corresponding order of Text Command information is effective when Text Command information meets an order rule.Wherein,
Sound identification module is arranged on server beyond the clouds or is arranged on intelligent wheel chair；Each order rule packet in order rule base
Containing following information：Wake up word information, order word information and/or object information；
In one embodiment, this method further includes：Receive the position in each region in instruction current environment input by user
The voice command of title corresponds to the present bit on the map of current environment according to the intelligent wheel chair obtained when receiving voice command
Coordinate is set, is preserved after establishing the one-to-one relationship of current position coordinates and location name.
And when getting the traveling order of appointed place in instruction arrival current environment, according to traveling order middle finger
The location name information for determining place determines location name corresponding coordinate on the map of current environment, and according to corresponding
Coordinate, control intelligent wheel chair are moved to appointed place.
In summary, the intelligent wheel chair of the present embodiment is presently in the map of environment according to order structure input by user,
And according to the traveling order of appointed place in arrival current environment input by user, control reaches user in current environment and wants to go to
Appointed place, operated manually without user, simplify the control operating procedure of wheelchair, improve user experience,
Meet user demand.By using the intelligent wheel chair of the present embodiment, the working efficiency of nursing staff is improved, at the same time,
It can also improve by the quality of life of nursing staff, facilitate large-scale promotion.
Above description is only a specific implementation of the present invention, under the above-mentioned introduction of the utility model, this field
Technical staff can carry out other improvement or deformation on the basis of the above embodiments.It will be understood by those skilled in the art that
Above-mentioned specific descriptions only preferably explain the purpose of this utility model, and the scope of protection of the utility model is with claim
Subject to protection domain.
Claims (9)
1. a kind of intelligent wheel chair, which is characterized in that including：Intelligent wheel chair ontology, before being arranged on the intelligent wheel chair ontology
Laser radar and postposition laser radar, input equipment and processor are set,
The forward laser light radar is arranged in the front side of the intelligent wheel chair ontology, and the postposition laser radar is arranged in the intelligence
The rear side of energy wheelchair body,
The input equipment receives order input by user；
The processor is connect with the forward laser light radar, postposition laser radar, input equipment respectively, to it is described order with
And the forward laser light radar and the data of postposition laser radar acquisition are handled；
The input equipment is microphone,
Microphone is arranged at the headrest of intelligent wheel chair ontology, receives voice command input by user.
2. intelligent wheel chair according to claim 1, which is characterized in that be equipped with volume on the wheel of the intelligent wheel chair ontology
Code device,
The encoder records the number of turns of the vehicle wheel rotation and feeds back to the processor when intelligent wheel chair moves；
The processor is connected with the encoder, handles the lap information of the vehicle wheel rotation.
3. intelligent wheel chair according to claim 2, which is characterized in that be equipped with drive on the wheel of the intelligent wheel chair ontology
Dynamic motor,
The driving motor is connected with processor, receives the instruction of the processor, is rotated according to instruction, drives the intelligence
The vehicle wheel rotation of energy wheelchair.
4. intelligent wheel chair according to claim 1, which is characterized in that the forward laser light radar setting is in the intelligence wheel
The foot pedal lower position of chair.
5. intelligent wheel chair according to claim 1, which is characterized in that the postposition laser radar setting is in the intelligence wheel
On the chair back of chair, and positioned at close to the side of wheel.
6. intelligent wheel chair according to claim 2, which is characterized in that the quantity of the encoder is two, described in two
Encoder is separately mounted at two wheels of intelligent wheel chair.
7. intelligent wheel chair according to claim 2, which is characterized in that further include：Sound identification module, the speech recognition
Module is connected with processor, and voice command is identified.
8. intelligent wheel chair according to claim 2, which is characterized in that further include：Communication module, the communication module and place
It manages device to be connected, the communication module is communicated with cloud server, and sound identification module is provided on the cloud server.
9. intelligent wheel chair according to claim 1, which is characterized in that the processor includes memory, and memory is protected
Order rule base is deposited, each order rule in order rule base includes following information：Wake up word information, order word information and/or
Object information.
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|---|---|---|---|
| CN201720766229.5U CN208048905U (en) | 2017-06-28 | 2017-06-28 | A kind of intelligent wheel chair |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109765885A (en) * | 2018-11-21 | 2019-05-17 | 深圳市迈康信医用机器人有限公司 | The method and its system of Wheelchair indoor automatic Pilot |
| CN109966064A (en) * | 2019-04-04 | 2019-07-05 | 北京理工大学 | The wheelchair and control method of fusion brain control and automatic Pilot with investigation device |
-
2017
- 2017-06-28 CN CN201720766229.5U patent/CN208048905U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109765885A (en) * | 2018-11-21 | 2019-05-17 | 深圳市迈康信医用机器人有限公司 | The method and its system of Wheelchair indoor automatic Pilot |
| CN109966064A (en) * | 2019-04-04 | 2019-07-05 | 北京理工大学 | The wheelchair and control method of fusion brain control and automatic Pilot with investigation device |
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