CN208693642U - A kind of multifunctional intellectual wheelchair - Google Patents
A kind of multifunctional intellectual wheelchair Download PDFInfo
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- CN208693642U CN208693642U CN201820264548.0U CN201820264548U CN208693642U CN 208693642 U CN208693642 U CN 208693642U CN 201820264548 U CN201820264548 U CN 201820264548U CN 208693642 U CN208693642 U CN 208693642U
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Abstract
Disclose a kind of multifunctional intellectual wheelchair, the multifunctional intellectual wheelchair includes backrest, handrail, cushion, backplate, man-machine interaction device, dial foot, leg guard pads, foot pedal, front-wheel, rear-wheel, battery and industry control box body, driving motor, pushing hands, it further include the sensory perceptual system for the feedback of detection and information to ambient enviroment and target, flesh machine interface and muscle signal current measuring instrument, wireless control system, intelligent wheel chair as field of medical service, muscle signal control wheelchair is a kind of novel intelligent wheelchair based on flesh machine interfacing, pass through the synergistic effect of all parts, with hiding obstacle, the functions such as independent navigation, it is user-friendly for operation and intelligent, and it high-precision can control, smoothly operation, simultaneously, the wheelchair also has high-end autonomous manual operation mode, it also can be light for the patient with autonomous operation ability Pine operation has many advantages, such as more economical property, higher utilization rate and high-end intelligence.
Description
Technical field
The utility model relates to medical instruments fields, more particularly, are related to a kind of multifunctional wheelchair.
Background technique
Currently, world's aging populations are aggravating, Empty nest elderly is increasing, while because of disability caused by many factors
Personage just in cumulative year after year, the physical therapy of so huge handicapped and elderly and rehabilitation problem oneself become one of society it is great
Hot spot.With the development of science and technology, these disadvantaged group thirst for walking out door, society is reintegrated, the appearance of intelligent wheel chair improves
Their freedom of movement, for they provide good trip.Intelligent wheel chair is by robot technology and electric wheelchair technology
Combine, there is better capacity of will, interaction capabilities and adaptability, substantially increases its intelligence.Intelligent wheel chair makes
Be usually the elderly and physical disabilities with crowd, primarily as this special population walking-replacing tool and design, it is good
Walking ability should be the basis of its intelligence, and wheelchair can inevitably encounter some barriers during autonomous, quickly pacify
Full avoidance is a kind of basic capacity of intelligent wheel chair indispensability.And the elderly and physical disabilities are in ability to act, reaction speed and think of
In terms of examining ability, generally user can be not only resulted in if relying solely on the real-time manual operation of user lower than normal person
Fatigue, and by user's ability to act, reaction speed and control experience influenced, manipulation effect may be made poor, sternly
The generation of safety accident is even caused when weight.
However, many elderly and the disabled cannot control common wheelchair well, they are unable to normal use wheelchair
Control interface is unable to safe driving wheelchair, some cannot even be used in wheelchair, such as amyotrophic lateral sclerosis, brain
The Diseases such as wind, multiple sclerosis.Therefore, for this status, there is an urgent need to develop a kind of novel multifunctional intellectuals
Wheelchair, to meet the needs of actual use.
Utility model content
Therefore, in view of the shortcomings of the prior art, providing the example of the utility model to substantially solve due to phase
One or more problems caused by the limitation and disadvantage in pass field, safety and reliability increase substantially, effective to rise
To the effect of protection equipment.
According to technical solution provided by the utility model, multifunctional intellectual wheelchair includes backrest, handrail, cushion, backplate, people
Machine interacts device, dials foot, leg guard pads, foot pedal, front-wheel, rear-wheel, battery, driving motor, pushing hands, industrial personal computer.
Further, driving motor is DC brushless motor, is installed in the tail portion of DC brushless motor for acquiring motor
The grating encoder of position and speed information, DC brushless motor are controlled by direct current generator drive control plate, direct current generator driving
Control panel includes power management module, light-coupled isolation module and H bridge motor-drive circuit, and direct current generator drive control plate passes through string
Mouth or CAN bus and industrial personal computer are communicated, high speed pwm pulse signal and motor drive direction control signal warp from industrial personal computer
It crosses light-coupled isolation module and is connected to H bridge motor-drive circuit, different directions motor driven voltage is generated, to control brush DC
The revolving speed of motor and steering.
Further, multifunctional intellectual wheelchair further includes the feedback for detection and information to ambient enviroment and target
Sensory perceptual system, sensory perceptual system include visual sensor, ultrasonic sensor, infrared distance sensor, photoelectric encoder, and vision passes
Sensor is made of 2 road CMOS vision cameras being separately mounted on the handrail of left and right, since the angle perpendicular to wheel hub every
30 ° are placed in a ultrasonic sensor, wherein respectively two ultrasonic sensors of placement are parallel to before and after direction of travel, it is infrared
Distance measuring sensor is infrared PSD sensor, and PSD sensor is made of transmitter and receiver two parts, and photoelectric encoder is in code
Light transmission and lighttight segmental arc are carved on disk regularly, is equipped with light-emitting component and light-sensitive element, photoelectric coding in code-disc two sides
Device is mounted on two rear-wheels.
Preferably, man-machine interaction device include distant bar part, button part, display screen part, phonological component, GPS module and
The terminal of mobile communication module.
Further, multifunctional intellectual wheelchair further includes flesh machine interface and muscle signal current measuring instrument, and flesh machine interface includes number
According to acquisition module, data preprocessing module, data analysis module, control peripheral module, flesh signal current measuring instrument acquires the flesh of user
Meat electric signal, muscle signal current measuring instrument are equipped with an amplifier and several test electrode patch, and amplifier will test electrode paste
The data of piece acquisition amplify, and the transmission of data is carried out by blue tooth interface and industrial personal computer.
Further, multifunctional intellectual wheelchair further includes wireless control system, and wireless control system includes main control module, drives
Dynamic model block, wireless communication module, detection module and smart phone, main control module are logical by wireless/Bluetooth communication and smart phone
Letter, user send wheelchair control order by smart phone, and main control module is generated instruction code and is sent to drive module control
Driving motor processed completes corresponding actions, meanwhile, detection module detects the status information of wheelchair, and is sent to main control module, master control
Smart phone will send information to by wireless/bluetooth communication after module reception, processing.
Preferably, the data that hall effect type handle acquires are transferred to industrial personal computer by distant bar part, and phonological component includes back
Scape denoise module, end-point detection speech enhan-cement module, Feature Extraction Feature compensating module, matching search module, post-processing module,
Recognition result module.
Preferably, induction angle >=18 ° of ultrasonic sensor, effective detection range are 40 to 60 centimeters, and precision is
0.2 centimeter.
Preferably, button part includes wheel-chair switch control knob, wheel-chair running environment select button, wheel-chair fortune
Row mode selecting button, GPS position information send button, mobile communication short message delete button, display screen part is for showing work
Make environment, operating mode, environment temperature, real-time speed, location information.
Preferably, current overload detection system, current overload detection system packet are additionally provided between battery and driving motor
Include voltage comparator, voltage comparator with make comparisons two voltage when, negative terminal adds a fixed voltage to do threshold voltage, positive to terminate
Signal voltage to be compared.
Further, several pressure sensors and electric massage spring are uniformly provided in cushion, pressure sensor is used for
Sense pressure distribution and the gravity center shift of user, pressure sensor by collected electric signal by blue tooth interface and industrial personal computer into
The transmission of row data, to control the flexible equivalent of electric massage spring.
Further, handrail is equipped with adjusting height of armrests button, and intelligent wheel chair rear portion is additionally provided with antirattle spring and anti-dumping
Foot-driven lever, front wheels and rear wheels are inflated wheel, and multifunctional intellectual wheelchair further includes turn signal and whistle loudspeaker, and turn signal is by relay
Device control, the circuit for loudspeaker of blowing a whistle includes integrated timer oscillator and power amplifier.
Further, two driving rear-wheels are connect by separate transmission device with driving motor, and transmission device includes nipper
Circle, preceding planetary gear, front and back sun wheel assembly, rear planetary gear, rear planet carrier, preceding planet carrier and rear gear ring component, output shaft, wherein
Front-seat planet carrier and rear ring gear form a whole.
Urgent craving with the aggravation and people of global aging trend to intelligent medical treatment service, muscle signal control wheel
Chair will gradually obtain the extensive concern of people.As the intelligent wheel chair of field of medical service, muscle signal control wheelchair is a kind of
Based on the novel intelligent wheelchair of flesh machine interfacing, have the function of to hide obstacle, independent navigation etc., it is user-friendly for operation and intelligent
Change, and high-precision can control, smoothly operates, meanwhile, which also has high-end autonomous manual operation mode, right
In the patient with autonomous operation ability also can easy manipulation, have more economical property, higher utilization rate and high-end intelligence
The features such as.
Detailed description of the invention
Fig. 1-6 is the overall schematic of the utility model.
Fig. 7-11 is the side schematic view of the utility model.
Figure 12 is the control section schematic diagram of the utility model.
Figure 13 is the transmission device schematic diagram of the utility model.
Figure 14 is the voice control schematic diagram of the utility model.
Specific embodiment
The utility model is described in further detail combined with specific embodiments below.
The utility model is described in detail below with reference to specific embodiment shown in the drawings.But these embodiment party
Formula is not intended to limit the utility model, structure that those skilled in the art are made according to these embodiments, method or
Transformation functionally is all contained in the protection scope of the utility model.
With reference to the accompanying drawing and specific embodiment is further described the application principle of the utility model.
Multifunctional intellectual wheelchair include backrest 1, handrail 2, cushion 3, backplate 4, man-machine interaction device 5, dial foot 6, leg guard pads 7,
Foot pedal 8, front-wheel 9, rear-wheel 10, battery and industry control box body 11, driving motor 12, pushing hands 13, battery and industry control cabinet
Chargeable storage and industrial personal computer are equipped in body 11.
Further, driving motor is DC brushless motor, is installed in the tail portion of DC brushless motor for acquiring motor
The grating encoder of position and speed information, DC brushless motor are controlled by direct current generator drive control plate, direct current generator driving
Control panel includes power management module, light-coupled isolation module and H bridge motor-drive circuit, and direct current generator drive control plate passes through string
Mouth or CAN bus and industrial personal computer are communicated, high speed pwm pulse signal and motor drive direction control signal warp from industrial personal computer
It crosses light-coupled isolation module and is connected to H bridge motor-drive circuit, different directions motor driven voltage is generated, to control brush DC
The revolving speed of motor and steering.
Further, multifunctional intellectual wheelchair further includes the feedback for detection and information to ambient enviroment and target
Sensory perceptual system, sensory perceptual system include visual sensor, ultrasonic sensor, infrared distance sensor, photoelectric encoder, and vision passes
Sensor is made of 2 road CMOS vision cameras being separately mounted on the handrail of left and right, since the angle perpendicular to wheel hub every
30 ° are placed in a ultrasonic sensor, wherein respectively two ultrasonic sensors of placement are parallel to before and after direction of travel, it is infrared
Distance measuring sensor is infrared PSD sensor, and PSD sensor is made of transmitter and receiver two parts, and photoelectric encoder is in code
Light transmission and lighttight segmental arc are carved on disk regularly, is equipped with light-emitting component and light-sensitive element, photoelectric coding in code-disc two sides
Device is mounted on two rear-wheels 10.
Preferably, man-machine interaction device 5 include distant bar part, button part, display screen part, phonological component, GPS module and
The terminal of mobile communication module.
Further, multifunctional intellectual wheelchair further includes flesh machine interface and muscle signal current measuring instrument, and flesh machine interface includes number
According to acquisition module, data preprocessing module, data analysis module, control peripheral module, flesh signal current measuring instrument acquires the flesh of user
Meat electric signal, muscle signal current measuring instrument are equipped with an amplifier and several test electrode patch, and amplifier will test electrode paste
The data of piece acquisition amplify, and the transmission of data is carried out by blue tooth interface and industrial personal computer 14.
Further, multifunctional intellectual wheelchair further includes wireless control system, and wireless control system includes main control module, drives
Dynamic model block, wireless communication module, detection module and smart phone, main control module are logical by wireless/Bluetooth communication and smart phone
Letter, user send wheelchair control order by smart phone, and main control module is generated instruction code and is sent to drive module control
Driving motor processed completes corresponding actions, meanwhile, detection module detects the status information of wheelchair, and is sent to main control module, master control
Smart phone will send information to by wireless/bluetooth communication after module reception, processing.
Preferably, the data that hall effect type handle acquires are transferred to industrial personal computer 14 by distant bar part, and phonological component includes
Background denoising module, end-point detection speech enhan-cement module, Feature Extraction Feature compensating module, matching search module, post-processing mould
Block, recognition result module.
Preferably, induction angle >=18 ° of ultrasonic sensor, effective detection range are 40 to 60 centimeters, and precision is
0.2 centimeter.
Preferably, button part includes wheel-chair switch control knob, wheel-chair running environment select button, wheel-chair fortune
Row mode selecting button, GPS position information send button, mobile communication short message delete button, display screen part is for showing work
Make environment, operating mode, environment temperature, real-time speed, location information.
Preferably, current overload detection system, current overload detection system are additionally provided between battery 11 and driving motor 12
System include voltage comparator, voltage comparator with make comparisons two voltage when, negative terminal adds a fixed voltage to do threshold voltage, just
Terminate signal voltage to be compared.
Further, several pressure sensors and electric massage spring are uniformly provided in cushion 3, pressure sensor is used for
Collected electric signal is passed through blue tooth interface and industrial personal computer 14 by the pressure distribution and gravity center shift, pressure sensor for sensing user
The transmission for carrying out data, to control the flexible equivalent of electric massage spring.
Further, handrail 2 is equipped with adjusting height of armrests button 15, and intelligent wheel chair rear portion is additionally provided with 16 He of antirattle spring
Anti-dumping foot-driven lever 17, front-wheel 9 and rear-wheel 10 are inflated wheel, and multifunctional intellectual wheelchair further includes turn signal and whistle loudspeaker, are turned
It is controlled to lamp by relay, the circuit for loudspeaker of blowing a whistle includes integrated timer oscillator and power amplifier.
Further, two rear-wheels 10 are connect by transmission device with driving motor 12 respectively, and transmission device includes nipper
Enclose C1, preceding planetary gear C2, front and back sun wheel assembly C3, rear planetary gear C4, rear planet carrier C5, preceding planet carrier and rear gear ring component
C6, output shaft C7, wherein front-seat planet carrier and rear ring gear form a whole.
The differential of intelligent wheel chair driving motor uses step, specifically:
A the position for needing the distance of barrier and/or target) is measured according to ultrasonic sensor, infrared distance sensor
The steering angle that shifting amount and visual sensor need wheelchair after image procossing to run；
B) by turning the steering angle of wheelchair to target and displacement after the information processing of direct current generator drive control plate
Become the revolving speed and angle of left and right sidesing driving wheel needs；
C) according to mounted in left and right driving rear-wheel it is coaxial on photoelectric encoder measure motor rotation angular speed and linear speed
Degree；
D) by the actual output revolving speed of available left and right driving motor and the angle of converting.
The orientation or positional relationship indicated in this specification be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for describing the utility model and simplifying description, rather than the device or element of indication or suggestion meaning must have specific side
Position is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In the present specification, identical embodiment or example is necessarily directed to the schematic representation of technical term.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples with suitable
Mode combines.In addition, without conflicting with each other, those skilled in the art can be by difference described in this specification
The feature of embodiment or example and different embodiments or examples is combined.
While there has been shown and described that the embodiments of the present invention, it will be understood by those skilled in the art that:
These embodiments can be carried out with a variety of variations, modification, replacement in the case where not departing from the principles of the present invention and objective
And modification, the scope of the utility model are defined by the claims and their equivalents.
Claims (9)
1. a kind of multifunctional intellectual wheelchair, the multifunctional intellectual wheelchair includes backrest (1), handrail (2), cushion (3), backplate
(4), man-machine interaction device (5), group foot (6), leg guard pads (7), foot pedal (8), front-wheel (9), rear-wheel (10), battery and industrial personal computer
Chargeable storage and work are equipped in cabinet (11), driving motor (12), pushing hands (13), the battery and industry control box body
Control machine, which is characterized in that
The driving motor is DC brushless motor, is installed in the tail portion of the DC brushless motor for acquiring motor position
The grating encoder with velocity information is set, the DC brushless motor is controlled by direct current generator drive control plate, and described is straight
Galvanic electricity machine drive control plate includes power management module, light-coupled isolation module and H bridge motor-drive circuit, the direct current generator
Drive control plate is communicated by serial ports or CAN bus and the industrial personal computer, the high speed PWM from the industrial personal computer
Pulse signal and motor drive direction control signal are connected to the H bridge motor-drive circuit by the light-coupled isolation module,
Different directions motor driven voltage is generated, thus the revolving speed of DC brushless motor described in control and steering；
The multifunctional intellectual wheelchair further includes the perception system for the feedback of detection and information to ambient enviroment and target
System, the sensory perceptual system include visual sensor, ultrasonic sensor, infrared distance sensor, photoelectric encoder, described
Visual sensor is made of 2 road CMOS vision cameras being separately mounted on the handrail of left and right, is opened from the angle perpendicular to wheel hub
Ultrasonic sensor described in beginning every 30 ° to be placed in one, wherein be parallel to each before and after direction of travel place described in two
Ultrasonic sensor, the infrared distance sensor are infrared PSD sensor, and the PSD sensor is by transmitter and connects
Device two parts composition is received, the photoelectric encoder is carved with light transmission and lighttight segmental arc regularly on code-disc, in code-disc
Two sides are equipped with light-emitting component and light-sensitive element, the photoelectric encoder be mounted on two described on rear-wheel (10)；
The man-machine interaction device (5) includes distant bar part, button part, display screen part, phonological component, GPS module and shifting
The terminal of dynamic communication module；
The multifunctional intellectual wheelchair further includes flesh machine interface and muscle signal current measuring instrument, and the flesh machine interface includes data
Acquisition module, data preprocessing module, data analysis module, control peripheral module, the flesh signal current measuring instrument acquire user
Muscle electric signal, the muscle signal current measuring instrument is equipped with amplifier and several test electrode patch, and described puts
Big device amplifies the data that the test electrode patch acquires, and carries out data by blue tooth interface and the industrial personal computer
Transmission.
2. a kind of multifunctional intellectual wheelchair according to claim 1, which is characterized in that the multifunctional intellectual wheelchair is also
Including wireless control system, the wireless control system includes main control module, drive module, wireless communication module, detection mould
Block and smart phone, the main control module are communicated by wireless/Bluetooth communication with the smart phone, and user passes through described
Smart phone send wheelchair control order, the main control module is generated instruction code be sent to described in drive module
It controls driving motor and completes corresponding actions, meanwhile, the status information of the detection module detection wheelchair, and be sent to
The main control module, the main control module will send information to described by wireless/bluetooth communication after receiving, handling
Smart phone.
3. a kind of multifunctional intellectual wheelchair according to claim 1, which is characterized in that the distant bar part imitates Hall
The data for answering formula handle to acquire are transferred to the industrial personal computer, and the phonological component includes background denoising module, end-point detection
Speech enhan-cement module, Feature Extraction Feature compensating module, matching search module, post-processing module, recognition result module.
4. a kind of multifunctional intellectual wheelchair according to claim 1, which is characterized in that the sense of the ultrasonic sensor
Angle >=18 ° are answered, effective detection range is 40 to 60 centimeters, and precision is 0.2 centimeter.
5. a kind of multifunctional intellectual wheelchair according to claim 1, which is characterized in that the button part includes wheelchair
Stopping switch control button, wheel-chair running environment select button, wheel-chair operational mode select button, GPS position information are sent
Button, mobile communication short message delete button, the display screen part for show working environment, operating mode, environment temperature,
Real-time speed, location information.
6. a kind of multifunctional intellectual wheelchair according to claim 1, which is characterized in that the battery and the drive
It is additionally provided with current overload detection system between dynamic motor (12), the current overload detection system includes voltage comparator, institute
The voltage comparator stated with make comparisons two voltage when, negative terminal adds a fixed voltage to do threshold voltage, and anode reception is compared
Signal voltage.
7. a kind of multifunctional intellectual wheelchair according to claim 1, which is characterized in that uniformly set in the cushion (3)
There are several pressure sensors and electric massage spring, the pressure sensor is used to sense the pressure distribution and center of gravity of user
Collected electric signal is carried out the biography of data by variation, the pressure sensor by blue tooth interface and the industrial personal computer
It is defeated, thus the flexible equivalent of electric massage spring described in control.
8. a kind of multifunctional intellectual wheelchair according to claim 1, which is characterized in that the handrail (2), which is equipped with, to be adjusted
It saves height of armrests button (15), the intelligent wheel chair rear portion is additionally provided with antirattle spring (16) and anti-dumping foot-driven lever (17), described
Front-wheel (9) and the rear-wheel (10) be inflated wheel, the multifunctional intellectual wheelchair further include turn signal and whistle loudspeaker
, the turn signal is controlled by relay, and the circuit of the whistle loudspeaker includes that integrated timer oscillator and power are put
Big device.
9. a kind of multifunctional intellectual wheelchair according to claim 1, which is characterized in that rear-wheel (10) described in two is respectively
Connect by transmission device with the driving motor (12), the transmission device include front ring gear, preceding planetary gear, front and back too
Positive wheel assembly, rear planetary gear, rear planet carrier, preceding planet carrier and rear gear ring component, output shaft, wherein front-seat planet carrier and rear toothrow
Circle forms a whole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820264548.0U CN208693642U (en) | 2018-02-23 | 2018-02-23 | A kind of multifunctional intellectual wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820264548.0U CN208693642U (en) | 2018-02-23 | 2018-02-23 | A kind of multifunctional intellectual wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208693642U true CN208693642U (en) | 2019-04-05 |
Family
ID=65933755
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820264548.0U Expired - Fee Related CN208693642U (en) | 2018-02-23 | 2018-02-23 | A kind of multifunctional intellectual wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208693642U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111467144A (en) * | 2020-04-27 | 2020-07-31 | 宿州学院 | Automatic induction system of multifunctional wheelchair for collecting and processing excrement and urine |
| CN112060101A (en) * | 2020-05-26 | 2020-12-11 | 浙江鸿吉智能控制有限公司 | Intelligent nurse robot system |
| CN113413278A (en) * | 2021-07-09 | 2021-09-21 | 毛盼 | Self-adjusting backrest of wheelchair based on real-time adjustment of human body state |
| CN113576780A (en) * | 2021-08-04 | 2021-11-02 | 北京化工大学 | Intelligent wheelchair based on semantic vision SLAM |
| CN114495469A (en) * | 2020-10-25 | 2022-05-13 | 纳恩博（北京）科技有限公司 | Vehicle control method and device, electronic equipment and storage medium |
-
2018
- 2018-02-23 CN CN201820264548.0U patent/CN208693642U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111467144A (en) * | 2020-04-27 | 2020-07-31 | 宿州学院 | Automatic induction system of multifunctional wheelchair for collecting and processing excrement and urine |
| CN112060101A (en) * | 2020-05-26 | 2020-12-11 | 浙江鸿吉智能控制有限公司 | Intelligent nurse robot system |
| CN114495469A (en) * | 2020-10-25 | 2022-05-13 | 纳恩博（北京）科技有限公司 | Vehicle control method and device, electronic equipment and storage medium |
| CN113413278A (en) * | 2021-07-09 | 2021-09-21 | 毛盼 | Self-adjusting backrest of wheelchair based on real-time adjustment of human body state |
| CN113576780A (en) * | 2021-08-04 | 2021-11-02 | 北京化工大学 | Intelligent wheelchair based on semantic vision SLAM |
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