CN209575092U - Intelligent wheel chair control device, intelligent wheel chair and remote health monitoring intelligent wheelchair system - Google Patents
Intelligent wheel chair control device, intelligent wheel chair and remote health monitoring intelligent wheelchair system Download PDFInfo
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- CN209575092U CN209575092U CN201821325629.3U CN201821325629U CN209575092U CN 209575092 U CN209575092 U CN 209575092U CN 201821325629 U CN201821325629 U CN 201821325629U CN 209575092 U CN209575092 U CN 209575092U
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Abstract
The utility model relates to a kind of intelligent wheel chair control device, intelligent wheel chair and remote health monitoring intelligent wheelchair systems.Intelligent wheel chair control device described in the utility model, it is characterized by comprising head-wearing devices and wheelchair control unit, the head-wearing device is equipped with user's attitude detection module and the first communication module, and the wheelchair control unit is equipped with the second communication module and controller；The attitude signal of user's attitude detection module detection user；First communication module is connect with user's attitude detection module, receives the attitude signal, and user's current pose is sent to second communication module；Second communication module is connect with the controller, and the current posture of user is sent to the controller；The controller control intelligent wheel chair is mobile.Compared with the existing technology, operation is simpler, more convenient to use for intelligent wheel chair control device described in the utility model.
Description
Technical field
The utility model relates to wheelchair technical field, more particularly to intelligent wheel chair control device, intelligent wheel chair and remote
Journey health supervision intelligent wheelchair system.
Background technique
When old man causes difficulty in walking due to the problems such as osteoproliferation or osteoporosis, and, apoplexy, paralysis
Patient require to walk by wheelchair due to long-term bed.With the quickening of pace of population aging, people are to the elderly
Auxiliary instrument especially wheelchair increase concern dynamics, develop the intelligent wheel chair that various be more convenient for old man or patients use.
Existing intelligent wheel chair control device can pass through the sides such as control-rod, eyes image processing, brain wave and facial expression
Formula controls wheelchair, but its is complicated for operation, intelligent level is low, affects their application popularization degree.
Utility model content
Based on this, the purpose of the utility model is to provide a kind of intelligent wheel chair control device, with easy to operate,
Advantage more convenient to use.
The utility model is achieved by the following scheme:
A kind of intelligent wheel chair control device, it is characterised in that: described to wear dress including head-wearing device and wheelchair control unit
It sets and is equipped with user's attitude detection module and the first communication module, the wheelchair control unit is equipped with the second communication module and control
Device processed；
The attitude signal of user's attitude detection module detection user；
First communication module is connect with user's attitude detection module, receives the attitude signal, and by user
Current pose is sent to second communication module；
Second communication module is connect with the controller, and the current posture of user is sent to the controller；
The controller control intelligent wheel chair is mobile.
A kind of intelligent wheel chair control device described in the utility model is examined by the user's posture being mounted on head-wearing device
Module detection user's head movement is surveyed, the head pose information of user is sent to the controller on intelligent wheel chair, controller root
According to the headwork of user, it is mobile according to the instruction of setting to operate wheelchair, needs user only by the way that simply act can be real
Now to the operation of wheelchair, compared with prior art, operation is simpler, more convenient to use.
Further, the attitude detection module includes 9 axle sensors.
Further, wheelchair attitude detection module, the wheelchair attitude detection mould are additionally provided on the wheelchair control unit
Block is connect with the controller, for detecting the attitude signal of wheelchair.
Further, the head-wearing device includes glasses, and the temple of the glasses is provided with described close to the side of frame
User's attitude detection module and first communication module.
Further, be additionally provided with speech reception module on the wheelchair control unit, the speech reception module with it is described
Controller connection.
Pulse signal detection module and human body temperature detection module, the pulse signal inspection are additionally provided on the head-wearing device
It surveys module and the human body temperature detection module is connect with first communication module respectively.
Further, the wheelchair control unit further includes range sensor, the range sensor and the controller
Connection, for detecting the distance between wheelchair and other objects.
Further, the utility model also provides a kind of intelligent wheel chair, a kind of intelligent wheel chair provided by the utility model
Including wheelchair body, the wheelchair body is equipped with the motor for driving wheelchair mobile, it is characterised in that: further includes as above-mentioned
The controller of intelligent wheel chair control device described in any one, the intelligent wheel chair control device sends a command to the electricity
Machine drives the wheelchair body mobile.
A kind of intelligent wheel chair described in the utility model is examined by the user's attitude detection module being mounted on head-wearing device
User's head movement is surveyed, the head pose information of user is sent to the controller on intelligent wheel chair, controller is according to user's
Headwork, operation wheelchair is mobile according to the instruction of setting, and user is made only to need to realize by simply acting to wheelchair
Operation, compared with prior art, operate it is simpler, it is more convenient to use.
Further, the utility model also provides a kind of remote health monitoring intelligent wheelchair system, including above-mentioned any
A kind of intelligent wheel chair further includes third communication module and mobile terminal；
The third communication module is connect with the controller, for the parameter in the controller to be sent to the shifting
Dynamic terminal.
A kind of remote health monitoring intelligent wheelchair system described in the utility model, passes through the use being mounted on head-wearing device
Family attitude detection module detects user's head movement, and the head pose information of user is sent to the controller on intelligent wheel chair,
For controller according to the headwork of user, operation wheelchair is mobile according to the instruction of setting, needs user only by simply dynamic
Make to realize the operation to wheelchair, compared with prior art, operation is simpler, and it is more convenient to use, meanwhile, pass through detection
The motion state of intelligent wheel chair is realized to wheelchair with being accurately controlled, by receiving the voice signal of user, in emergency situations
Under, it is able to achieve the more preferable control to intelligent wheel chair, by detecting body temp, the pulse signal of user, is realized to user more
Good protection, meanwhile, by connecting mobile terminal, realizes and wheelchair is more easily operated, and more to user's body state
Good monitoring.
It further, further include server, the server receives the signal of the mobile terminal, and sends the signal to
Other terminals.
In order to better understand and implement, according to the present invention will be described in detail below with reference to the accompanying drawings.
Detailed description of the invention
Fig. 1 is intelligent wheel chair controling device structure diagram in a kind of embodiment；
Fig. 2 is intelligent wheel chair controling device structure diagram in a kind of embodiment；
Fig. 3 is intelligent wheel chair structural schematic diagram in a kind of embodiment；
Fig. 4 is a kind of embodiment medium-long range health supervision intelligent wheelchair system structural schematic diagram.
Specific embodiment
Referring to Fig. 1, the utility model intelligent wheel chair control device 10 includes head-wearing device 110 and wheelchair control unit
120, wherein head-wearing device 110 includes user's attitude detection module 111 and the first communication module 112, user's attitude detection
Module 111 and first communication module 112 connection.The wheelchair control unit 120 is mounted in wheelchair body, including control
Device 121 and the second communication module 122, the controller 121 and second communication module 122 connection.
Wherein, the head-wearing device 110 is user when taking wheelchair, is set to on the article worn in account
Device, wherein can be cap or glasses with the article worn in account.In another embodiment, the head-wearing device
110 temples including glasses, the glasses are provided with user's attitude detection module 111 and the first communication mould close to the side of frame
Block 112.
The user is the user of the wheelchair controlled using this intelligent wheel chair control device, that is, takes the walking of wheelchair not
Convenient people.User's posture is the movement of user, the i.e. body language of user, and user's posture in the present embodiment is user
The movement on head, specifically, nod including user, rotary head to the left, first-class movement of turning right, user's attitude detection module
111 can detect the movement of above-mentioned user's head, and action message can be converted into electric signal according to certain rules, transmitted,
Processing, storage, display, record etc., in the present embodiment, user's attitude detection module 111 moves detected user's head
Make information in a manner of electric signal, is sent to the first communication module 112.
First communication module 112 and the second communication module 122 are wireless network communication module, in the present embodiment,
For bluetooth module, specifically, the first communication module 112 is bluetooth host module, the second communication module 122 is bluetooth slave mould
Block, after the first communication module 112 is actively searched and connect with the second communication module 122, by user's attitude detection module 111
Detected user's head movement is sent to the second communication module 112.
The controller 111 is the chip comprising integrated circuit, e.g. single-chip microcontroller.Controller 111 may include one
Or multiple processors execute instruction, the controller 111 is connect with the motor of intelligent wheel chair, the controller 111 can lead to
It crosses and sends different operational orders to the motor of intelligent wheel chair, so that intelligent wheel chair is made different shift actions, such as make intelligence
Wheelchair advance, retrogressing, left steering, right turn, stopping etc..
Include memory inside the controller 111, different operational order and different is stored in the memory
User's head action signal, and, the corresponding relationship between different headwork signals and different operational orders, wherein
Different headworks can be defined and correspond to different operational orders, for example, continuously being nodded twice by head controls intelligent wheel
Chair advance etc..The controller receives active user's headwork signal that the second communication module 112 is sent, in memory
User's head action signal is matched, and finds out operational order corresponding to active user's headwork signal, and according to current
The headwork signal of user, sends the motor of corresponding operational order to intelligent wheel chair, and control intelligent wheel chair presses operational order
It is mobile.
In another embodiment, include multiple comparison circuits in the controller 111, the controller 111 receive by
Made of user's head movement conversion after user's head action signal, which is inputted into multiple comparison circuits, and from more electric
The output on road judges the action type that intelligent wheel chair is controlled corresponding to active user's headwork, and sends corresponding operation and refer to
It enables to the motor of intelligent wheel chair, control intelligent wheel chair is mobile by operational order.
A kind of intelligent wheel chair control device described in the utility model is examined by the user's posture being mounted on head-wearing device
Module detection user's head movement is surveyed, the head pose information of user is sent to the controller on intelligent wheel chair, controller root
According to the headwork of user, it is mobile according to the instruction of setting to operate wheelchair, needs user only by the way that simply act can be real
Now to the operation of wheelchair, compared with prior art, operation is simpler, more convenient to use.
In one embodiment, user's attitude detection module 111 includes nine axle sensors, wherein nine axis respectively represent three
Axis electronic compass (geomagnetic sensor), 3-axis acceleration sensor and three-axis gyroscope.Wherein, 3-axis acceleration sensor is used for
All directions acceleration in space is measured, three-axis gyroscope is for measurement angle and to maintain direction, utilizes 3-axis acceleration
Sensor and three-axis gyroscope can describe the entire motion state of user's head.Three axle electronic compass (geomagnetic sensor) benefit
With measurement earth magnetic field, compensation is modified by absolute direction-pointing function, can effectively solve to be produced with prolonged exercise
Raw Accumulated deviation, to correct the direction of motion of user's head, attitude angle etc., by nine axle sensors, can be convenient and
The accurately headwork of measurement user.
In one embodiment, the wheelchair control unit 120 further includes wheelchair attitude detection module, the wheelchair posture
Detection module is connect with the controller 21, and the wheelchair attitude detection module is used to detect the moving situation of intelligent wheel chair, and
The moving situation of intelligent wheel chair is sent to the controller 121.Wherein, the moving situation of intelligent wheel chair include advance, retreat,
Left steering, right turn etc., in the present embodiment, wheelchair attitude detection module is nine axle sensors.
Compared with the first embodiment, in the present embodiment, the wheelchair that controller 121 also receives wheelchair attitude detection module is moved
Emotionally condition, when user controls wheelchair movement by headwork, controller 121 is also by comparing the headwork and intelligence of user
Can the moving situation of wheelchair controlled if the instruction of the head of the moving situation of intelligent wheel chair and user is deviated or inconsistent
Device 121 processed corrects the motion state of intelligent wheel chair.
In one embodiment, the wheelchair control unit 120 further includes speech reception module, the speech reception module
Including microphone, the speech reception module receives and identifies the voice signal of user, such as advances, retreats, stops, turning left
To voice signals such as, right turns, and above-mentioned voice signal is converted into electric signal and is sent to controller 121,121 basis of controller
Different voice signals executes corresponding operation to intelligent wheel chair.
In one embodiment, head-wearing device 110 further includes pulse signal detection module and human body temperature detection module, institute
Pulse signal detection module is stated for detecting the pulse of user, and the pulse information of user is sent to the first communication module 112,
The pulse signal detection module is used to detect the body temp of user, and the body temp information of user is sent to first and is led to
Module 112 is interrogated, the pulse information of user and body temp information are passed through the second communication module by first communication module 112
122 are sent in controller 121.
In one embodiment, the wheelchair control unit 120 further includes range sensor, the range sensor and institute
The connection of controller 121 is stated, for detecting the distance between wheelchair and other objects.The range sensor is ultrasonic sensor
Or radar sensor, it is preferred that in the present embodiment, the range sensor is ultrasonic sensor, the range sensor
When detecting that intelligent wheel chair and periphery object are got too close to, signal is issued to the controller 121, the controller 121 makes institute
State wheelchair parking.
The course of work for illustrating the utility model intelligent wheel chair control device with a specific embodiment below, please refers to
Fig. 2, the intelligent wheel chair 20 of the present embodiment include head-wearing device 210 and wheelchair control unit 220.Head-wearing device 210 includes user
Attitude detection module 211, the first communication module 212, pulse signal detection module 213 and human body temperature detection module 214, user
Attitude detection module 211, pulse signal detection module 213 and human body temperature detection module 214 are respectively at the first communication module 212
Connection.Wheelchair control unit 220 connects including controller 221, the second communication module 222, wheelchair attitude detection module 223, voice
Receive module 224 and range sensor 225, the second communication module 222, wheelchair attitude detection module 223, speech reception module 224
It is connect with range sensor 225 with controller 221.
In the present embodiment, the first communication module 212 and the second communication module 222 all use wireless chip NR51822, described
User's attitude detection module 211 and the wheelchair attitude detection module 223 use 9 axis BNO055 modules, and there are two types of module tools
Communication interface: universal serial port and IIC interface is commonly used, the selection of user's attitude detection module 211 uses serial communication in the present embodiment
Mode and first communication module 210 carry out data communication, and the selection of wheelchair attitude detection module 223 uses serial communication
Mode and controller 221 carry out the communication of data.Pulse signal detection module 213 uses MAX30102 chip, in the present embodiment,
MAX30102 chip can effectively detect the pulse signal of human body as pulse detection module, and pass through IIC interface and institute
State the communication that the first communication module 212 carries out data.Human body temperature detection module 214 uses infrared measurement of temperature module MLX90614,
First communication module 212 reads the register data of human body temperature detection module 214 by IIC interface use is calculated
Family body temp.Range sensor 225 uses ultrasonic wave module HC-SR04, in the present embodiment, using 4 pieces of ultrasonic wave module HC-
SR04, realizes comprehensive distance detection, and the controller 221 is drawn by calculating the specific of ultrasonic wave module HC-SR04
Foot exports high level time, then the range data of intelligent wheel chair Yu periphery object just can be obtained by conversion formula.
Head-wearing device 210 is mounted on the cap or glasses of user's wearing, Yong Hutong by user when taking intelligent wheel chair
Crossing head, nodding action makes intelligent wheel chair advance twice in succession, and in advancement, user can be controlled by the steering on head
The steering of intelligent wheel chair processed, and intelligent wheel chair controller compares the steering angle of user's head and the steering width of intelligent wheel chair
Degree, carrys out the steering angle of real time correction intelligent wheel chair, when user arrives at the destination, by a first time, to make intelligent wheel chair
Stop, in case of emergency, user can be stopped by voice control intelligent wheel chair, or when head-wearing device 210 detects
When the body temp or cacosphyxia of user, intelligent wheel chair can also be made to stop.
A kind of intelligent wheel chair control device described in the utility model is examined by the user's posture being mounted on head-wearing device
Module detection user's head movement is surveyed, the head pose information of user is sent to the controller on intelligent wheel chair, controller root
According to the headwork of user, it is mobile according to the instruction of setting to operate wheelchair, needs user only by the way that simply act can be real
Now to the operation of wheelchair, compared with prior art, operation is simpler, more convenient to use, meanwhile, pass through and detects intelligent wheel chair
Motion state, realize to wheelchair with being accurately controlled, in a sudden situation, can be real by receiving the voice signal of user
Now the more preferable control of intelligent wheel chair is realized and preferably protected to user by detecting body temp, the pulse signal of user
Shield.
The utility model also provides a kind of intelligent wheel chair, referring to Fig. 3, in one embodiment, intelligent wheel chair 30 includes
Wheelchair body 31, and the motor 32 that control wheelchair is mobile further include the intelligent wheel chair control in any one of the above embodiment
Device 33.Intelligent wheel chair control device 33 includes head-wearing device 331 and wheelchair control unit 332, wherein wheelchair control unit
332 are mounted in wheelchair body, and 3321 controllers make motor 32 drive intelligent wheel for sending wheelchair control signal to motor 32
Chair 30 moves.
A kind of intelligent wheel chair described in the utility model is examined by the user's attitude detection module being mounted on head-wearing device
User's head movement is surveyed, the head pose information of user is sent to the controller on intelligent wheel chair, controller is according to user's
Headwork, operation wheelchair is mobile according to the instruction of setting, and user is made only to need to realize by simply acting to wheelchair
Operation, compared with prior art, operate it is simpler, it is more convenient to use, meanwhile, pass through detection intelligent wheel chair movement shape
State is realized to wheelchair with being accurately controlled, and the voice signal by receiving user is able to achieve to intelligence in a sudden situation
The more preferable control of wheelchair is realized and is preferably protected to user by detecting body temp, the pulse signal of user.
The utility model also provides a kind of remote health monitoring intelligent wheelchair system, referring to Fig. 4, in a kind of embodiment
In, it further includes third that remote health monitoring intelligent wheelchair system 40, which includes the intelligent wheel chair 30 in any one above-described embodiment,
Communication module 41 and mobile terminal 42.Third communication module 42 is mounted on intelligent wheel chair 30, the controller with intelligent wheel chair 30
301 connections.
The third communication module 31 is wireless network communication module, is bluetooth module, the movement in the present embodiment
Terminal 42 can be the mobile electronic devices such as mobile phone, tablet computer, Intelligent bracelet, and the mobile terminal 32 includes communicating with third
The communication interface that module 41 connects.In the present embodiment, the controller of intelligent wheel chair 30 will be by third communication module 41 by head
Wear user's body parameter detected by device and be sent on mobile terminal 42 displays, user can also by mobile terminal 42 to
Intelligent wheel chair 30 sends instruction, and control intelligent wheel chair 30 moves, wherein instructs other that can be phonetic order or be manually entered
The order that user inputs is switched to electric signal by the order of type, mobile terminal 42, is sent to intelligence by third communication module 41
The controller of wheelchair 30, according to the instruction received, the corresponding intelligent wheel chair 30 that controls moves the controller of intelligent wheel chair 30.
In one embodiment, please continue to refer to Fig. 4, remote health monitoring intelligent wheelchair system 40 further includes server
43, server 43 can be computer, the terminals such as tablet computer, and server 43 includes memory, and server 43 is moved for receiving
User's body parameter in dynamic terminal 42, and body parameter is stored, or body parameter is sent to other mobile terminals.
A kind of remote health monitoring intelligent wheelchair system described in the utility model, passes through the use being mounted on head-wearing device
Family attitude detection module detects user's head movement, and the head pose information of user is sent to the controller on intelligent wheel chair,
For controller according to the headwork of user, operation wheelchair is mobile according to the instruction of setting, needs user only by simply dynamic
Make to realize the operation to wheelchair, compared with prior art, operation is simpler, and it is more convenient to use, meanwhile, pass through detection
The motion state of intelligent wheel chair is realized to wheelchair with being accurately controlled, by receiving the voice signal of user, in emergency situations
Under, it is able to achieve the more preferable control to intelligent wheel chair, by detecting body temp, the pulse signal of user, is realized to user more
Good protection, meanwhile, by connecting mobile terminal, realizes and wheelchair is more easily operated, and more to user's body state
Good monitoring.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.
Claims (9)
1. a kind of intelligent wheel chair control device, it is characterised in that: including head-wearing device and wheelchair control unit, the head-wearing device
Including glasses, the temple of the glasses is provided with user's attitude detection module and the first communication module, institute close to the side of frame
Wheelchair control unit is stated equipped with the second communication module and controller；
The attitude signal of user's attitude detection module detection user, the attitude signal includes the headwork of user；
First communication module is connect with user's attitude detection module, receives the attitude signal, and user is current
Posture is sent to second communication module；
Second communication module is connect with the controller, and the current posture of user is sent to the controller；
The controller receives active user's headwork signal that the second communication module is sent, with the user's head in memory
Action signal is matched, and is found out operational order corresponding to active user's headwork signal, is sent corresponding operational order
To the motor of intelligent wheel chair, it is mobile by operational order to control intelligent wheel chair.
2. a kind of intelligent wheel chair control device according to claim 1, it is characterised in that:
The attitude detection module includes 9 axle sensors.
3. a kind of intelligent wheel chair control device according to claim 1, it is characterised in that:
Wheelchair attitude detection module, the wheelchair attitude detection module and the controller are additionally provided on the wheelchair control unit
Connection, for detecting the attitude signal of wheelchair.
4. a kind of intelligent wheel chair control device according to claim 1, it is characterised in that:
Speech reception module is additionally provided on the wheelchair control unit, the speech reception module is connect with the controller.
5. a kind of intelligent wheel chair control device according to claim 1, it is characterised in that:
Pulse signal detection module and human body temperature detection module are additionally provided on the head-wearing device, the pulse signal detects mould
Block and the human body temperature detection module are connect with first communication module respectively.
6. a kind of intelligent wheel chair control device according to claim 1, it is characterised in that:
The wheelchair control unit further includes range sensor, and the range sensor is connect with the controller, for detecting
The distance between wheelchair and other objects.
7. a kind of intelligent wheel chair, including wheelchair body, the wheelchair body is equipped with the motor for driving wheelchair mobile, special
Sign is: it further include the intelligent wheel chair control device such as claim 1 to 6 as described in any one, the intelligent wheel chair control dress
The controller set sends a command to the motor, drives the wheelchair body mobile.
8. a kind of remote health monitoring intelligent wheelchair system, it is characterised in that:
Including intelligent wheel chair as claimed in claim 7；It further include third communication module and mobile terminal；
The third communication module is connect with the controller, described mobile whole for the parameter in the controller to be sent to
End.
9. a kind of remote health monitoring intelligent wheelchair system as claimed in claim 8, it is characterised in that:
It further include server, the server receives the signal of the mobile terminal, and sends the signal to other terminals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821325629.3U CN209575092U (en) | 2018-08-16 | 2018-08-16 | Intelligent wheel chair control device, intelligent wheel chair and remote health monitoring intelligent wheelchair system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821325629.3U CN209575092U (en) | 2018-08-16 | 2018-08-16 | Intelligent wheel chair control device, intelligent wheel chair and remote health monitoring intelligent wheelchair system |
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| CN209575092U true CN209575092U (en) | 2019-11-05 |
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| CN201821325629.3U Active CN209575092U (en) | 2018-08-16 | 2018-08-16 | Intelligent wheel chair control device, intelligent wheel chair and remote health monitoring intelligent wheelchair system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111538344A (en) * | 2020-05-14 | 2020-08-14 | 重庆科技学院 | Intelligent wheelchair based on face key point motion following and control method thereof |
| CN115804695A (en) * | 2023-01-09 | 2023-03-17 | 华南脑控(广东)智能科技有限公司 | Multi-modal brain-computer interface wheelchair control system integrating double attitude sensors |
-
2018
- 2018-08-16 CN CN201821325629.3U patent/CN209575092U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111538344A (en) * | 2020-05-14 | 2020-08-14 | 重庆科技学院 | Intelligent wheelchair based on face key point motion following and control method thereof |
| CN115804695A (en) * | 2023-01-09 | 2023-03-17 | 华南脑控(广东)智能科技有限公司 | Multi-modal brain-computer interface wheelchair control system integrating double attitude sensors |
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