CN210138252U - Intelligent wheelchair - Google Patents
Intelligent wheelchair Download PDFInfo
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- CN210138252U CN210138252U CN201920572006.4U CN201920572006U CN210138252U CN 210138252 U CN210138252 U CN 210138252U CN 201920572006 U CN201920572006 U CN 201920572006U CN 210138252 U CN210138252 U CN 210138252U
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- wheelchair
- crawler
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- track
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Abstract
The utility model belongs to the technical field of the supplementary implementation of handicapped personage, especially, relate to an intelligent wheelchair, its characterized in that includes wheelchair machinery, sets up the induction control portion in this wheelchair machinery, and wheelchair machinery includes the chassis, the integral support, the seat, seat level control device sets up the train in the chassis lower part, still is equipped with track horizontal rotation device on two track wheelsets of chassis front end, and induction control portion includes voice control system, the automatic system of following of bluetooth, keeps away barrier system and seat balanced system. The utility model adds a voice recognition system on the common wheelchair, which provides possibility for the disabled with four limbs to use the product; meanwhile, a Bluetooth module is added to realize automatic following; the gravity sensor is arranged at the lower part of the seat of the wheelchair, so that the gravity sensor can be quickly found and keep balance, and the safety degree of the wheelchair is greatly increased; more robust tracks to facilitate crossing more complex obstacles.
Description
Technical Field
The utility model belongs to the technical field of the supplementary implementation of disabilities, especially, relate to an intelligent wheelchair.
Background
The elderly people in the 60 year old of the world population by 2050 will account for 21% of the total population, and as the world population ages more and various disasters, the number of people with diseases increases, causing them to suffer different abilities, such as: walking, vision, etc. Most of the handicapped people still cannot live for their own, so that the disease is more symptomatically felt.
Wheelchairs in three forms, namely, a hand-push wheelchair, an electric wheelchair and a wheelchair vehicle, are sold in the market at present, the hand-push wheelchair needs to advance by external force and is suitable for general conditions or people with short-term mobility inconvenience, and the hand-push wheelchair generally needs to be accompanied by family and is not suitable for long-time sitting; the electric wheelchair is additionally provided with the storage battery on the basis, can be controlled by the user without troubling other people, but when the electric wheelchair is used for passing through a ditch and cutting, due to inaccurate judgment of sight and ditch bank conditions, danger is easy to occur, and an operator needs to pay attention to safety; wheelchair, also called electric scooter, is driven by electric motor and is braked electromagnetically, but needs quick reaction force of user, otherwise, danger is easy to occur.
Disclosure of Invention
The utility model aims at providing a simple structure, convenient operation can realize human-computer interaction's automatic following formula intelligence wheelchair.
The purpose of the utility model is realized by the following technical scheme:
the utility model is an intelligent wheelchair, which is characterized in that the intelligent wheelchair comprises a wheelchair mechanical part and an induction control part arranged on the wheelchair mechanical part,
the wheelchair mechanical part comprises a chassis, an integral support arranged at the upper part of the chassis, a seat arranged on the integral support, a seat horizontal adjusting device arranged at the lower part of the seat, and a wheel system arranged at the lower part of the chassis, wherein the wheel system comprises two crawler wheel sets respectively positioned at the left side and the right side of the front end of the chassis, and two crawler wheel sets respectively positioned at the left side and the right side of the rear end of the chassis, the crawler wheel set at the left side of the front end is connected with the crawler wheel set at the left side of the rear end through a hydraulic rod, the crawler wheel set at the right side of the front end is connected with the crawler wheel set at the,
a crawler horizontal rotating device is also arranged on the two crawler wheel sets at the front end of the chassis,
each crawler wheel set comprises two crawler driving wheels, a crawler engaged with the two crawler driving wheels, and a motor connected with the two crawler driving wheels,
the induction control part comprises a voice control system, a Bluetooth automatic following system, an obstacle avoidance system and a seat balance system,
the voice control system comprises a voice receiving module, a voice conversion module connected with the voice receiving module, and a singlechip I connected with the voice conversion module, wherein the singlechip I is connected with a motor on each crawler belt,
the Bluetooth automatic following system comprises an emitting electrode arranged on the chassis, a receiving electrode arranged on the mobile phone, a microcontroller connected with the emitting electrode, and a singlechip II connected with the emitting electrode, wherein the singlechip II is connected with a motor on each track,
the obstacle avoidance system comprises an ultrasonic sensor arranged in front of the chassis, a single chip microcomputer III connected with the ultrasonic sensor, and a steering engine I connected with the single chip microcomputer III, wherein the steering engine I is connected with a motor on each crawler wheel group,
the seat balance system comprises gravity sensors respectively arranged at the front, the rear, the left and the right corners of the lower part of the seat, a singlechip IV connected with the four gravity sensors, and a steering engine II connected with the singlechip IV, wherein the steering engine II is connected with the seat horizontal adjusting device.
And the upper part of each crawler wheel group is provided with a crawler dust cover.
The ultrasonic sensor is 0.1m-0.3m away from the upper edges of the two front crawler belts.
And the rear crawler driving wheel of the crawler wheel group on the left side of the front end is connected with the front crawler driving wheel of the crawler wheel group on the left side of the rear end through a hydraulic rod.
And the rear crawler driving wheel of the crawler wheel set on the right side of the front end is connected with the front crawler driving wheel of the crawler wheel set on the right side of the rear end through a hydraulic rod.
The utility model has the advantages that:
the intelligent wheelchair of the utility model adds a voice recognition system on the common wheelchair, which provides possibility for the disabled with four limbs to use the product; meanwhile, a Bluetooth module is added to realize automatic following; the gravity sensor is arranged at the lower part of the seat of the wheelchair, so that the gravity sensor can be quickly found and keep balance, and the safety degree of the wheelchair is greatly increased; the utility model discloses change the wheel of wheelchair into durable track more durable to in stride across more complicated obstacle increase power device on the basis of traditional wheelchair, made things convenient for low limbs disabled personage's independent trip more on the basis of using manpower sparingly.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of the engagement relationship between the track transmission wheel and the track of the present invention.
Fig. 3 is a block diagram of the voice recognition chip of the present invention.
Fig. 4 is the utility model discloses an automatic system bluetooth location schematic diagram of following of bluetooth.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
As shown in figures 1-4, the intelligent wheelchair of the utility model is characterized in that it comprises a wheelchair mechanical part, an induction control part arranged on the wheelchair mechanical part,
the wheelchair mechanical part comprises a chassis 7, an integral support 4 arranged at the upper part of the chassis 7, a seat 2 arranged on the integral support 4, a seat horizontal adjusting device 5 arranged at the lower part of the seat 2, and a wheel system arranged at the lower part of the chassis 7, wherein the wheel system comprises two crawler wheel sets respectively positioned at the left side and the right side of the front end of the chassis 7, two crawler wheel sets respectively positioned at the left side and the right side of the rear end of the chassis 7, the crawler wheel set at the left side of the front end is connected with the crawler wheel set at the left side of the rear end through a hydraulic rod 12, the crawler wheel set at the right side of the front end is connected with the crawler wheel set at the right,
a crawler horizontal rotating device 13 is also arranged on the two crawler wheel sets at the front end of the chassis 7,
each track wheel set comprises two track driving wheels 10, a track 9 meshed with the two track driving wheels 10, a motor 11 connected with the two track driving wheels 10,
the induction control part comprises a voice control system, a Bluetooth automatic following system, an obstacle avoidance system and a seat balance system,
the voice control system comprises a voice receiving module, a voice conversion module connected with the voice receiving module, and a singlechip I connected with the voice conversion module, the singlechip I is connected with the motor 11 on each crawler belt,
the Bluetooth automatic following system comprises an emitting electrode arranged on the chassis 7, a receiving electrode arranged on the mobile phone, a microcontroller connected with the emitting electrode, and a singlechip II connected with the emitting electrode, wherein the singlechip II is connected with a motor 11 on each track,
the obstacle avoidance system comprises an ultrasonic sensor arranged in front of the chassis 7, a single chip microcomputer III connected with the ultrasonic sensor, and a steering engine I3 connected with the single chip microcomputer III, wherein the steering engine I3 is connected with a motor 11 on each crawler wheel group,
the seat balance system comprises gravity sensors 6 respectively arranged at the front, the rear, the left and the right four corners of the lower part of the seat 2, a singlechip IV connected with the four gravity sensors 6, and a steering engine II connected with the singlechip IV, wherein the steering engine II is connected with the seat horizontal adjusting device 5.
And the upper part of each crawler wheel group is provided with a crawler dust cover 8.
The ultrasonic sensor is 0.1m-0.3m away from the upper edges of the two front crawler belts 9.
The rear crawler belt driving wheel 10 of the crawler belt wheel group on the left side of the front end is connected with the front crawler belt driving wheel 10 of the crawler belt wheel group on the left side of the rear end through a hydraulic rod 12.
The rear crawler driving wheel 10 of the crawler wheel set on the right side of the front end is connected with the front crawler driving wheel 10 of the crawler wheel set on the right side of the rear end through a hydraulic rod 12.
The utility model discloses an intelligent wheelchair mainly comprises wheelchair machinery portion and the induction control portion of setting in this wheelchair machinery portion. The mechanical part of the wheelchair mainly comprises an integral support 4 of a supporting part, a seat 2 for a patient to sit, a backrest 1 for leaning on the head and the back, and a wheel train for driving the whole wheelchair to walk. The wheel system adopts a crawler-type structure, a hydraulic rod 12 is arranged between the front crawler wheel set and the rear crawler wheel set, when the wheelchair climbs stairs, the hydraulic transmission of the hydraulic rod 12 enables the wheelchair to have a large span between the front crawler wheel set and the rear crawler wheel set, and the crawler wheel sets are convenient to realize the climbing function. Still be equipped with track horizontal rotation device 13 on two track wheelsets of front end, when the front end track wheelset at first reachs the slope top plane, rely on gravity in time to adjust the angle of track wheelset, force track wheelset in time to grab ground, realize steady climbing and fall to the ground. The motor 11 on each crawler wheel set is a variable speed motor, and left and right steering functions and forward and backward functions can be realized through left and right differential. Firm durable track 9 to stride across more complicated obstacle, increase power device on the basis of traditional wheelchair, made things convenient for lower limbs disabled person's independent trip more on the basis of using manpower sparingly.
As shown in figure 3, the utility model discloses an intelligence wheelchair has increased HBR740 voice recognition chip on ordinary wheelchair, will advance earlier during the use, "retreat, turn left, turn right" wait voice command can type in advance in the SPI Flash memory. When the voice receiving module receives an instruction of a user, the MIC converts an acoustic signal into an electric signal, meanwhile, an HBR5A0 controller of the voice converting module sends the electric signal to the single chip microcomputer I through the UART interface, and the VCC end system supplies power to ensure that the single chip microcomputer I continuously inputs specific pulse frequencies of different voice instructions to the motor 11, so that the wheelchair is controlled to turn left, turn right, advance, retreat and the like, and the possibility is provided for people with limb disabilities to use the wheelchair;
as shown in fig. 4, the bluetooth automatic following system can realize automatic following. The automatic bluetooth following system comprises an emitting electrode arranged on the chassis 7, a receiving electrode arranged on the mobile phone, a microcontroller connected with the emitting electrode, and a singlechip II connected with the emitting electrode, wherein the singlechip II is connected with a motor 11 on each crawler wheel group, and when the bluetooth emitting electrode (wheelchair) sends the signals: AT + name, bluetooth receiver (handset) returns: OK + Set (name) at this time, the Bluetooth of the wheelchair is connected with the mobile phone, meanwhile, the emitter (wheelchair) sends PASS008888, and when the receiver inputs 008888, the pairing is successful. When the distance between the Bluetooth emitter and the receiver is kept at 1m, the emitter can receive the address of the receiver and the transmitted data and send the data into the register according to time sequence, and the register is configured to enter a transmitting mode through an MOSI port. The microcontroller raises the pulse frequency through CE, excites the Bluetooth receiving electrode (mobile phone) to carry out an enhanced transmission mode, supplies power to the emitting electrode, transmits data returned by the emitting electrode to the singlechip II through the MISO port, converts the data into the pulse frequency and transmits the pulse frequency to the motor 11, and automatic following is realized. When the automatic following system does not work, the automatic following system enters a standby working mode, and the system works at low level and low voltage through the CSN port and the SCK port, so that the electric quantity of equipment is saved.
The obstacle avoidance system is realized through an ultrasonic sensor and a steering engine I3 together. When the ultrasonic sensor finds that a front obstacle exists, the front obstacle is transmitted to the single chip microcomputer III, and the single chip microcomputer III controls the steering engine I to perform detection at about 60-120 degrees through alternating current pulses of more than 10uS continuously. The ultrasonic sensor is mounted 0.1m-0.3m above the track 9, and when the obstacle is below the upper edge of the track 9, the wheelchair has the ability to ride over the obstacle, and when the obstacle is above the upper edge of the track 9, the ultrasonic sensor is triggered. The ultrasonic sensor is continuously supplied with a pulse trigger signal of more than 10uS by a storage battery. The module will internally emit 8 40kHz cycle levels and detect echoes. And outputting a reverberation signal once the echo signal is detected. The pulse width of the reverberation signal is proportional to the measured distance. The distance can thus be calculated from the time interval from the transmission of the signal to the reception of the echo signal. The ultrasonic sensor is connected to a motor 11 driven by a singlechip III by emitting a specific baud rate, so that the motor stops. Meanwhile, the ultrasonic sensor detects left and right rotation of the steering engine I3 to judge whether obstacles exist on the left and right sides, when the obstacles exist on the left side, the driving motor 11 drives to the right, and when the obstacles exist on the right side, the driving motor 11 drives to the left.
The seat balance system is characterized in that a gravity sensor 6 and a steering engine II are arranged at the lower part of a seat of the wheelchair, so that the wheelchair can be quickly found and kept balanced, and the safety degree of the wheelchair is greatly increased; the gravity sensors 6 are installed at four positions of front, rear, right, and left below the seat 2. When the seat 2 of the wheelchair is inclined, the distances between the gravity sensors 6 in the front direction and the rear direction and the ground are different, so that the single chip IV receives the output data of the gravity sensors 6. The angle through calibration Z axle can be initialized to 0 again after singlechip IV receives data, gives this data transmission the steering wheel II that connects on seat 2 to the angle of torsion makes seat 2 remain horizontal position throughout at the in-process that the wheelchair climbed stair.
Claims (5)
1. An intelligent wheelchair is characterized by comprising a wheelchair mechanical part and an induction control part arranged on the wheelchair mechanical part,
the wheelchair mechanical part comprises a chassis, an integral support arranged at the upper part of the chassis, a seat arranged on the integral support, a seat horizontal adjusting device arranged at the lower part of the seat, and a wheel system arranged at the lower part of the chassis, wherein the wheel system comprises two crawler wheel sets respectively positioned at the left side and the right side of the front end of the chassis, and two crawler wheel sets respectively positioned at the left side and the right side of the rear end of the chassis, the crawler wheel set at the left side of the front end is connected with the crawler wheel set at the left side of the rear end through a hydraulic rod, the crawler wheel set at the right side of the front end is connected with the crawler wheel set at the,
a crawler horizontal rotating device is also arranged on the two crawler wheel sets at the front end of the chassis,
each crawler wheel set comprises two crawler driving wheels, a crawler engaged with the two crawler driving wheels, and a motor connected with the two crawler driving wheels,
the induction control part comprises a voice control system, a Bluetooth automatic following system, an obstacle avoidance system and a seat balance system,
the voice control system comprises a voice receiving module, a voice conversion module connected with the voice receiving module, and a singlechip I connected with the voice conversion module, wherein the singlechip I is connected with a motor on each crawler belt,
the Bluetooth automatic following system comprises an emitting electrode arranged on the chassis, a receiving electrode arranged on the mobile phone, a microcontroller connected with the emitting electrode, and a singlechip II connected with the emitting electrode, wherein the singlechip II is connected with a motor on each track,
the obstacle avoidance system comprises an ultrasonic sensor arranged in front of the chassis, a single chip microcomputer III connected with the ultrasonic sensor, and a steering engine I connected with the single chip microcomputer III, wherein the steering engine I is connected with a motor on each crawler wheel group,
the seat balance system comprises gravity sensors respectively arranged at the front, the rear, the left and the right corners of the lower part of the seat, a singlechip IV connected with the four gravity sensors, and a steering engine II connected with the singlechip IV, wherein the steering engine II is connected with the seat horizontal adjusting device.
2. The intelligent wheelchair as claimed in claim 1, wherein a dust cover is provided on an upper portion of each of the crawler wheel sets.
3. The intelligent wheelchair as claimed in claim 1, wherein the ultrasonic sensor is located 0.1-0.3 m away from the upper edges of the two tracks at the front end.
4. The intelligent wheelchair as claimed in claim 1, wherein the rear track transmission wheel of the track wheel set on the left side of the front end is connected with the front track transmission wheel of the track wheel set on the left side of the rear end through a hydraulic rod.
5. The intelligent wheelchair as claimed in claim 1, wherein the rear track transmission wheel of the front right track wheel set is connected with the front track transmission wheel of the rear right track wheel set through a hydraulic rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920572006.4U CN210138252U (en) | 2019-04-25 | 2019-04-25 | Intelligent wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920572006.4U CN210138252U (en) | 2019-04-25 | 2019-04-25 | Intelligent wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210138252U true CN210138252U (en) | 2020-03-13 |
Family
ID=69728810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920572006.4U Expired - Fee Related CN210138252U (en) | 2019-04-25 | 2019-04-25 | Intelligent wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210138252U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112158269A (en) * | 2020-09-15 | 2021-01-01 | 淮阴工学院 | Folding carrying crawler and using method thereof |
| CN112587325A (en) * | 2020-12-09 | 2021-04-02 | 合肥工业大学 | Intelligent obstacle avoidance self-balancing wheelchair and control system thereof |
-
2019
- 2019-04-25 CN CN201920572006.4U patent/CN210138252U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112158269A (en) * | 2020-09-15 | 2021-01-01 | 淮阴工学院 | Folding carrying crawler and using method thereof |
| CN112587325A (en) * | 2020-12-09 | 2021-04-02 | 合肥工业大学 | Intelligent obstacle avoidance self-balancing wheelchair and control system thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Gao Xin Inventor after: Wu Tong Inventor after: Teng Fei Inventor after: Xiao Yixuan Inventor after: Gao Lushuang Inventor after: Chai Hengyi Inventor after: Ge Xu Inventor after: Li Xue Inventor after: Wang Peichong Inventor before: Gao Xin Inventor before: Xiao Yixuan Inventor before: Gao Lushuang Inventor before: Chai Hengyi Inventor before: Ge Xu Inventor before: Li Xue Inventor before: Wang Peichong |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200313 |