CN215020758U

CN215020758U - Intelligent wheelchair capable of automatically positioning and returning

Info

Publication number: CN215020758U
Application number: CN202120650031.7U
Authority: CN
Inventors: 王北一; 欧阳湛锋; 王瑞
Original assignee: Guangdong Vocational and Technical College
Current assignee: Guangdong Vocational and Technical College
Priority date: 2021-03-30
Filing date: 2021-03-30
Publication date: 2021-12-07
Anticipated expiration: 2031-03-30

Abstract

The present application relates to an intelligent wheelchair that can be automatically positioned and repositioned. The utility model provides an intelligent wheelchair that can automatic positioning and playback includes: the chair comprises a chair body, a rear wheel assembly, a front wheel assembly, a driving motor, a steering motor, a power supply, a control assembly and a Bluetooth beacon with a specific identifier; the rear wheel assembly is arranged at the rear part of the chair body; the front wheel assembly is arranged at the front part of the chair body; the control assembly is arranged on the chair body and comprises a Bluetooth communication module, a controller, a map storage module and a processor; the power supply is arranged on the chair body; the driving motor, the steering motor and the control assembly are respectively electrically connected with the power supply; the plurality of Bluetooth beacons are distributed and connected with the Bluetooth communication module in a wireless communication mode. The intelligent wheelchair capable of automatically positioning and returning has the advantage of being convenient for automatic returning.

Description

Intelligent wheelchair capable of automatically positioning and returning

Technical Field

The present application relates to wheelchairs, and more particularly to intelligent wheelchairs that may be automatically positioned and repositioned.

Background

When the wheelchair is rented during hospitalizing, the patient can borrow the wheelchair only by handling registration in a relevant department of a hospital in a traditional mode, the number of the wheelchairs in the hospital is limited, the wheelchair can not be borrowed at any time, and the wheelchair renting is not convenient for the patient due to the limitation of working hours of workers. The shared wheelchair is provided, the condition that the wheelchair is not enough for the hospital to provide is relieved, and the wheelchair can be borrowed and returned at the same time. However, the existing shared wheelchair cannot be automatically returned for various reasons, and thus the convenience of use is affected. The wheelchair is often manually returned to be stored, so that the use obstacles of medical personnel are increased, and the wheelchair is inconvenient to share.

SUMMERY OF THE UTILITY MODEL

Based on this, the purpose of this application is to provide can automatic positioning and intelligent wheelchair of playback, and it has convenient automatic advantage of playback.

One aspect of the application provides an intelligent wheelchair capable of automatically positioning and returning, which comprises a chair body, a rear wheel assembly, a front wheel assembly, a driving motor, a steering motor, a power supply, a control assembly and a Bluetooth beacon with a specific identifier;

the rear wheel assembly is arranged at the rear part of the chair body, and the driving motor is arranged on the chair body and is rotationally connected with the rear wheel assembly;

the front wheel assembly is arranged at the front part of the chair body, and the steering motor is arranged on the chair body and is rotationally connected with the front wheel assembly;

the control assembly is arranged on the chair body and comprises a Bluetooth communication module, a controller, a map storage module and a processor, and the Bluetooth communication module and the processor are respectively and electrically connected with the controller; the map storage module is electrically connected with the processor;

the power supply is arranged on the chair body; the driving motor, the steering motor and the control assembly are respectively electrically connected with the power supply;

the plurality of Bluetooth beacons are distributed and connected with the Bluetooth communication module in a wireless communication mode.

This application but intelligent wheelchair of automatic positioning and playback, through setting up a plurality of bluetooth beacons, then carry out the equipartition along the map of setting for with a plurality of bluetooth beacons, perhaps a plurality of bluetooth beacons are placed along established mode of putting, an interval determining interval between two adjacent bluetooth beacons to, every bluetooth beacon all has specific serial number and ID information. In the map storage module, the site information in the hospital is preset and stored, a two-dimensional plane map is generated, the position of each Bluetooth beacon is recorded in the map, and a set walking route is set.

The Bluetooth communication module is arranged on the chair body and used for receiving Bluetooth signals and is always in an on state, and each Bluetooth beacon is also in the on state. The Bluetooth communication module detects and senses the signal intensity of the surrounding Bluetooth beacons, calculates the current position of the chair body through a self-contained algorithm, and judges the current position of the chair body by combining preset map information. Then, according to the set walking route, the walking vehicle moves forwards under the driving of the driving motor, and the steering motor is used for adjusting the direction. Eventually, the wheelchair reaches a given resting point. The structure form of the application does not need to provide large power and has the function of energy saving; on the other hand can use under indoor environment, fixes a position convenient and fast, is applicable to the scene of hospital.

Further, the range radar is arranged on the chair body and electrically connected with the processor.

The intelligent chair further comprises a camera, wherein the camera is installed on the chair body, the camera shooting range of the camera is towards the front of the chair body, and the camera shooting range is electrically connected with the processor.

Further, the steering motor is connected with the front wheel assembly through a speed reducer.

Furthermore, the front wheel assembly comprises two universal wheels which are independently arranged, and the two universal wheels are respectively arranged on two sides of the chair body;

the steering motor is connected with one universal wheel through the speed reducer in a rotating mode.

Further, the distance between any two bluetooth beacons is 10 m.

Further, still include GPRS communication module and WIFI transmission module, GPRS communication module and WIFI transmission module install respectively on the chair body, and respectively with the controller electricity is connected.

Furthermore, the bicycle seat further comprises a brake, wherein the brake is arranged on the seat body and is rotatably connected with the rear wheel assembly.

Further, the power source is a rechargeable battery.

Further, still include wheelchair stake and hasp, the hasp is installed on the chair body, the chair body pass through the hasp with wheelchair stake buckle is connected.

For a better understanding and practice, the present application is described in detail below with reference to the accompanying drawings.

Drawings

FIG. 1 is a perspective view of an exemplary self-positioning and homing smart wheelchair of the present application;

FIG. 2 is a schematic perspective view of another perspective view of an exemplary smart wheelchair capable of being automatically positioned and repositioned in accordance with the present disclosure;

fig. 3 is a schematic view illustrating an operation principle of an exemplary intelligent wheelchair capable of being automatically positioned and parked according to the present application.

Detailed Description

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the present application. In the description of the present application, "a plurality" means two or more unless otherwise specified.

FIG. 1 is a perspective view of an exemplary self-positioning and homing smart wheelchair of the present application; fig. 2 is a perspective view of another perspective view of an exemplary smart wheelchair capable of being automatically positioned and returned according to the present application. Fig. 3 is a schematic view illustrating an operation principle of an exemplary intelligent wheelchair capable of being automatically positioned and parked according to the present application.

Referring to fig. 1 and 2 in combination with fig. 3, an exemplary smart wheelchair capable of automatic positioning and homing of the present application includes a body 10, a rear wheel assembly 21, a front wheel assembly 31, a driving motor 22, a steering motor 32, a power source 40, a control assembly 50, and a bluetooth beacon 60 with a specific identifier;

the rear wheel assembly 21 is mounted at the rear part of the chair body 10, and the driving motor 22 is mounted on the chair body 10 and is rotatably connected with the rear wheel assembly 21;

the front wheel assembly 31 is installed at the front part of the chair body 10, and the steering motor 32 is installed on the chair body 10 and is rotationally connected with the front wheel assembly 31;

the control assembly 50 is mounted on the chair body 10, the control assembly 50 includes a bluetooth communication module (not shown), a controller (not shown), a map storage module (not shown), and a processor (not shown), and the bluetooth communication module and the processor are respectively electrically connected with the controller; the map storage module is electrically connected with the processor;

the power supply 40 is mounted on the chair body 10; the driving motor 22, the steering motor 32 and the control component 50 are electrically connected with the power supply 40 respectively;

the plurality of bluetooth beacons 60 are distributed and wirelessly connected to the bluetooth communication module.

The intelligent wheelchair capable of automatically positioning and returning is provided with a plurality of Bluetooth beacons 60, the plurality of Bluetooth beacons 60 are uniformly distributed along the set map, or the plurality of Bluetooth beacons 60 are placed along the set placing mode, a certain interval is reserved between every two adjacent Bluetooth beacons 60, and each Bluetooth beacon 60 has specific serial numbers and ID information. In the map storage module, site information in the hospital is preset and stored, a two-dimensional plane map is generated, the position of each bluetooth beacon 60 is recorded in the map, and a set walking route is set. The bluetooth communication module is disposed on the chair body 10, and is used for receiving bluetooth signals and always in an on state, and each bluetooth beacon 60 is also in an on state. The bluetooth communication module detects and senses the signal intensity of the surrounding bluetooth beacons 60, calculates the current position according to the algorithm of the bluetooth communication module, and determines the current position of the chair body 10 according to the preset map information. Then, the vehicle travels by the driving motor 22 according to the predetermined traveling route, and the steering motor 32 is used to adjust the direction. Eventually, the wheelchair reaches a given resting point. The structure form of the application does not need to provide large power and has the function of energy saving; on the other hand can use under indoor environment, fixes a position convenient and fast, is applicable to the scene of hospital.

In some preferred embodiments, a range radar (not shown) is further included and is mounted to the seat body 10 and electrically connected to the processor. The distance measuring radar is mainly used for judging whether a person is in front or not or whether an obstacle is in front or not in the process of walking of the chair body 10 so as to adjust or change a walking route and ensure smooth walking.

In some preferred embodiments, the wheelchair further comprises a camera 70, wherein the camera 70 is mounted on the chair body 10, the camera range of the camera is towards the front of the chair body 10, and the camera 70 is electrically connected with the processor. The camera 70 is used for shooting a sample sheet in front of the walking direction, then combining a plurality of sample sheets, and obtaining an object contour signal after being processed by the processor, so as to judge whether an obstacle exists on the walking route, and when the walking route has an obstacle, the walking route is adjusted. Even, when the chair body 10 reaches the designated parking position, the camera 70 shoots the sample to determine whether nearby obstacles exist and whether the chair body is put in place, and even the position of the chair body can be adjusted in an auxiliary manner.

In some preferred embodiments, the steering motor 32 is connected to the front wheel assembly 31 through a speed reducer. The arrangement of the speed reducer can ensure the accuracy of rotation.

In some preferred embodiments, the front wheel assembly 31 includes two independently provided universal wheels, and the two universal wheels are respectively installed at both sides of the chair body 10;

the steering motor 32 is rotatably connected to one of the universal wheels through the speed reducer.

In some preferred embodiments, any two of the bluetooth beacons 60 are spaced apart by 10 m. The fixed distance is set, so that the judgment of the Bluetooth beacon 60 is accurate and the positioning is accurate.

In some preferred embodiments, the multifunctional wheelchair further comprises a GPRS communication module and a WIFI transmission module, wherein the GPRS communication module and the WIFI transmission module are respectively installed on the chair body 10 and are respectively electrically connected with the controller. The GPRS communication module is used for remote data communication and can transmit data to the cloud. The WIFI transmission module can be used for assisting positioning and data transmission of a WIFI transmission mode. Thus, the walking information and the operation state of the chair body 10 can be known through the mobile terminal. Meanwhile, the operation adjustment can be carried out through the mobile terminal, and the mobile terminal sends a control signal to the controller and then controls the corresponding operation adjustment.

In some preferred embodiments, a brake 80 is further included, and the brake 80 is mounted on the seat body 10 and is rotatably connected to the rear wheel assembly 21. The brake 80 is used for brake control of the seat body 10.

In some preferred embodiments, the power source 40 is a rechargeable battery. The power source 40 may be charged while parked.

In some preferred embodiments, the wheelchair further comprises a wheelchair pile (not shown) and a latch (not shown), the latch is mounted on the seat body 10, and the seat body 10 is connected with the wheelchair pile in a snap-fit manner through the latch. The chair body 10 is locked with the wheelchair pile through the lock catch, and then the power supply 40 can be charged through the charging device on the wheelchair pile. Further, the wheelchair pile is provided with a two-dimensional code, and the corresponding lock catch can be unlocked by scanning the specific two-dimensional code, so that the corresponding chair body 10 and the wheelchair pile can be unlocked.

In some preferred embodiments, the drive motor 22 is a servo motor. The servo motor has higher precision, thereby ensuring the accuracy of movement.

The working principle of the intelligent wheelchair capable of automatically positioning and returning is as follows:

the method comprises the steps of presetting a use scene map of the hospital and storing map information in a map storage module. Moreover, a plurality of bluetooth beacons 60 are installed and placed, the distance between two adjacent bluetooth beacons 60 is the same, and each bluetooth beacon 60 has specific identity information and a specific ID number; the location and number of each bluetooth beacon 60 is stored in the map storage module.

In order to ensure the use accuracy, the intelligent wheelchair capable of automatically positioning and returning is only suggested to be arranged and used on one floor.

The sweep yard borrows the sharing wheelchair, and the chair body 10 is separated with the wheelchair stake. After the wheelchair is used, the wheelchair can be placed at any position of the same floor of the wheelchair pile. At this time, the human body leaves the wheelchair, the bluetooth transmission module operates to recognize and detect the signals of the surrounding bluetooth beacons 60, and only the signals of the bluetooth beacons 60 are detected and judged. According to the set information, the position of the corresponding Bluetooth beacon 60 is calculated, so that the current position of the chair body 10 is judged, and then the walking route reaching the designated parking point is calculated by combining the scene information of the map.

In the process of advancing of the wheelchair, the condition of the obstacle in front is judged through the ranging radar, the walking direction and the position are adjusted, and the obstacle is bypassed. If the number of pedestrians is large, the vehicle is parked and waits for the few pedestrians to move forward.

During the walking process of the wheelchair, the rear wheel assembly 21 is driven to move forwards or backwards through the driving motor 22, and the front wheel assembly 31 is driven to adjust the advancing direction through the steering motor 32.

When the predetermined parking point is finally reached, the parking position of the proof section photographed by the camera 70 is judged to be appropriate or not, so that the adjustment can be made.

Referring to the example of fig. 3, the current position a of the chair body 10 is obtained by detecting and judging the bluetooth beacon 60, and a corresponding route is planned to obtain the walking route L, which bypasses the obstacle M, and finally reaches the preset destination B. The shape and the placing position of the barrier M are arbitrary.

The intelligent wheelchair capable of being automatically positioned and returned can realize accurate positioning and automatic judgment of a walking route, so that returning of the wheelchair is facilitated, returning and settlement can be carried out through the mobile terminal after the wheelchair is used, and the wheelchair can be automatically returned and returned, so that the intelligent wheelchair is more convenient to use.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application.

Claims

1. An intelligent wheelchair capable of being automatically positioned and returned is characterized in that: the multifunctional chair comprises a chair body, a rear wheel assembly, a front wheel assembly, a driving motor, a steering motor, a power supply, a control assembly and a Bluetooth beacon with a specific identifier;

2. The intelligent auto-positionable and repositionable wheelchair of claim 1, wherein: the range radar is installed on the chair body and is electrically connected with the processor.

3. The intelligent auto-localizable and homing wheelchair of claim 2, wherein: the intelligent chair is characterized by further comprising a camera, wherein the camera is mounted on the chair body, the camera shooting range of the camera faces to the front of the chair body, and the camera shooting range is electrically connected with the processor.

4. The intelligent auto-localizable and homing wheelchair of claim 3, wherein: the steering motor is connected with the front wheel assembly through a speed reducer.

5. The intelligent auto-localizable and homing wheelchair of claim 4, wherein: the front wheel assembly comprises two universal wheels which are independently arranged, and the two universal wheels are respectively arranged on two sides of the chair body;

6. The intelligent auto-localizable and homing wheelchair of any one of claims 1-5, wherein: the distance between any two Bluetooth beacons is 10 m.

7. The intelligent auto-positionable and repositionable wheelchair of claim 6, wherein: still include GPRS communication module and WIFI transmission module, GPRS communication module and WIFI transmission module install respectively on the chair body, and respectively with the controller electricity is connected.

8. The intelligent auto-positionable and repositionable wheelchair of claim 6, wherein: the brake is arranged on the chair body and is rotatably connected with the rear wheel assembly.

9. The intelligent auto-positionable and repositionable wheelchair of claim 6, wherein: the power supply is a rechargeable battery.

10. The intelligent auto-localizable and homing wheelchair of any one of claims 1-5, wherein: the wheelchair comprises a wheelchair body and is characterized by further comprising a wheelchair pile and a lock catch, wherein the lock catch is installed on the wheelchair body, and the wheelchair body is connected with the wheelchair pile through the lock catch in a buckling mode.