CN216725005U - Intelligent uphill rollover prevention electric wheelchair based on raspberry group - Google Patents
Intelligent uphill rollover prevention electric wheelchair based on raspberry group Download PDFInfo
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- CN216725005U CN216725005U CN202122750386.6U CN202122750386U CN216725005U CN 216725005 U CN216725005 U CN 216725005U CN 202122750386 U CN202122750386 U CN 202122750386U CN 216725005 U CN216725005 U CN 216725005U
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Abstract
The utility model discloses an intelligent anti-climbing rollover electric wheelchair based on a raspberry group, which comprises an electric wheelchair, a high-definition camera, a data processing unit, a loudspeaker, an infrared obstacle avoidance sensor, a raspberry group control system unit, a power system unit and a human-computer interaction screen. The anti-rollover electric wheelchair is characterized in that a high-definition camera and a data processing unit are arranged on the right side handrail of the anti-rollover electric wheelchair, a horn and a man-machine interaction screen are arranged on the left side handrail, infrared obstacle avoidance sensors are arranged on the upper sides of the left front wheel and the right front wheel, and a power system unit and a raspberry group control system unit are arranged below the seat. Power devices on front and rear wheels of the wheelchair are controlled by the raspberry group control system unit, and forward and reverse rotation at different speeds can be achieved, so that the traveling direction of the wheelchair is controlled. Before the electric wheelchair ascends a slope, the ascending angle can be automatically adjusted according to the slope information, so that the electric wheelchair is prevented from side turning over.
Description
Technical Field
The utility model relates to the technical field of electric wheelchairs, in particular to a raspberry group-based intelligent electric wheelchair capable of intelligently preventing side turning by identifying ramp information before an intelligent uphill slope.
Background
Nowadays, the disabled and the old in the society are huge, and the electric wheelchair is quite commonly used and becomes a main walking tool for the disabled and the old. However, the safety of the wheelchair becomes a concern. When the slope of the slope is too high, the wheelchair is difficult to be pushed by a single person to go up the slope; moreover, if the electric wheelchair does not go up a slope in the positive direction, only three wheels of the four wheels of the wheelchair contact the ground at the same time, so that the instability of the center of gravity can cause the wheelchair to roll over. When the equivalent gravity line does not pass through the supporting area formed by the supporting points, the object can topple or turn over. In practice, a person sitting in a wheelchair may move for a variety of reasons to change the overall centre of gravity; when the integral equivalent gravity line is changed to a supporting surface which is not formed by a contact point, the wheelchair can turn over laterally, so that safety accidents are caused.
Therefore, innovative entrepreneurial project personnel provide an intelligent anti-uphill rollover electric wheelchair based on raspberry pies and a control method, so as to solve the problems in the background art.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an intelligent anti-rollover electric wheelchair, which adopts the following technical scheme for achieving the aim: the utility model provides an intelligence prevents electronic wheelchair of turning on one's side of going up slope based on raspberry group, its includes electronic wheelchair, high definition digtal camera and data processing unit, loudspeaker, infrared obstacle sensor, raspberry group control system unit, energy storage driving system unit and human-computer interaction screen, and high definition digtal camera and data processing unit, loudspeaker, infrared obstacle sensor, energy storage driving system unit and human-computer interaction screen all send the control system unit through data line connection raspberry. The power system unit and the raspberry group control system unit are arranged below the seat to reduce the gravity center of the electric wheelchair; a high-definition camera is arranged on a right handrail of the wheelchair and used for detecting ramp information in front of the electric wheelchair, the ramp image data processed by the high-definition camera and the data processing unit are operated on the next step by using an OpenCV real-time image processing and mode recognition program through a raspberry group control system unit, the raspberry group control system unit controls an energy storage power system unit to drive front and rear wheels to rotate, forward and reverse rotation at different speeds is achieved, and then the traveling direction of the wheelchair is controlled. The uphill direction of the electric wheelchair is adjusted to be the vertical direction of the slope surface and the horizontal ground before the electric wheelchair ascends, and then the electric wheelchair moves forward again to finish the uphill so as to prevent the wheelchair rollover accident possibly caused by the electric wheelchair obliquely ascending.
Taking the horizontal ground surface to face the ramp and the right side of the intersection line as an angle calculation starting point, if the angle of the electric wheelchair relative to the intersection line of the ramp and the horizontal ground surface is larger than 92 degrees, the raspberry group control system unit sends a signal to the energy storage power system unit to drive the left wheel to rotate reversely and the right wheel to rotate forwardly, and the upward slope angle of the electric wheelchair is integrally adjusted leftwards, so that the upward slope angle is kept within the range of 88 degrees to 92 degrees; if the angle of the electric wheelchair relative to the intersection line of the ramp and the horizontal ground is smaller than 88 degrees, the raspberry group control system unit sends a signal to the energy storage power system unit to drive the left wheel to rotate forwards and the right wheel to rotate backwards, and the upward slope angle of the electric wheelchair is integrally adjusted rightwards, so that the upward slope angle is kept within the range of 88 degrees to 92 degrees.
As a preferred technical scheme of the intelligent anti-uphill rollover electric wheelchair based on the Raspberry group, the Raspberry group control system unit is Raspberry Pi 4B, and the system on chip is Broadcom BCM 2711. The wireless communication module, the Bluetooth module and the low-power-consumption Bluetooth module are integrated, and the local area network communication between the mobile terminal and the electric wheelchair is realized.
As a preferred technical scheme of the intelligent anti-uphill and rollover electric wheelchair based on the raspberry pi, the image data processing in the high-definition camera and the data processing unit extracts road surface features collected in the high-definition camera based on Hough transform in OpenCV.
As a preferred technical scheme of the intelligent anti-climbing and anti-rollover electric wheelchair based on the raspberry group, a steering engine drives front and rear wheels of the electric wheelchair to rotate in the power energy storage system, and the accurate steering of the wheelchair is ensured through the accurate rotation of the steering engine.
As the preferred technical scheme of the intelligent anti-uphill and rollover electric wheelchair based on the raspberry pie, energy supply equipment in the power energy storage system is a lithium iron phosphate battery, and the intelligent anti-uphill and rollover electric wheelchair is still very stable and safe under the condition of improving energy density.
The utility model relates to an intelligent anti-climbing rollover electric wheelchair based on a raspberry pie, which is characterized in that: the infrared obstacle sensor of keeping away of right side and the infrared obstacle sensor's of keeping away of left side module be infrared geminate transistors module, this modular unit is fixed in the left and right front wheel top of electronic wheelchair for the barrier of real-time supervision left and right front direction.
As a preferred technical scheme of the intelligent anti-uphill side-turn electric wheelchair based on the raspberry group, related programs are embedded in the human-computer interaction system, and human-computer interaction functions such as controlling the operation of the wheelchair, checking the electric quantity state of the wheelchair, turning on and off an uphill auxiliary system and the like can be realized.
Compared with the prior art, the utility model provides the intelligent anti-climbing and anti-rollover electric wheelchair based on the raspberry pie, which has the following beneficial effects.
The slope ascending angle of the electric wheelchair is integrally adjusted leftwards or rightwards, so that the problem of rollover accidents of the electric wheelchair, which may occur when a patient does not set the wheelchair to incline upwards, is solved, and the wheelchair is simple in structure, safe and reliable; the device can be easily applied to other medical manned instruments, large heavy vehicles and the like, and the safety of users and carriers in the process of ascending slopes is ensured.
Drawings
Fig. 1 is a control structure diagram of an intelligent anti-uphill side-turning electric wheel based on a raspberry pie.
Fig. 2 is a structural schematic diagram of an intelligent electric wheelchair for preventing uphill side turnover based on a raspberry group.
Fig. 3 is a schematic diagram of a part of circuit connection of a raspberry group control system unit of the intelligent anti-uphill side-turning electric wheelchair based on the raspberry group.
In the figure, 1, an electric wheelchair, 2, an energy storage power system unit, 3, a raspberry group control system unit, 4, a loudspeaker, 5, a man-machine interaction screen, 6, a right-side infrared obstacle avoidance sensor, 7, a left-side infrared obstacle avoidance sensor, 8, a direction control rocker, 9, a high-definition camera and a data processing unit are arranged.
Detailed Description
The preferred embodiments described herein are illustrative and explanatory of the utility model, but are not restrictive thereof, as further described below in conjunction with the appended drawings and examples of the utility model.
As shown in fig. 2, the utility model provides a technical scheme of an intelligent anti-climbing rollover electric wheelchair based on raspberry pies, which comprises the following steps: the utility model provides an intelligence prevents electronic wheelchair of upslope side tumbling based on raspberry group, it includes electronic wheelchair 1, high definition digtal camera and data processing unit 9, loudspeaker 4, the infrared obstacle sensor 7 of keeping away in left side, the infrared obstacle sensor 6 of keeping away in right side, raspberry group control system unit 3, energy storage power system unit 2 and human-computer interaction screen 5. The anti-rollover electric wheelchair reduces the gravity center of the electric wheelchair by arranging the energy storage power system unit 2 and the raspberry group control system unit 3 below the seat; a high-definition camera and a data processing unit 9 are arranged on the right handrail of the electric wheelchair and used for detecting and processing ramp information in front of the electric wheelchair 1, and the raspberry group control system unit 3 controls the energy storage power system unit 2 to drive the front wheels and the rear wheels to rotate according to the ramp information, so that positive and negative rotation at different speeds is realized, and the traveling direction of the electric wheelchair 1 is further controlled.
The utility model discloses a raspberry group-based intelligent uphill rollover prevention electric wheelchair, which is realized by an uphill auxiliary function and comprises the following operation processes:
step 1: the high-definition camera and the data processing unit on the right armrest of the electric wheelchair detect the current position environment of the wheelchair, and if a front road is detected to have a slope, the patient is informed through the sounding of the loudspeaker on the left armrest of the electric wheelchair.
Step 2: if the patient needs to use the auxiliary uphill function, the auxiliary uphill function is started through a man-machine interaction screen above the left side handrail of the electric wheelchair.
Step 3: the high-definition camera and the data processing unit sense the environment in front of the electric wheelchair, and the raspberry dispatching control system unit uses an OpenCV real-time image processing and mode recognition program to perform the next operation on the ramp image data processed by the high-definition camera and the data processing unit. If the angle of the electric wheelchair relative to the intersection line of the ramp and the horizontal ground is larger than 92 degrees (the right side of the intersection line is taken as an angle calculation starting point when the horizontal ground faces the ramp), the raspberry group control system unit sends a signal to the energy storage power system unit to drive the left wheel to rotate reversely and the right wheel to rotate forwardly, and the upward slope angle of the electric wheelchair is integrally adjusted leftwards, so that the upward slope angle is kept within the range of 88 degrees to 92 degrees; if the angle of the electric wheelchair relative to the intersection line of the ramp and the horizontal ground is smaller than 88 degrees, the raspberry group control system unit sends a signal to the energy storage power system unit to drive the left wheel to rotate forwards and the right wheel to rotate backwards, and the upward slope angle of the electric wheelchair is integrally adjusted rightwards, so that the upward slope angle is kept within the range of 88 degrees to 92 degrees.
Step 4: after the uphill angle of the electric wheelchair is adjusted, the energy storage power system unit drives the front wheel and the rear wheel to rotate forwards at the same time, and the wheelchair starts to ascend uphill.
Step 5: in the process of ascending, the right infrared obstacle avoidance sensor and the left infrared obstacle avoidance sensor can monitor whether obstacles exist on the left side and the right side of the electric wheelchair in real time to judge whether the wheelchair deviates to advance. If the direction is biased to advance, the user is informed through the horn that manual adjustment is performed through the direction control remote lever.
In the present novel example, the main body frame of the electric wheelchair 1 is hollow.
In the present novel example, reference is made to fig. 1 and 3. Fig. 1 is a control structure diagram of a Raspberry Pi based intelligent anti-rollover electric wheel according to an example of the present invention, where the Raspberry Pi control system unit 3 is Raspberry Pi 4B, the operating system is a Linux based on-chip system Broadcom BCM2711 including 4 CPU cores of 1.5GHz CortexA72, and fig. 3 is a partial circuit connection diagram of the Raspberry Pi control system unit according to an example of the present invention, which includes an audio/video interface module, a GPIO module, an SD card module, a USB interface module, and the like. The Raspberry Pi 4B integrated wireless, Bluetooth and low-power-consumption Bluetooth modules can support remote communication of the electric wheelchair 1 under a local area network, control requirements are transmitted to the electric wheelchair 1 or the running condition of the electric wheelchair 1 is sent to a mobile terminal, so that the functions of receiving and sending information to the wheelchair in real time are realized, and therefore a guardian of a user can know the user condition in real time and make reasonable wheelchair control under necessary conditions.
In the present novel example, the high-definition camera and data processing unit 9 is connected to the raspberry pi control system unit 3 through a data line; the loudspeaker is connected with the raspberry group control system unit 3 through a data line; the left infrared obstacle avoidance sensor 7 and the right infrared obstacle avoidance sensor 6 are connected with the raspberry group control system unit 3 through data lines; the man-machine interaction screen 5 is connected with the raspberry pi control system unit 3 through a data line; the energy storage power system is connected with the raspberry group control system unit through a data line; the data lines are all wired through the hollow part of the support structure of the electric wheelchair 1, so that the data lines are not directly exposed outside to affect the appearance.
The working principle is as follows: according to the electric wheelchair capable of intelligently preventing the uphill side turnover, the high-definition camera in the high-definition camera and data processing unit 9 captures the position information and the front slope information of the electric wheelchair 1, relevant information is transmitted to the raspberry dispatching control system unit 3 through a data line, and the raspberry dispatching control system unit 3 displays a processing result on the man-machine interaction screen 5 through the data line and receives an instruction input by a user. If the uphill auxiliary function is started, the raspberry group control system unit 3 processes the ramp information and generates steering engine control information, and the steering engine control information is transmitted to the energy storage power system unit 2 through a data line. The energy storage power system unit 2 starts to operate to drive the steering engine and accurately control the steering engine according to steering engine control information, so that reasonable steering in front of a ramp is realized, and rollover accidents possibly caused by the fact that the electric wheelchair 1 inclines upwards are prevented.
It should be noted that in the description of the present invention, the angle is described as starting from the horizontal ground surface facing the ramp, and the right side of the intersection line of the ramp and the horizontal ground surface is used as the angle calculation. And these angles are merely for convenience in describing the utility model and for simplicity in description, and do not indicate or imply that a particular orientation or arrangement of elements or devices is necessary, and therefore should not be taken as limiting the utility model.
The present invention is described above with reference to the accompanying drawings, and it is obvious that the embodiments of the present invention are not limited to the above-described embodiments, and that the present invention is within the scope of the present invention, as long as the insubstantial modifications of the method concept and technical solution of the present invention are adopted or the concept and technical solution of the present invention are directly applied to other occasions without the modifications.
Claims (8)
1. The utility model provides an electronic wheelchair of turning on one's side of preventing going up a slope of intelligence based on raspberry group which characterized in that: the electric wheelchair comprises an electric wheelchair (1), an energy storage power system unit (2), a raspberry group control system unit (3), a loudspeaker (4), a man-machine interaction screen (5), a right infrared obstacle avoidance sensor (6), a left infrared obstacle avoidance sensor (7), a direction control rocker (8), a high-definition camera and a data processing unit (9), wherein the loudspeaker (4) and the man-machine interaction screen (5) are arranged on a left handrail of the electric wheelchair (1), the direction control rocker (8) and the high-definition camera and data processing unit (9) are arranged on a right handrail of the electric wheelchair (1), the energy storage power system unit (2) and the raspberry group control system unit (3) are installed below a seat of the electric wheelchair (1), the left infrared obstacle avoidance sensor (7) and the right infrared obstacle avoidance sensor (6) are respectively arranged above a left front wheel and a right front wheel of the electric wheelchair (1), the high-definition camera, the data processing unit, the loudspeaker, the infrared obstacle avoidance sensor, the energy storage power system unit and the man-machine interaction screen are all connected with the raspberry group control system unit through data lines.
2. The raspberry pi based intelligent uphill rollover prevention electric wheelchair of claim 1, wherein: the Raspberry Pi 4B control system unit (3) integrates wireless communication, Bluetooth and a low-power Bluetooth module.
3. The raspberry pi based intelligent uphill rollover prevention electric wheelchair of claim 1, wherein: the image data processing in the high-definition camera and data processing unit (9) extracts the road surface features collected in the high-definition camera by using Hough transform based on OpenCV.
4. The raspberry pi based intelligent uphill rollover prevention electric wheelchair of claim 1, wherein: the energy storage power system unit (2) drives the front wheels and the rear wheels of the electric wheelchair to rotate, and steering of the wheelchair is guaranteed through accurate rotation of the steering engine.
5. The raspberry pi based intelligent uphill rollover prevention electric wheelchair of claim 1, wherein: and energy supply equipment in the energy storage power system unit (2) is a lithium iron phosphate battery.
6. The raspberry pi based intelligent uphill rollover prevention electric wheelchair of claim 1, wherein: and the modules of the right infrared obstacle avoidance sensor (6) and the left infrared obstacle avoidance sensor (7) are infrared geminate transistor modules and are used for monitoring obstacles in the left front direction and the right front direction in real time.
7. The raspberry pi based intelligent uphill rollover prevention electric wheelchair of claim 1, wherein: the man-machine interaction screen (5) is used for operating the operation of the electric wheelchair, checking the electric quantity state of the wheelchair and opening and closing the switch of the uphill auxiliary system.
8. The raspberry pi based intelligent uphill rollover prevention electric wheelchair of claim 2, wherein: the Bluetooth module of the raspberry group control system unit (3) supports remote communication of the electric wheelchair (1) under a local area network, control requirements are transmitted to the electric wheelchair (1), or the running condition of the electric wheelchair (1) is sent to the mobile terminal, so that remote real-time communication between the mobile terminal and the electric wheelchair (1) is realized.
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| CN202122750386.6U CN216725005U (en) | 2021-11-11 | 2021-11-11 | Intelligent uphill rollover prevention electric wheelchair based on raspberry group |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024017034A1 (en) * | 2022-07-22 | 2024-01-25 | 松灵机器人(深圳)有限公司 | Route planning method and device, mowing robot, and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024017034A1 (en) * | 2022-07-22 | 2024-01-25 | 松灵机器人(深圳)有限公司 | Route planning method and device, mowing robot, and storage medium |
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