CN219680970U - Intelligent recovery wheelchair based on Internet of things - Google Patents

Abstract

The utility model provides an intelligent rehabilitation wheelchair based on the Internet of things, which comprises a vehicle body, a battery, a walking and steering motor, an operating device, an intelligent control device with a built-in wireless data transmission unit, a positioning system, a tracking navigation system and a falling detection system, wherein the intelligent control device is used for controlling the vehicle body to move along with the walking and steering motor; the battery, the walking and steering motor, the operating device and the intelligent control device are all arranged on the vehicle body and are electrically connected with each other; the positioning system acquires the position coordinates of the vehicle body through a wireless data transmission unit; the tracking navigation system calculates the position deviation amount according to the set or stored path movement information and the position coordinates of the vehicle body and sends a control instruction to the control device so as to control the driving of the driving wheel and the follow-up steering wheel by the walking motor and the steering motor; the falling detection system detects an operation included angle between the vehicle body and the vertical direction and a descending acceleration of a part of the vehicle body so as to judge the state of the vehicle body, and if the vehicle body is judged to fall, the operation is stopped and falling information is sent; therefore, the wheelchair can realize the functions of positioning, automatic travelling and falling detection.

Description

Intelligent recovery wheelchair based on Internet of things

Technical Field

The utility model relates to the technical field of medical equipment, in particular to an intelligent rehabilitation wheelchair based on the Internet of things.

Background

The wheelchair provides convenience for people with inconvenient movement, and the performance of the wheelchair is always improved from a manual wheelchair to an electric wheelchair. However, whether a manual wheelchair or an electric wheelchair is too single in control mode, the wheelchair still moves along the mode controlled by manpower, a control lever or a key, and the wheelchair itself has only an electric drive function and lacks of intelligence. For some users with poor self-care ability and inconvenient movement, the users are difficult to operate a common wheelchair, and rescue information is difficult to send out in time when abnormal conditions such as falling and the like occur in the wheelchair. Moreover, the electric wheelchair is relatively single in control system, and cannot realize information communication with third party equipment such as intelligent mobile equipment and medical monitoring equipment, so that the third party cannot know the real-time state of the wheelchair and a user, and the user is difficult to cares in a close fit manner. Therefore, how to design an intelligent wheelchair suitable for users with poor self-care ability and inconvenient movement to control and detect accidents (such as falling of the wheelchair) has become one of the technical problems to be solved in the art.

Disclosure of Invention

The utility model aims to solve the technical problem of providing an intelligent wheelchair which is suitable for users with poor self-care ability and inconvenient movement to operate and control conveniently and can detect accidents.

In order to solve the technical problems, the utility model provides an intelligent rehabilitation wheelchair based on the Internet of things, which comprises the following components: the intelligent vehicle comprises a vehicle body, a battery, a traveling motor, a steering motor, an operating device and an intelligent control device; wherein, the battery is arranged on the vehicle body; the travelling motor is also arranged on the vehicle body and is electrically connected with the battery, and the travelling motor is in driving connection with a pair of driving wheels at the rear part of the vehicle body; the steering motor is also arranged on the vehicle body and is electrically connected with the battery, and the steering motor is in driving connection with a pair of follow-up steering wheels at the front part of the vehicle body; the operating device is arranged on the vehicle body and is adjacent to the handrail of the vehicle body, and the operating device is electrically connected with the battery, the traveling motor and the steering motor; the user controls the control device to drive the walking motor to drive the pair of driving wheels to rotate forwards or backwards and drive the steering motor to drive the pair of follow-up steering wheels to left or right; the intelligent control device is arranged on the vehicle body and is electrically connected with the battery and the operating device, and a wireless data transmission unit, a positioning system, a tracking navigation system and a falling detection system are arranged in the intelligent control device; the positioning system acquires the position coordinates of the vehicle body through a wireless data transmission unit; the tracking navigation system calculates the position deviation amount according to the set or stored path movement information and the position coordinates of the vehicle body acquired by the positioning system and sends a control instruction to the control device so as to control the driving of the driving wheel and the follow-up steering wheel by the walking motor and the steering motor; the falling detection system detects the running included angle between the vehicle body and the vertical direction and the falling acceleration of one part of the vehicle body in the vertical direction so as to judge whether the vehicle body falls down, if so, the intelligent recovery wheelchair stops running, and falling information is sent. Therefore, the intelligent rehabilitation wheelchair can accurately position the position coordinates of the vehicle body through the wireless data transmission unit and the positioning system in the intelligent control device, so that the tracking navigation system in the intelligent control device can automatically control the operating device according to the coordinate data of the vehicle body position, and a user with poor self-care ability and inconvenient actions can conveniently control the intelligent rehabilitation wheelchair; and when the intelligent rehabilitation wheelchair has accidents such as falling of the vehicle body, the falling detection system in the intelligent control device can timely detect the falling of the vehicle body, timely stop the running of the intelligent rehabilitation wheelchair and send falling information to prompt rescue.

As another implementation of the present utility model, the fall detection system includes at least one gyroscope and at least one acceleration sensor, and the gyroscope and the acceleration sensor are installed in the armrest; the gyroscope can detect the running included angle between the vehicle body and the vertical direction; the acceleration sensor can detect the descending acceleration of the armrest in the vertical direction; when the detected running included angle is larger than a set falling included angle and the falling acceleration is larger than a set falling acceleration, the falling detection system judges that the vehicle body falls, and at the moment, the falling detection system sends a stop instruction to the operating device to stop running of the running motor and the steering motor, and sends falling information to the vehicle body warning unit or the outside through the wireless data transmission unit.

As another implementation of the present utility model, the intelligent control device is further built with an obstacle detection system; the obstacle detection system comprises a plurality of ranging sensors; the distance measuring sensors are respectively arranged at the periphery and the top of the vehicle body so as to detect the distance between the vehicle body and surrounding objects in the running process; when the distance is smaller than a dangerous distance, the obstacle detection system sends an adjusting instruction to the operating device so as to adjust the running state of the vehicle body. Therefore, collision of the vehicle body with surrounding objects during running can be avoided, and running safety of the vehicle body is improved.

As another implementation of the utility model, the intelligent control device is also internally provided with a health monitoring system; the health monitoring system consists of a heart rate sensor, a blood pressure sensor, a body temperature sensor, a pressure sensor and a temperature and humidity sensor; wherein the heart rate sensor, the blood pressure sensor and the body temperature sensor are used for monitoring the heart rate, the blood pressure and the body temperature of a user; the pressure sensor and the temperature and humidity sensor are embedded in a cushion of the car body; the heart rate sensor, the blood pressure sensor, the body temperature sensor, the pressure sensor and the temperature and humidity sensor can perform data transmission with the intelligent control device in a wired or wireless mode. Therefore, the intelligent control device can acquire heart rate, blood pressure and body temperature data of the user, sitting posture and incontinence data of the user in real time, so as to assist medical care, families and monitoring centers to monitor the health condition of the user remotely.

As another implementation of the present utility model, the intelligent control device further has a touch display; the touch display can display the position coordinates and path movement information of the vehicle body, and a user can set the path movement information to the tracking navigation system through the touch display, so that the user can know the current position information and the traveling information conveniently, and can set an automatic traveling path conveniently; in addition, the intelligent control device can also carry out data communication with intelligent facilities in the smart city through the wireless data transmission unit so as to receive information of weather forecast, traffic light changing interval, public transportation means waiting time, shopping among malls and medical institutions and display the information through the touch display.

As another implementation of the present utility model, the driving wheel is provided with a speed sensor and is electrically connected with the intelligent control device; the speed sensor can detect the travelling speed of the vehicle body and display the travelling speed through the touch display. In addition, the battery is provided with an electric quantity detection device and is electrically connected with the intelligent control device; the electric quantity detecting device detects the residual electric quantity of the battery and displays the residual electric quantity through the touch display so as to provide a charging warning. Therefore, the user can know the current travelling speed conveniently, and the user can know the residual electric quantity of the battery conveniently, so that the electric quantity can be supplemented timely.

As another implementation of the present utility model, a plurality of far infrared emitters are arranged in the cushion of the car body. The far infrared rays emitted by the plurality of far infrared ray emitters can promote blood circulation of buttocks of a user and enhance antioxidant capacity of cells.

As another implementation of the present utility model, the intelligent rehabilitation wheelchair is further configured with an intelligent mobile device that can acquire data collected by the intelligent control device through a wireless data transmission unit. Therefore, a third party can conveniently monitor various conditions of the intelligent rehabilitation wheelchair applied to the user through the intelligent mobile equipment.

As another implementation of the utility model, the vehicle body is provided with an emergency call button and is electrically connected with the intelligent control device; when the emergency help-seeking button is pressed, emergency help-seeking information can be sent to the intelligent mobile equipment through the wireless data transmission unit. Therefore, the user can be timely helped by the third party.

As another implementation of the present utility model, the intelligent control device is further built-in with an AGV navigation system, the AGV navigation system is electrically connected to the operating device and has a color band collecting camera and/or a magnetic field sensor, the color band collecting camera and/or the magnetic field sensor is mounted at the lower part of the vehicle body to collect image information of a guiding color band disposed on a road surface and/or sense magnetic field information of a magnet wire disposed on the road surface, the color band collecting camera and/or the magnetic field sensor transmits the image information and/or the magnetic field information to the AGV navigation system, and the AGV navigation system identifies the image information and/or the magnetic field information and converts the image information and/or the magnetic field information into an operating command for the operating device to control the intelligent rehabilitation wheelchair to automatically travel. Therefore, the intelligent rehabilitation wheelchair is convenient for automatically advancing.

Drawings

FIG. 1 is an appearance structure schematic diagram of an intelligent rehabilitation wheelchair based on the Internet of things;

fig. 2 is a schematic diagram of functional modules of the intelligent control device in the present utility model.

Symbol description in the drawings:

10. intelligent recovery wheelchair; 11. a vehicle body; 12. a driving wheel; 13. a follow-up steering wheel; 14. an operating device; 20. an intelligent control device; 21. a wireless data transmission unit; 22. a positioning system; 23. a tracking navigation system; 24. a fall detection system; 25. an obstacle detection system; 251. a ranging sensor; 26. a health monitoring system; 261. a part of the body; 27. a touch display; 30. an intelligent mobile device.

Detailed Description

The detailed description and technical content of the present utility model are described below with reference to the drawings, which are, however, provided for reference and illustration only and are not intended to limit the present utility model.

Referring to fig. 1, an intelligent rehabilitation wheelchair 10 based on the internet of things (hereinafter referred to as intelligent rehabilitation wheelchair 10) according to an embodiment of the present utility model includes: the vehicle body 11, a battery (not shown), a travel motor (not shown), a steering device, and an intelligent control device. Wherein, the body 11 is the main body of the intelligent rehabilitation wheelchair 10, which is used for installing other device units of the wheelchair and bearing the body weight of a user, and the body 11 can be foldable so as to facilitate the carrying of other vehicles; the battery is mounted on the vehicle body 11; the travelling motor is also arranged on the vehicle body 11 and is electrically connected with the battery, and the travelling motor is in driving connection with a pair of driving wheels 12 at the rear part of the vehicle body 11; the steering motor is also arranged on the vehicle body 11 and is electrically connected with the battery, and the steering motor is in driving connection with a pair of follow-up steering wheels 13 at the front part of the vehicle body 11; the operating device is also arranged on the car body 11 and is adjacent to the armrest of the car body 11 so as to be convenient for a user to operate, and the operating device is electrically connected with the battery, the walking motor and the steering motor; in the present utility model, the operating device may be a lever, a touch screen, or a combination of a lever and a touch screen, which is not limited to the present utility model. The user can steer the pair of follow-up steering wheels to the left or right by manipulating the manipulating device so that the traveling motor drives the pair of driving wheels to rotate forward (forward) or backward (backward), and the steering motor drives the pair of follow-up steering wheels to the left or right. The intelligent control device is mounted on the vehicle body 11 and electrically connected with the battery and the operating device, as shown in fig. 2, the intelligent control device 20 is built with a wireless data transmission unit 21, a positioning system 22, a tracking navigation system 23 and a fall detection system 24, wherein the wireless data transmission unit 21 can implement data interaction communication by using a fifth generation mobile communication technology (5G), wireless data transmission technologies such as WIFI and bluetooth. The positioning system 22 obtains the position coordinates of the vehicle body through the wireless data transmission unit 21. The tracking navigation system 23 can calculate the position deviation amount according to the set or stored path movement information and the position coordinates of the vehicle body 11 acquired by the positioning system 22 and send a control instruction to the control device 14 so as to control the driving of the driving wheel and the follow-up steering wheel by the walking motor and the steering motor; in the present utility model, the tracking navigation system 23 is an autopilot system, which is capable of controlling the operating device 14 according to the path movement information (route) set by the user and in combination with the real-time positioning of the positioning system 22, and further capable of storing the passing path movement information by moving the travel record in advance, and then controlling the operating device 14 according to the stored path movement information, so as to realize the autopilot function. The falling detection system 24 can detect the running angle between the vehicle body 11 and the vertical direction and the falling acceleration of a part of the vehicle body 11 in the vertical direction, so as to determine whether the vehicle body 11 falls, if the vehicle body 11 falls, a stop instruction is sent to the operating device to stop the running of the running motor and the steering motor, and falling information is sent.

More specifically, in the present utility model, the fall detection system 24 includes at least one gyroscope (not shown) and at least one acceleration sensor (not shown), although the currently widely used tri-axial acceleration sensor can be used. The gyroscope and the acceleration sensor are exemplified in the present utility model, but not limited thereto. The gyroscope and the acceleration sensor are arranged in the handrail. The gyroscope can detect the running included angle between the vehicle body and the vertical direction; the acceleration sensor can detect the descending acceleration of the armrest in the vertical direction. When the falling detection system 24 detects that the operation included angle is greater than a set falling included angle (e.g. 45 degrees) and the falling acceleration is greater than a set falling acceleration, the falling detection system 24 determines that the vehicle body 11 falls, and at this time, the falling detection system sends a stop instruction to the operating device to stop the operation of the traveling motor and the steering motor, and simultaneously sends falling information to a vehicle body warning unit (not shown) such as a distress call device installed on the vehicle body 11 or to the outside through the wireless data transmission unit 21. In order to facilitate the outside third parties such as families, medical staff and the like to timely know and monitor the relevant conditions of the users of the intelligent rehabilitation wheelchair 10, the intelligent rehabilitation wheelchair 10 is further provided with an intelligent mobile device 30, namely, the intelligent rehabilitation wheelchair 10 can realize data communication with the intelligent mobile device 30 through a wireless data transmission unit 21, so that the intelligent mobile device 30 can acquire data collected by the intelligent control device 20 such as vehicle body position information, vehicle body fall information, user health status information, vehicle speed information, battery allowance information, help seeking information and the like described in the following technical content, and the third parties can conveniently monitor and emergency rescue various conditions of the users applying the intelligent rehabilitation wheelchair 10 through the intelligent mobile device 30. In the present utility model, the intelligent mobile device 30 may be an intelligent mobile phone, a tablet computer, a portable computer, a medical care monitoring device, etc., and the intelligent mobile device 30 may also backup each item of information acquired from the user using the intelligent health wheelchair to the cloud server, so as to analyze each item of information by operators, medical institutions, etc., thereby facilitating the tracking treatment of the user and improving and perfecting the intelligent health wheelchair 10.

In the present utility model, the intelligent control device 20 may further have an obstacle detection system 25, and the obstacle detection system 25 may include a plurality of ranging sensors 251. As shown in fig. 1, the ranging sensors 251 are respectively installed around and on top of the vehicle body 11 to detect the distance between the vehicle body 11 and surrounding objects during traveling. When the detected distance is smaller than a dangerous distance, the obstacle detection system 25 sends an adjustment command, such as a stop command or a steering command, to the control device 14 to adjust the running state of the vehicle body, so as to avoid collision between the vehicle body 11 and surrounding objects during running, thereby improving the running safety of the vehicle body 11. In practical implementation, the surrounding objects refer to not only objects with protruding shapes such as obstacles, but also areas with concave ground such as pits, ravines, etc., and the installation positions and angles of the plurality of ranging sensors can be adjusted according to the type of the detected surrounding objects, for example, the ranging sensors can be installed on the upper part of the vehicle body to detect the obstacles, and the ranging sensors can be installed on the lower part of the vehicle body to detect the pits, ravines, etc. when the ranging sensors are inclined downwards. In the present utility model, the plurality of ranging sensors may be a plurality of acoustic ranging sensors (such as ultrasonic ranging apparatuses), a plurality of optical ranging sensors (such as infrared ranging apparatuses), or a combination of a plurality of acoustic ranging sensors and a plurality of optical ranging sensors, which is not limited in the present utility model.

In the present utility model, the intelligent control device 20 may further have a health monitoring system 26, and the health monitoring system 26 may be composed of a heart rate sensor, a blood pressure sensor, a body temperature sensor, a pressure sensor, and a temperature and humidity sensor. The heart rate sensor, the blood pressure sensor and the body temperature sensor are used for monitoring the heart rate, the blood pressure and the body temperature of the user, and the heart rate sensor, the blood pressure sensor and the body temperature sensor can be independent devices and can be respectively worn on the wrist, the neck and other parts of the user, but the heart rate sensor, the blood pressure sensor and the body temperature sensor can also be arranged on one part 261 of the body, as shown in fig. 1, so that the heart rate sensor, the blood pressure sensor and the body temperature sensor are convenient for the user to wear when in use, and the utility model is not limited to the structural forms of the heart rate sensor, the blood pressure sensor and the body temperature sensor. The pressure sensor and the temperature and humidity sensor can be embedded in a cushion of a vehicle body. The heart rate sensor, the blood pressure sensor, the body temperature sensor, the pressure sensor and the temperature and humidity sensor can realize data transmission with the intelligent control device 20 in a wired or wireless mode (Bluetooth technology and the like), so that the intelligent control device 20 can acquire heart rate, blood pressure and body temperature data of a user, and sitting posture and incontinence data of the user in real time to assist in monitoring the health condition of the user. In addition, if the intelligent rehabilitation wheelchair has accidents such as falling during traveling, the pressure sensor still continuously monitors the pressure data of the user, the user can not move after the wheelchair falls, and at the moment, the intelligent control device sends help seeking information to the vehicle body warning unit or the outside through the wireless data transmission unit, so that the user can be helped in time.

In the present utility model, as shown in fig. 1, the intelligent control device may be further configured with a touch display 27, where the touch display 27 is a data input/output device (I/O device) and is widely used in the fields of smart phones, tablet computers, and other devices. In the utility model, a user can check the position coordinates of the vehicle body, the path movement information, the health condition of the user and the information such as the vehicle body travelling speed, the battery residual capacity and the like described in the following technical content through the screen of the touch display 27; in addition, the user can input the set path movement information to the tracking navigation system 23 through the touch display 27, so that the user can conveniently know the current position information, the travelling information and other information, and can conveniently set an automatic travelling path.

In the present utility model, the intelligent control device 20 may further have a voice recognition unit (not shown) disposed therein, and the voice recognition unit is electrically connected to the operation device and can recognize a voice control command of a user, so that the user with limited movement sends the voice control command to the voice recognition unit through voice to control the operation device, thereby realizing the control of the intelligent rehabilitation wheelchair.

In the present utility model, the intelligent control device 20 may further have an external environment monitoring unit (not shown), which can monitor the environment of the intelligent rehabilitation wheelchair, such as temperature, humidity, air quality, etc., and display the monitoring result on the touch display 27, so that the user can know the environment; in addition, the monitoring result can be transmitted to the intelligent mobile device 30 of the third party through the wireless data transmission unit, so that the third party can know the environment of the user.

In the utility model, the driving wheel can be further provided with a speed sensor (not shown) and is electrically connected with the intelligent control device, and the speed sensor can detect the running speed of the vehicle body and display the running speed through the touch display, so that a user can know the current running speed conveniently. The battery can be further provided with an electric quantity detection device (not shown) and is electrically connected with the intelligent control device, the electric quantity detection device can detect the residual electric quantity of the battery and display the residual electric quantity through the touch display, so that a user can know the residual electric quantity of the battery conveniently, and the electric quantity can be supplemented timely. The intelligent rehabilitation wheelchair can be further provided with a plurality of cameras (not shown), the cameras are electrically connected with the intelligent control device and can transmit image information in real time through the wireless data transmission unit, and the cameras can be arranged on the upper part of the wheelchair so as to transmit the travelling condition of a user using the wheelchair to the intelligent mobile equipment 30 of a third party, so that the third party can know the real-time situation of the user; the camera may also be mounted in front of the touch display 27 to enable audio-visual interaction between the user and a third party.

In the present utility model, the intelligent control device 20 may further comprise an AGV navigation system (not shown) electrically connected to the operating device and having a color band capturing camera and/or a magnetic field sensor, wherein the color band capturing camera and/or the magnetic field sensor is mounted at the lower part of the vehicle body 11 and is used for capturing the image information of the guiding color band and/or the magnetic field information of the magnet wire arranged on the road surface, and the color band capturing camera and/or the magnetic field sensor transmits the image information and/or the magnetic field information to the AGV navigation system, and the AGV navigation system recognizes the image information and/or the magnetic field information and converts the image information and/or the magnetic field information into the control command for the operating device, so as to control the intelligent rehabilitation wheelchair to automatically travel according to the guiding of the guiding color band and/or the magnet wire. Preferably, the AGV navigation system and the obstacle detection system are matched for application, so that accurate and safe automatic navigation running can be realized, and obstacles such as pedestrians and the like can be avoided in time during running. At present, many medical institutions, community welfare institutions and other places are provided with guiding color bands and/or magnet wires with various colors on the road surface, so that vehicles with AGV navigation functions can automatically pass through. The intelligent rehabilitation wheelchair can realize accurate and safe automatic navigation in the places by utilizing the built-in AGV navigation system, and is more convenient for users to apply.

In addition, in the present utility model, a plurality of far infrared ray emitters (not shown) may be disposed in the seat cushion of the vehicle body, and the far infrared rays emitted from the plurality of far infrared ray emitters may promote blood circulation of buttocks of a user and enhance antioxidant ability of cells. The vehicle body can be further provided with an emergency help-seeking button (not shown) and electrically connected with the intelligent control device, and when the emergency help-seeking button is pressed, emergency help-seeking information can be sent to the intelligent mobile equipment through the wireless data transmission unit, so that a third party can timely rescue a user. The intelligent control device can also realize data communication with other intelligent facilities in the intelligent city through the wireless data transmission unit, so that information such as weather forecast, traffic light changing interval, public transportation means waiting time, shopping between shopping malls, medical institutions and the like can be received, and travel is facilitated.

In addition, in the utility model, the intelligent control device can be provided with an artificial and intelligent switching key (not shown) so as to select a mode of operating the operating device by a user or a mode of guiding the vehicle body to automatically travel by the intelligent control device to drive the intelligent rehabilitation wheelchair to travel. The travel modes of the intelligent rehabilitation wheelchair can be divided into: manual operation mode, automatic navigation mode, remote control mode, tracking navigation mode, fleet mode and AGV navigation mode specifically are:

1. manual operation mode: the user directly operates the operating device to control the intelligent rehabilitation wheelchair to travel;

2. automatic navigation mode: the user sets path movement information (route) and realizes automatic travelling of the path movement information through the wireless data transmission unit, the positioning system and the tracking navigation system;

3. remote control mode: the intelligent device is connected with the third-party intelligent device through the wireless data transmission unit, so that the intelligent device can control the intelligent rehabilitation wheelchair to travel;

4. tracking navigation mode: the user firstly takes the intelligent rehabilitation wheelchair to travel once on the cruising path, the travel path information is recorded through the wireless data transmission unit, the positioning system and the tracking navigation system, and then the intelligent rehabilitation wheelchair can travel autonomously according to the recorded travel path information;

5. fleet mode: the intelligent rehabilitation wheelchair can be in data connection with other intelligent rehabilitation wheelchairs through the wireless data transmission unit so as to build a motorcade, and after the pilot intelligent rehabilitation wheelchair is determined, the other intelligent rehabilitation wheelchairs can travel along;

AGV navigation mode: and according to the set image information of the guide color band, realizing the identification of the image information and generating a control instruction.

The above travel modes are all the prior art, and in the present utility model, the description of the above travel modes is not repeated.

Accordingly, the intelligent rehabilitation wheelchair can be applied to houses, communities, transportation junction stations, markets, hospitals, large physiotherapy service centers and other places. The intelligent rehabilitation wheelchair can accurately position the position coordinates of the vehicle body through the wireless data transmission unit and the positioning system in the intelligent control device, so that the tracking navigation system in the intelligent control device can automatically control the control device according to the coordinate data of the vehicle body position, and a user with poor self-care ability and inconvenient actions can conveniently control the intelligent rehabilitation wheelchair; and when the intelligent recovery wheelchair has accidents such as falling of the vehicle body, the falling detection system in the intelligent control device can timely detect the falling of the vehicle body and timely send falling information to prompt rescue.

The foregoing description of the preferred embodiments of the present utility model is not intended to limit the scope of the utility model, and other equivalent variations using the inventive concepts are intended to fall within the scope of the utility model.

Claims (9)

1. An intelligent well-being wheelchair based on thing networking includes: the vehicle comprises a vehicle body, a battery, a traveling motor, a steering motor and an operating device; the battery is arranged on the vehicle body; the walking motor is arranged on the vehicle body and is electrically connected with the battery, and the walking motor is in driving connection with a pair of driving wheels at the rear part of the vehicle body; the steering motor is arranged on the vehicle body and is electrically connected with the battery, and the steering motor is in driving connection with a pair of follow-up steering wheels at the front part of the vehicle body; the operating device is arranged on the vehicle body and is adjacent to the handrail of the vehicle body, and the operating device is electrically connected with the battery, the walking motor and the steering motor; operating by the operating device to drive the pair of driving wheels to rotate forward or backward by the traveling motor and drive the pair of follow-up steering wheels to left or right by the steering motor; characterized by further comprising: the intelligent control device is arranged on the vehicle body and is electrically connected with the battery and the operating device, and a wireless data transmission unit, a positioning system, a tracking navigation system and a falling detection system are arranged in the intelligent control device; the positioning system acquires the position coordinates of the vehicle body through the wireless data transmission unit; the tracking navigation system calculates the position deviation amount according to the set or stored path movement information and the position coordinates of the vehicle body acquired by the positioning system and sends a control instruction to the control device so as to control the driving of the driving wheel and the follow-up steering wheel by the walking motor and the steering motor; the falling detection system detects an operation included angle between the vehicle body and the vertical direction and falling acceleration of one part of the vehicle body in the vertical direction so as to judge whether the vehicle body falls down, if so, the intelligent recovery wheelchair stops moving, and falling information is sent.

2. The intelligent rehabilitation wheelchair based on the internet of things according to claim 1, wherein the fall detection system comprises at least one gyroscope and at least one acceleration sensor, and the gyroscope and the acceleration sensor are installed in the armrest; the gyroscope detects an operation included angle between the vehicle body and the vertical direction; the acceleration sensor detects descending acceleration of the armrest in the vertical direction; when the detected running included angle is larger than a set falling included angle and the falling acceleration is larger than a set falling acceleration, the falling detection system judges that the vehicle body falls, at the moment, the falling detection system sends a stop instruction to the operating device to stop running of the running motor and the steering motor, and sends falling information to the vehicle body warning unit or the outside through the wireless data transmission unit.

3. The intelligent rehabilitation wheelchair based on the internet of things according to claim 1, wherein the intelligent control device is further internally provided with an obstacle detection system; the obstacle detection system comprises a plurality of ranging sensors; the distance measuring sensors are respectively arranged at the periphery and the top of the vehicle body so as to detect the distance between the vehicle body and surrounding objects in the running process; when the distance is smaller than a dangerous distance, the obstacle detection system sends an adjusting instruction to the operating device so as to adjust the running state of the vehicle body.

4. The intelligent rehabilitation wheelchair based on the internet of things according to claim 1, wherein the intelligent control device is also internally provided with a health monitoring system; the health monitoring system consists of a heart rate sensor, a blood pressure sensor, a body temperature sensor, a pressure sensor and a temperature and humidity sensor; the heart rate sensor, the blood pressure sensor and the body temperature sensor are used for monitoring the heart rate, the blood pressure and the body temperature of a user; the pressure sensor and the temperature and humidity sensor are embedded in the cushion of the car body; the heart rate sensor, the blood pressure sensor, the body temperature sensor, the pressure sensor and the temperature and humidity sensor are in data transmission with the intelligent control device in a wired or wireless mode.

5. The intelligent rehabilitation wheelchair based on the internet of things according to claim 1, wherein the intelligent control device is provided with a touch display; the touch display displays the position coordinates and path movement information of the vehicle body, and the path movement information can be set for the tracking navigation system through the touch display; the intelligent control device is used for carrying out data communication with intelligent facilities in the intelligent city through the wireless data transmission unit and displaying through the touch display, and the intelligent control device can be used for remotely controlling intelligent furniture in a home through the wireless data transmission unit.

6. The intelligent rehabilitation wheelchair based on the internet of things according to claim 5, wherein the driving wheel is provided with a speed sensor and is electrically connected with the intelligent control device; the speed sensor detects the travelling speed of the vehicle body and displays the travelling speed through the touch display; the battery is provided with an electric quantity detection device and is electrically connected with the intelligent control device; the electric quantity detection device detects the residual electric quantity of the battery and displays the residual electric quantity through the touch display so as to provide a charging warning.

7. The intelligent rehabilitation wheelchair based on the internet of things according to claim 1, wherein the intelligent rehabilitation wheelchair is configured with an intelligent mobile device that obtains data collected by the intelligent control device through the wireless data transmission unit.

8. The intelligent rehabilitation wheelchair based on the internet of things according to claim 7, wherein an emergency help button is arranged on the vehicle body and is electrically connected with the intelligent control device; and when the emergency call-for-help button is pressed, sending emergency call-for-help information to the intelligent mobile equipment through the wireless data transmission unit.

9. The intelligent rehabilitation wheelchair based on the internet of things according to claim 1, wherein the intelligent control device is further internally provided with an AGV navigation system, the AGV navigation system is electrically connected with the operating device and is provided with a color band collecting camera and/or a magnetic field sensor, the color band collecting camera and/or the magnetic field sensor is arranged at the lower part of the vehicle body to collect image information of a guiding color band arranged on a road surface and/or sense magnetic field information of a magnet wire arranged on the road surface, the color band collecting camera and/or the magnetic field sensor transmits the image information and/or the magnetic field information to the AGV navigation system, and the AGV navigation system identifies the image information and/or the magnetic field information and converts the image information and/or the magnetic field information into an operating instruction of the operating device so as to control the intelligent rehabilitation wheelchair to automatically travel.