CN220327602U - Brain-controlled wheelchair and brain-controlled wheelchair system - Google Patents

Abstract

The application provides a brain accuse wheelchair and brain accuse wheelchair system, this brain accuse wheelchair includes: an electric wheelchair body and a first distance measuring device; the first distance measuring device is arranged on a bracket at the upper end of the front wheel of the electric wheelchair body and is configured to acquire obstacle signals around the electric wheelchair body and send the obstacle signals to the upper computer; the electric wheelchair body comprises a driving motor, wherein the driving motor is configured to act according to a first control instruction so as to drive the brain-controlled wheelchair; the first control instruction is generated by the upper computer according to the obstacle signal and the electroencephalogram signal fed back by the electroencephalogram signal acquisition device. This application is through setting up first range unit on the front wheel support of brain accuse wheelchair body, makes the first range unit of installing on the support also apart from wheelchair body certain distance, and then makes this first range unit be difficult for being sheltered from by electronic wheelchair body when acquireing the barrier signal, can improve the accuracy of barrier monitoring, and then improves the security of brain accuse wheelchair.

Description

Brain-controlled wheelchair and brain-controlled wheelchair system

Technical Field

The application relates to the field of intelligent wheelchairs, in particular to a brain-controlled wheelchair and a brain-controlled wheelchair system.

Background

The appearance of the brain-controlled wheelchair is greatly convenient for the disabled with inconvenient hands and feet. However, in the current brain-controlled wheelchair controlled by brain electrical signals, accurate obstacle information is often not obtained, so that the brain-controlled wheelchair is dangerous in the action process.

Disclosure of Invention

In view of the foregoing, an object of an embodiment of the present application is to provide a brain-controlled wheelchair and a brain-controlled wheelchair system, which improve the accuracy of the brain-controlled wheelchair in monitoring obstacles, and further improve the safety of the brain-controlled wheelchair.

In a first aspect, embodiments of the present application provide a brain-controlled wheelchair, comprising: an electric wheelchair body and a first distance measuring device; the first distance measuring device is arranged on a bracket at the upper end of the front wheel of the electric wheelchair body, and is configured to acquire obstacle signals around the electric wheelchair body and send the obstacle signals to an upper computer; the electric wheelchair body comprises a driving motor, wherein the driving motor is configured to act according to a first control instruction so as to drive the brain-controlled wheelchair; the first control instruction is generated by the upper computer according to the obstacle signal and an electroencephalogram signal fed back by the electroencephalogram signal acquisition device.

In the implementation process, the first distance measuring device is arranged on the front wheel support of the brain-controlled wheelchair body, and the front wheels of the brain-controlled wheelchair are usually arranged on two sides of the front end of the cushion and are at a certain distance from equipment such as the rear wheels, the seats and the pedals in the wheelchair body, so that the first distance measuring device arranged on the support is also at a certain distance from the equipment such as the rear wheels, the seats and the pedals in the wheelchair body, and the first distance measuring device is not easy to be shielded by the equipment such as the rear wheels, the seats and the pedals in the electric wheelchair body when acquiring obstacle signals, the accuracy of monitoring the obstacle can be improved, and the safety of the brain-controlled wheelchair is further improved.

In one embodiment, the front wheels are arranged on two sides of the electric wheelchair body; at least three first distance measuring devices are arranged on the support at the upper end of the front wheel on each side, and each first distance measuring device is used for acquiring obstacle signals at the front end of the electric wheelchair body, the rear end of the electric wheelchair body and the outer side of the electric wheelchair body on the corresponding side of the first distance measuring device.

In the implementation process, as the front wheels are arranged on two sides of the electric wheelchair body, and at least three first distance measuring devices are arranged on each front wheel, the first distance measuring devices on each bracket can acquire the obstacle signals of the surfaces of the electric wheelchair body on the corresponding side of the bracket, the first distance measuring devices on the brackets on two sides can comprehensively acquire the obstacle signals of the surfaces of the whole wheelchair, and the accuracy of the obstacle signals acquired by the first distance measuring devices can be improved.

In one embodiment, the electric wheelchair body further comprises: a second distance measuring device and a back shell plate; at least two second distance measuring devices are arranged on the back shell plate, and the two second distance measuring devices are respectively arranged on two sides of the back shell plate so as to acquire barrier signals on two sides of the back part of the electric wheelchair body.

In the implementation process, the second distance measuring device is arranged on the rear shell plate of the electric wheelchair body, so that the obstacle signal behind the brain-controlled wheelchair is obtained through the second distance measuring device on the rear shell plate, and then when the brain-controlled wheelchair needs to move backwards, the obstacle can be avoided in time according to the obstacle signal, the control accuracy of the brain-controlled wheelchair is improved, and the safety of the brain-controlled wheelchair is further improved.

In one embodiment, the brain-controlled wheelchair further comprises: a mechanical arm; the mechanical arm is arranged on an armrest of the electric wheelchair body, and an operating part is arranged at one end of the mechanical arm, which is far away from the armrest, and is used for operating an object; the mechanical arm is configured to execute an object operation task under the control of the upper computer.

In the implementation process, the mechanical arm is arranged on the brain-controlled wheelchair, so that the mechanical arm can execute corresponding object operation tasks according to the brain-controlled wheelchair or control instructions directly input by the user, travel convenience is provided for the user, meanwhile, convenience in operating objects is brought to the user, and the use scene of the brain-controlled wheelchair is increased.

In one embodiment, the mechanical arm further comprises: an image acquisition device; the image acquisition device is arranged at one end of the mechanical arm far away from the armrest, and is configured to acquire an image signal of one end of the mechanical arm far away from the electric wheelchair body and send the image signal to the upper computer; the upper computer is configured to control the mechanical arm to execute an object operation task according to the image signal and the electroencephalogram signal.

In the implementation process, the image acquisition device is arranged at one end, far away from the armrest, of the mechanical arm, so that in the process of executing an object operation task by the mechanical arm, an environment image signal in the moving process of the mechanical arm can be acquired, an obstacle signal and/or position information of an object to be operated can be timely acquired, the mechanical arm is controlled to avoid the obstacle or adjust the moving position in time according to the obstacle signal and/or the position information of the object to be operated, and the safety and the accuracy of executing the object operation task by the mechanical arm are improved.

In one embodiment, the brain-controlled wheelchair further comprises: grip strength acquisition means; the grip strength acquisition device is arranged on the armrest of the electric wheelchair body and is configured to acquire grip strength information of a user.

In the implementation process, the grip strength acquisition device is arranged on the brain-controlled wheelchair and can be used for acquiring grip strength information of a user, so that the grip strength information can assist the user in grip strength training or serve as a basis for diagnosis, the grip strength training of the user is facilitated, and the application scene of the brain-controlled wheelchair is increased.

In one embodiment, the electric wheelchair body includes: a lower computer; the lower computer is provided with a wireless chip; the lower computer is configured to receive a second control instruction sent by the remote control equipment through the wireless chip and control the driving motor to act according to the second control instruction.

In the implementation process, the lower computer is provided with the wireless chip, so that the lower computer can be connected with the remote control equipment through the wireless chip. The brain-controlled wheelchair can act according to the first control instruction sent by the upper computer and also can act according to the second control instruction sent by the remote control equipment, so that when a user of the brain-controlled wheelchair does not need or is difficult to control the brain-controlled wheelchair to act through brain-controlled electrical signals, other users such as caregivers can control the brain-controlled wheelchair to act through the remote control equipment, the brain-controlled wheelchair can be controlled in various modes, and the application scene of the brain-controlled wheelchair is increased.

In one embodiment, the brain-controlled wheelchair further comprises: a router and an upper computer; the upper computer and the router are arranged at the bottom of the electric wheelchair body, and the upper computer is configured to acquire the obstacle signal and the electroencephalogram signal through the router; the lower computer is configured to receive a first control instruction sent by the upper computer and control the driving motor to act according to the first control instruction.

In the implementation process, because the coverage range of the router is limited, the upper computer is connected with other equipment through the router to receive the range limitation, so that the upper computer can not be in wireless connection with other equipment in an area outside the range, and the application range of the brain-controlled wheelchair is further limited. Through all setting up upper computer and router on electronic wheelchair body, this router and upper computer follow the removal of brain accuse wheelchair and remove for the upper computer is connected with other equipment through the router and is no longer restricted by the router coverage, has increased the usable scope of this brain accuse wheelchair.

In one embodiment, the lower computer is configured to stop responding to the first control instruction when the remote control device sends the second control instruction to the lower computer.

In the implementation process, the control device stops responding to the first control command when sending the second control command to the lower computer through the remote control device, so that the conflict between the first control command and the second control command can be avoided, and the control accuracy of the brain-controlled wheelchair is improved. In addition, the accuracy of the second control command is slightly higher than that of the first control command, so that the accuracy of the brain-controlled wheelchair control can be further improved by setting the priority of the second control command higher than that of the first control command.

In one embodiment, the electric wheelchair body further comprises: the device comprises a router, a motor driving plate, a power supply power plate, a battery and an integrated box; the motor driving plate, the power supply power plate, the router and the lower computer are integrated in the integrated box; the battery is arranged at the bottom of the electric wheelchair body; the integrated box is arranged at the rear end of the electric wheelchair body, and a peripheral interface is arranged on the integrated box; the motor driving plate, the power supply power plate and the router are all connected with the battery and the lower computer, and the lower computer is connected with the battery.

In the implementation process, the motor driving plate, the power supply power plate, the router and the lower computer are integrated in the integrated box and are powered by the same battery, so that equipment in the brain-controlled wheelchair can be miniaturized and integrated, the whole brain-controlled wheelchair shares one battery, the occupied area of the equipment in the brain-controlled wheelchair can be reduced, and the structure of the brain-controlled wheelchair is greatly simplified.

In one embodiment, the brain-controlled wheelchair further comprises an emergency stop button, and the lower computer comprises an I/O interface and a GND interface; the I/O interface is connected with the GND interface through the emergency stop button, and the brain-controlled wheelchair is configured to stop action after the emergency stop button is pressed.

In the implementation process, the emergency stop button is arranged, so that when the brain-controlled wheelchair is required to stop in an emergency, the physical method of controlling the brain-controlled wheelchair through the emergency stop button can reduce the accident rate in the action process of the brain-controlled wheelchair, and the safety of the brain-controlled wheelchair is improved.

In a second aspect, embodiments of the present application further provide a brain-controlled wheelchair system, including: an electroencephalogram stimulation device, an electroencephalogram acquisition device, a host computer, or a brain-controlled wheelchair according to the first aspect, or any one of the possible embodiments of the first aspect; the electroencephalogram signal stimulation device is used for stimulating a user to generate electroencephalogram signals; the electroencephalogram signal acquisition device is used for acquiring the electroencephalogram signal and sending the electroencephalogram signal to the upper computer; the upper computer is used for generating a first control instruction according to the electroencephalogram signal; the electric wheelchair body comprises a driving motor, wherein the driving motor is used for acquiring the first control instruction and acts according to the first control instruction so as to drive the brain-controlled wheelchair.

In the implementation process, the brain control wheelchair action can be controlled by converting the consciousness of the user into the control instruction through the brain electrical signal stimulation device, the brain electrical signal acquisition device upper computer and the brain control wheelchair. The brain-controlled wheelchair can be controlled by the users such as patients with severe dyskinesia, cerebral infarction hemiplegia and the like when the users are unattended, so that the use limit of the users is reduced, and great convenience is provided for the users.

In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a brain-controlled wheelchair system provided in an embodiment of the present application;

fig. 2 is a three-dimensional schematic diagram of a brain-controlled wheelchair according to an embodiment of the present application;

Fig. 3 is a schematic view of a first distance measuring device provided in an embodiment of the present application installed on a support;

FIG. 4 is a rear view of a brain-controlled wheelchair provided in an embodiment of the present application;

fig. 5 is a schematic view of a second ranging device provided in an embodiment of the present application installed on a back shell plate.

Description of the drawings: 10-brain-controlled wheelchair, 110-front wheel, 120-bracket, 130-rear wheel, 140-seat, 141-cushion, 142-backrest, 150-armrest, 160-integrated box, 170-back shell plate, 200-first distance measuring device, 300-mechanical arm, 400-operation part, 500-image acquisition device, 600-second distance measuring device, 20-brain-electrical signal acquisition device and 30-brain-electrical signal stimulation device.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.

In the description of the present application, it should be noted that, the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", etc. are directions or positional relationships based on those shown in the drawings, or directions or positional relationships that are conventionally visited when the product of the application is used, are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be configured and operated in a specific direction, and therefore should not be construed as limitations of the present application.

In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, or may be internal communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

With the development of brain-computer interfaces, brain-controlled wheelchairs are of great significance in restricting the movement of patients such as amyotrophic lateral sclerosis, spinal cerebellar degeneration, or in rehabilitation for stroke patients, etc. towards serious limb movements. The method has a certain significance for playing subjective motility of patients and better information transmission with the outside world. The brain-computer interface (BCI) establishes direct connection between the human brain and the wheelchair, controls the wheelchair through brain signals, breaks through the limitation of the common wheelchair on the physical condition of a user, does not need to drive the wheelchair through control modes such as a keyboard, an operating lever and the like, and has certain applicability to patients with dyskinesia, of which the upper limbs cannot move at all.

The inventor of the application finds that the current electric wheelchair can perform single actions through long-term research, and can not meet the requirement of assisting the life of a patient in a complex scene. Thus, a brain-controlled wheelchair provided with a distance measuring device for acquiring obstacle signals around the wheelchair and controlling the wheelchair to operate according to the obstacle signals and the brain-electrical signals is designed. However, because the brain-controlled wheelchair has a relatively complex structure, the distance measuring device is often shielded by the wheelchair body during the wheelchair movement process, so that the accuracy of obstacle detection is relatively low.

In view of this, the inventor of the present application proposes a brain-controlled wheelchair, through setting up first range finding device on the front wheel support of brain-controlled wheelchair body to make the first range finding device of installing on the support also apart from wheelchair body certain distance, and then make this first range finding device be difficult for being sheltered from by electronic wheelchair body when acquireing the barrier signal, can improve the accuracy that the barrier monitored.

To facilitate an understanding of the present embodiments, a detailed description will be first provided of a brain-controlled wheelchair system that implements the disclosure of the embodiments of the present application.

Referring to fig. 1, the brain-controlled wheelchair system includes: an electroencephalogram signal stimulation device 30, an electroencephalogram signal acquisition device 20, an upper computer and a brain-controlled wheelchair 10.

Wherein the electroencephalogram signal stimulation device 30 is used for stimulating a user to generate an electroencephalogram signal; the electroencephalogram signal acquisition device 20 is used for acquiring electroencephalogram signals and sending the electroencephalogram signals to the upper computer; the upper computer is used for generating a first control instruction according to the brain electrical signal.

The electroencephalogram stimulation device 30 here may be a display, VR glasses, or the like for the stimulation device. Specifically, the electroencephalogram signal stimulation device 30 may be provided with flashing light sources with different frequencies, and a user may generate different electroencephalogram signals by looking at the light sources with different frequencies.

The electroencephalogram signal acquisition device 20 may be a device for acquiring an electroencephalogram signal, such as an electroencephalogram cap. When the brain electric cap is used for generating different brain electric signals by looking at light sources with different frequencies, the brain electric cap can acquire brain electric signals on the scalp of a user through the sensor and transmit the brain electric signals to the upper computer.

After the upper computer acquires the brain electrical signals, the brain electrical signals corresponding to the frequency of the flicker light source are extracted through processing methods such as filtering, gain and the like, and noise signals are removed. In addition, the user intent may also be converted into the first control instruction by a machine learning algorithm.

In some embodiments, the brain-controlled wheelchair 10 is provided with a first distance measuring device, and the first distance measuring device transmits the acquired obstacle signal to the upper computer. The upper computer can also determine a first control instruction by combining the brain electrical signal and the obstacle signal after acquiring the brain electrical signal and the obstacle signal.

It can be understood that the upper computer sends the first control instruction to the electric wheelchair body after determining the first control instruction, and the electric wheelchair body is driven under the action of the first control instruction.

The electric wheelchair body herein includes a drive motor for acquiring the first control command and driving the brain-controlled wheelchair 10 according to the first control command.

In the above implementation process, the brain-controlled wheelchair 10 can be controlled to act by converting the consciousness of the user into a control instruction through the brain-controlled wheelchair 10, the brain-controlled electrical signal stimulation device 30, the brain-controlled electrical signal acquisition device 20, the upper computer and the brain-controlled wheelchair 10. The brain-controlled wheelchair 10 can be controlled by the users such as patients with severe dyskinesia, cerebral infarction hemiplegia and the like when the users are unattended, so that the use limit of the users is reduced, and great convenience is provided for the users.

Referring to fig. 2, the brain-controlled wheelchair 10 includes: an electric wheelchair body and a first distance measuring device 200.

The first distance measuring device 200 is disposed on a bracket 120 at the upper end of the front wheel 110 of the electric wheelchair body.

The electric wheelchair body herein may include a driving motor, front wheels 110, rear wheels 130, a chassis, a seat 140, armrests 150, and the like. The electric wheelchair body can control the wheelchair to automatically act through the control device. The drive motor is configured to act in accordance with a first control command to drive the brain-controlled wheelchair 10. That is, the driving motor may be used to drive the front wheel 110 and/or the rear wheel 130 to move forward, backward, turn left, turn right, and the like.

The first control command is generated by the upper computer according to the obstacle signal and the electroencephalogram signal fed back by the electroencephalogram signal acquisition device 20.

The seat 140 includes a seat cushion 141 disposed transversely and a backrest 142 disposed vertically, the seat cushion 141 being disposed on a vehicle chassis, the lower end of the backrest 142 being connected to the upper end of a rear shell plate 170 of the vehicle chassis. The front wheels 110 are provided on both sides of the front end of the seat cushion 141, which is one end in the forward movement direction of the brain-controlled wheelchair 10. The stand 120 is convexly disposed in a direction away from the electric wheelchair body.

As can be appreciated, since the front wheels 110 are disposed at both sides of the sitting front end and the bracket 120 is convexly disposed at a side far from the electric wheelchair body, a certain interval exists between the bracket 120 and the electric wheelchair body. The first distance measuring device 200 is arranged on the front wheel 110 bracket 120, so that a certain interval exists between the first distance measuring device 200 and the electric wheelchair body, and the first distance measuring device 200 is not easy to be shielded by the electric wheelchair body when acquiring an obstacle signal.

The upper computer can be connected with one or more electronic components on the electric wheelchair body in a wireless mode.

In some alternative embodiments, the host computer also establishes a connection directly with one or more electronic components on the electrically powered wheelchair body in a wired manner.

The upper computer is configured to generate a first control instruction according to the acquired obstacle signal, the electroencephalogram signal, and the like, and send the first control instruction to the driving motor, and after the driving motor acquires the first control instruction, the driving wheel and/or the rear wheel 130 act under the triggering of the first control instruction, so as to further drive the brain-controlled wheelchair 10.

Alternatively, the host computer may be a personal computer (personal computer, PC), tablet computer, smart phone, personal digital assistant (personal digital assistant, PDA), or the like. The upper computer can be arranged independently of the brain-controlled wheelchair 10, and can also be arranged on the brain-controlled wheelchair 10. The type and the setting mode of the upper computer can be adjusted according to actual conditions.

The first distance measuring device 200 is configured to acquire an obstacle signal around the electric wheelchair body and transmit the obstacle signal to the host computer. The first distance measuring device 200 may be an ultrasonic sensor, a lidar or the like.

Alternatively, the first distance measuring device 200 may be one, two, three, four … N, etc. Where N is a non-zero natural number. The specific number and type of first ranging devices 200 may be selected according to the actual situation.

It will be appreciated that when the first ranging device 200 is one or two or the like in a small number, in order to acquire the complete obstacle signal of the electric wheelchair body, the first ranging device 200 may select a first ranging device 200 that may be rotated, and the first ranging device 200 may acquire the obstacle signal of each area around the electric wheelchair body by rotating when acquiring the obstacle signal.

In some embodiments, the distance between the first ranging device 200 and the ground is less than or equal to 20 cm.

In the above implementation process, the first ranging device 200 is disposed on the front wheel 110 bracket 120 of the brain-controlled wheelchair body, and since the front wheel 110 of the brain-controlled wheelchair 10 is generally disposed on both sides of the front end of the seat cushion 141 and is spaced apart from the rear wheel, the seat, the pedal, etc. in the wheelchair body, the first ranging device 200 mounted on the bracket 120 is also spaced apart from the rear wheel, the seat, the pedal, etc. in the wheelchair body, so that the first ranging device 200 is not easily shielded by the rear wheel, the seat, the pedal, etc. in the electric wheelchair body when acquiring the obstacle signal, thereby improving the accuracy of obstacle monitoring and further improving the safety of the brain-controlled wheelchair 10.

In one possible implementation, the electric wheelchair body is provided with front wheels 110 on both sides.

As shown in fig. 3, at least three first ranging devices 200 are disposed on the support 120 at the upper end of each front wheel 110, and each first ranging device 200 is respectively used for acquiring obstacle signals at the front end of the electric wheelchair body, the rear end of the electric wheelchair body and the outer side of the electric wheelchair body at the corresponding side of the first ranging device 200.

In some embodiments, the front wheels 110 on both sides of the electric wheelchair body are symmetrically arranged.

Alternatively, the first ranging devices 200 on each bracket 120 may be three, four, five, six, etc., and the number of first ranging devices 200 on each bracket 120 may be the same or different. For example, if the monitoring range of each first ranging device 200 is smaller, more first ranging devices 200 may be disposed on each bracket 120. If the monitoring range of each first ranging device 200 is larger, fewer first ranging devices 200 may be disposed on each bracket 120. The number of the first distance measuring devices 200 on each bracket 120 can be adjusted according to practical situations, and the present application is not particularly limited.

Taking three first ranging devices 200 on each stand 120 as an example, the manner in which the first ranging devices 200 are disposed on the stand 120 will be further described herein: when three ranging apparatuses 200 are provided on each of the holders 120, namely, the first ranging apparatus a, the first ranging apparatus B, and the first ranging apparatus C. The first distance measuring device a is disposed on a surface of the support 120 facing the front end, the first distance measuring device B is disposed on a surface of the support 120 facing away from the electric wheelchair body, the first distance measuring device C is disposed on a surface of the support 120 facing the rear end, so as to obtain an obstacle signal of the front end of the electric wheelchair body on the corresponding side of the support 120 through the first distance measuring device a, the first distance measuring device B obtains an obstacle signal of the outer side of the electric wheelchair body on the corresponding side of the support 120, and the first distance measuring device C obtains an obstacle signal of the rear end of the electric wheelchair body on the corresponding side of the support 120.

In the above implementation process, since the front wheels 110 are disposed on two sides of the electric wheelchair body, and at least three first ranging devices 200 are disposed on each front wheel 110, the first ranging devices 200 on each bracket 120 can acquire the obstacle signals of the respective surfaces of the electric wheelchair body on the corresponding side of the bracket 120, and the first ranging devices 200 on the brackets 120 on two sides can comprehensively obtain the obstacle signals of the respective surfaces of the whole wheelchair, so that the accuracy of the obstacle signals acquired by the first ranging devices 200 can be improved.

In one possible implementation, as shown in fig. 4, the electric wheelchair body further includes: a second distance measuring device 600 and a back housing plate 170.

As shown in fig. 5, at least two second ranging devices 600 are disposed on the back shell 170, and the two second ranging devices 600 are disposed on two sides of the back shell 170 respectively, so as to obtain obstacle signals on two sides of the back of the electric wheelchair body.

The rear shell plate 170 may be a rear mounting plate of the underframe or an extension plate of the lower end of the backrest 142. That is, the rear skin 170 may be part of the chassis or part of the seat 140. Of course, the rear housing plate 170 may be a separate structure. When the rear deck 170 is a chassis rear mounting plate, the rear deck 170 is connected to the lower end of the backrest 142. When the rear deck is an extension of the lower end of the backrest 142, the chassis is disposed at the front end of the rear deck 170. When the rear deck is of a separate structure, the chassis is disposed at the front end of the rear deck 170, and the rear deck 170 is connected to the lower end of the backrest 142. The specific arrangement mode of the rear engraving plate can be adjusted according to actual conditions, and the rear engraving plate is not particularly limited.

The second distance measuring device 600 may be an ultrasonic sensor, a laser radar, a camera, or the like. The second ranging apparatus 600 may be the same type of device as the first ranging apparatus 200 or may be a different type of device.

Alternatively, the second distance measuring device 600 on the rear case plate 170 may be further provided in three, four, five, six, etc. The specific number and type of second ranging devices 600 may be selected according to the actual situation.

Here, the second distance measuring devices 600 on the back shell 170 are taken as two and three examples, and the manner in which the second distance measuring devices 600 are disposed on the back shell 170 is further described as follows:

when the rear case plate 170 is provided with two ranging apparatuses 200, namely, a second ranging apparatus a and a second ranging apparatus B. The second ranging devices a and B are respectively disposed on two sides of the back shell 170, and the second ranging devices a and B are symmetrically disposed, so as to obtain the obstacle signal of the rear end of the electric wheelchair body on the corresponding side of the second ranging device a through the second ranging device a, and the second ranging device B obtains the obstacle signal of the rear end of the electric wheelchair body on the corresponding side of the second ranging device B.

When the back shell 170 is provided with three ranging apparatuses 200, namely, the second ranging apparatus C, the second ranging apparatus D, and the second ranging apparatus E. The second ranging device C and the second ranging device D are respectively disposed on two sides of the back shell 170, and the second ranging device C and the second ranging device D are symmetrically disposed, and the second ranging device E is disposed between the second ranging device C and the second ranging device D and on a symmetry line of the second ranging device C and the second ranging device D. The obstacle signal of the rear end of the electric wheelchair body on the corresponding side of the second distance measuring device C is obtained through the second distance measuring device C, the obstacle signal of the rear end of the electric wheelchair body on the corresponding side of the second distance measuring device D is obtained through the second distance measuring device D, and the obstacle signal in the middle of the rear end of the electric wheelchair body is obtained through the second distance measuring device E.

In the above implementation process, the second ranging device 600 is disposed on the back shell plate 170 of the electric wheelchair body, so that the second ranging device 600 on the back shell plate 170 can obtain the obstacle signal behind the brain-controlled wheelchair 10, and when the brain-controlled wheelchair 10 needs to move backward, the obstacle can be avoided in time according to the obstacle signal, so that the control accuracy of the brain-controlled wheelchair 10 is improved, and the safety of the brain-controlled wheelchair 10 is further improved.

In one possible implementation, the brain-controlled wheelchair 10 further includes: a robotic arm 300.

The mechanical arm 300 is disposed on the armrest 150 of the electric wheelchair body, and an operation portion 400 is disposed at one end of the mechanical arm 300 away from the armrest 150.

The robot arm 300 herein is configured to perform an operation object task under the control of the host computer. The robot arm 300 may include a robot arm 300 motor, and the robot arm 300 motor is connected with an upper computer. When the electroencephalogram signal obtained by the upper computer is a motion signal for controlling the mechanical arm 300, the upper computer generates a mechanical arm 300 control instruction according to the electroencephalogram signal, and sends the mechanical arm 300 control instruction to a motor of the mechanical arm 300 so as to control the mechanical arm 300 to execute a corresponding object operation task.

The operation part 400 may be a structure such as a clamping jaw, a mechanical arm, a push-pull rod, etc., and the task of operating the object may include the task of grabbing the object, pushing and pulling the object, moving the object, etc. The operation unit 400 and the corresponding task of operating the object according to the present application may be adjusted according to the actual situation, and the present application is not particularly limited.

Alternatively, the motor of the mechanical arm 300 and the driving motor may use the same motor, or may use different motors. The robot arm 300 drive motor may include one or more. For example, the motor for controlling the movement of the robot arm 300 and the motor for controlling the operation unit 400 to operate the object may be the same motor or may be two motors. The specific arrangement mode of the driving motor of the mechanical arm 300 can be selected according to actual situations.

In some embodiments, the robot arm 300 may be disposed at a front end of the armrest 150, and the robot arm 300 is fixedly connected with the armrest 150.

In the implementation process, by arranging the mechanical arm 300 on the brain-controlled wheelchair 10, the mechanical arm 300 can execute corresponding object operation tasks according to the brain-controlled signal of the user or the control instruction directly input by the user, thereby providing convenience for traveling for the user, bringing convenience for operating objects for the user and increasing the use scene of the brain-controlled wheelchair 10.

In one possible implementation, the mechanical arm 300 further includes: an image acquisition device 500.

Wherein, the image acquisition device 500 is disposed at an end of the mechanical arm 300 away from the armrest 150.

The image acquisition device 500 is configured to acquire an image signal of one end of the mechanical arm 300 far away from the electric wheelchair body, and send the image signal to the upper computer; the upper computer is configured to control the mechanical arm 300 to perform an operation object task according to the image signal and the brain electrical signal.

Alternatively, the image capture device 500 may be a camera, scanner, video camera, or the like. The specific type of the image capturing device 500 may be selected according to the actual situation, and the present application is not particularly limited.

It will be appreciated that the robot arm 300 may encounter some obstacles during the movement to the object to be operated, or may arrive at an inaccurate position of the object to be operated, which may cause operation failure. Through setting up image acquisition device 500 in the one end that arm 300 kept away from handrail 150, this arm 300 is in the removal in-process, and this image acquisition device 500 can acquire the environment image signal in this arm 300 removal in real time to send this environment image signal to the host computer, the host computer can confirm barrier information and/or wait to operate the positional information of object according to this environment image signal, and whether confirm whether there is the barrier and whether this arm 300 removal's position is accurate according to this barrier information and/or wait to operate the positional information of object, and in time according to the determination result control arm 300 keeps away the barrier and adjusts the removal position.

In the implementation process, the image acquisition device 500 is disposed at the end of the mechanical arm 300 away from the armrest 150, so that in the process of executing the operation task by the mechanical arm 300, an environmental image signal in the moving process of the mechanical arm 300 can be obtained, an obstacle signal and/or position information of an object to be operated can be timely obtained, and the mechanical arm 300 can be controlled to avoid the obstacle or adjust the moving position in time according to the obstacle signal and/or the position information of the object to be operated, so that the safety and accuracy of executing the operation task by the mechanical arm 300 are improved.

In one possible implementation, the brain-controlled wheelchair 10 further includes: grip strength acquisition means.

The grip strength acquiring device is arranged on the armrest 150 of the electric wheelchair body.

The grip acquisition device herein is configured to acquire grip information of a user. The grip acquisition device may be a pressure sensor, a spring grip, or the like. The grip acquisition device may be disposed around the armrest 150, or may be disposed on the upper or lower surface of the armrest 150. The specific type and the setting mode of the grip strength acquisition device can be adjusted according to actual conditions, and the application is not particularly limited.

As will be appreciated, the brain-controlled wheelchair 10 is typically used for users with impaired grip strength such as severe motor dysfunction, cerebral infarction, and the like. In order to assist the users in performing grip training, a grip acquisition device is disposed on the armrest 150, and when the users grasp the armrest 150, the grip acquisition device disposed on the armrest 150 can acquire grip information of the users, so as to monitor grip training conditions of the users according to the grip information and assist grip training. Of course, the user may also directly perform the grip training using the grip acquisition device as the training device.

In some real-time examples, after the grip strength acquiring device acquires grip strength information, the grip strength acquiring device may send the grip strength information to the upper computer, and the upper computer may store the grip strength information for a user to view during planned grip strength training or during diagnosis. The upper computer can update the grip training program of the user according to the grip information so that the user can execute corresponding grip training according to the actual grip condition.

In other embodiments, the grip strength acquisition device may also store the grip strength information directly in the grip strength acquisition device after the grip strength information is acquired, for the user to view during the planned grip strength training or during the diagnosis.

In the above implementation process, by setting the grip strength acquiring device on the brain-controlled wheelchair 10, the grip strength acquiring device can be used for acquiring grip strength information of a user, so that the grip strength information can assist the user in performing grip strength training or serve as a basis for diagnosis, thereby providing convenience for the user in grip strength training and increasing the application scenario of the brain-controlled wheelchair 10.

In one possible implementation, the electric wheelchair body includes: and a lower computer.

Wherein, the lower computer is provided with a wireless chip.

The lower computer is configured to receive a second control instruction sent by the remote control device through the wireless chip and control the driving motor to act according to the second control instruction. The lower computer can be a main control board, an industrial personal computer and the like. The lower computer is directly connected with driving devices such as a driving motor of the brain-controlled wheelchair 10 and a motor of the mechanical arm 300 in a wired or wireless mode. The lower computer is used for directly controlling the action of driving devices such as a driving motor, a mechanical arm 300 motor and the like.

Alternatively, the lower computer may be a device independent of the driving device such as the driving motor and the motor of the mechanical arm 300, or may be a device integrated inside the driving motor and/or the motor of the mechanical arm 300. When the lower computer is a device independent of the driving device, the lower computer may be disposed under the seat 140. The specific setting mode of the lower computer can be adjusted according to actual conditions.

The remote control device may be a remote control, a smart phone, a personal digital assistant (personal digital assistant, PDA), or the like. The remote control device is connected with the lower computer by wireless chip.

The second control command is a command for controlling the operation of the brain-controlled wheelchair 10. The second control command may be obtained by a remote control device. The remote control device can be provided with a man-machine interaction interface or an instruction key so as to determine a second control instruction by acquiring a signal of executing the man-machine interaction interface or the instruction case by a user.

It will be appreciated that the brain-controlled wheelchair 10 is primarily controlled by the brain-electrical signals of the user, and that the user who typically uses the brain-controlled wheelchair 10 is not mobility-friendly and can only control the user of the brain-controlled wheelchair 10 by thinking. And when the user is in a tired state or a caretaker exists, the user does not need or is difficult to control the action of the brain-controlled wheelchair 10 through the brain-controlled electrical signal, and the caretaker can send a second control instruction through the remote control device to control the action of the brain-controlled wheelchair 10.

In some embodiments, the remote control device may also be connected to the lower computer by a wired connection.

In the implementation process, the lower computer is provided with the wireless chip, so that the lower computer can be connected with the remote control equipment through the wireless chip. The brain-controlled wheelchair 10 can act according to a first control instruction sent by an upper computer and can also act according to a second control instruction sent by a remote control device, so that when a user of the brain-controlled wheelchair 10 does not need or is difficult to control the brain-controlled wheelchair 10 to act through brain-controlled electrical signals, a caretaker and other users can control the brain-controlled wheelchair 10 to act through the remote control device, the brain-controlled wheelchair 10 can be controlled in various modes, and the application scene of the brain-controlled wheelchair 10 is increased.

In one possible implementation, the brain-controlled wheelchair 10 further includes: and the router and the upper computer.

Wherein, upper computer and router all set up in the bottom of electronic wheelchair body.

The upper computer may connect the electroencephalogram signal acquisition apparatus 20, the first ranging apparatus 200, and the second ranging apparatus 600 through a router to acquire an obstacle signal and an electroencephalogram signal through the router.

The lower computer can also be connected with the upper computer through the router and receives a first control instruction sent by the upper computer so as to control the driving motor to act according to the first control instruction.

In the implementation process, because the coverage range of the router is limited, the upper computer is connected with other equipment through the router to receive the range limitation, so that the upper computer can not be in wireless connection with other equipment in an area outside the range, and the application range of the brain-controlled wheelchair 10 is further limited. Through all setting up upper computer and router on electronic wheelchair body, this router and upper computer follow the removal of brain accuse wheelchair 10 and remove for the upper computer is connected with other equipment through the router and is no longer limited by the router coverage, has increased the usable scope of this brain accuse wheelchair 10.

In one possible implementation, the lower computer is configured to stop responding to the first control command when the remote control device sends the second control command to the lower computer.

Here, the stopping of the lower computer responding to the first control command may be achieved by:

mode one: the lower computer stops receiving the first control instruction.

Mode two: the lower computer receives the first control instruction and the second control instruction, stores the first control instruction and only executes the second control instruction.

Of course, the manner in which the lower computer stops responding to the first control instruction is merely exemplary, and the manner in which the lower computer stops responding to the first control instruction may be adjusted according to the actual situation, which is not particularly limited in this application.

It will be appreciated that in some cases, there may be a conflict between the first control instruction and the second control instruction. In order to avoid collision, the first control instruction and the second control instruction may be set to a priority order, that is, one of the instructions is preferentially executed, and execution of the other instruction is stopped when the instruction is executed.

Since the first control command is also generated by the upper computer according to the electroencephalogram signal acquired by the electroencephalogram signal acquisition apparatus 20, the obstacle signals acquired by the first ranging apparatus 200 and the second ranging apparatus 600, and the like. That is, the first control instruction is an instruction obtained after processing by the upper computer. The second control instruction is a control signal directly input by a user, the middle is not needed to be calculated by the upper computer, the signal transmission with the upper computer is reduced, and the second control instruction is directly transmitted to the lower computer. The second control signal may reduce errors or errors in signal transmission, processing, etc., relative to the first control signal. That is, the accuracy of the second control instruction may be higher than that of the first control instruction, and thus the priority of the second control instruction may be set higher than that of the first control instruction.

In some embodiments, if the remote control device stops sending the second control command to the lower computer, the lower computer may continue to acquire the first control command.

In the implementation process, by stopping acquiring the first control instruction when the remote control device sends the second control instruction to the lower computer, the conflict between the first control instruction and the second control instruction can be avoided, and the control accuracy of the brain-controlled wheelchair 10 is improved. In addition, since the second control command is more accurate than the first control command, the accuracy of the control of the brain-controlled wheelchair 10 can be further improved by setting the second control command to have a higher priority than the first control command.

In one possible implementation, the electric wheelchair body further includes: a router, a motor drive board, a power board, a battery and an integrated box 160.

Wherein, the motor driving board, the power board, the router and the lower computer are integrated in the integrated box 160; the battery is arranged at the bottom of the electric wheelchair body; the integrated box 160 is arranged at the rear end of the electric wheelchair body, and a peripheral interface is arranged on the integrated box 160.

Optionally, other devices such as positioning devices, sensors, etc. may also be disposed in the integrated box 160.

In some embodiments, the battery and the integrated box 160 may each be disposed on a chassis that may be below the seat cushion 141, with the battery disposed at a front end of the chassis and the integrated box 160 disposed at a rear end of the chassis.

In other embodiments, the battery and the integrated box 160 may each be disposed on a chassis that may be below the seat cushion 141, with the integrated box 160 disposed at a rear end of the chassis and the battery disposed between the chassis and the integrated box 160.

The motor driving board, the power supply power board and the router are all connected with the battery and the lower computer, and the lower computer is connected with the battery. The battery is used to power the various powered devices in the brain-controlled wheelchair 10. For example, power is supplied to an upper computer, a lower computer, a motor drive board, a power supply board, a router, and the like.

The motor drive plate may be used to convert electrical energy to mechanical energy to drive the motion of the brain-controlled wheelchair 10. The power board is used to convert ac power to dc power and provide sufficient power to drive the motion of the brain-controlled wheelchair 10.

The peripheral interfaces can be interfaces such as USB, aviation plug and the like. The peripheral interface is used to connect the devices in the integration box 160 with external devices.

In the above implementation process, the motor driving board, the power board, the router and the lower computer are integrated in the integrated box 160 and are powered by the same battery, so that the equipment in the brain-controlled wheelchair 10 can be miniaturized and integrated, and the whole brain-controlled wheelchair 10 shares one battery, so that the occupied area of the equipment in the brain-controlled wheelchair 10 can be reduced, and the structure of the brain-controlled wheelchair 10 is greatly simplified.

In one possible implementation, the brain-controlled wheelchair 10 further includes an emergency stop button, and the lower computer includes an I/O interface and a GND interface.

The I/O interface is connected with the GND interface through an emergency stop button.

The brain-controlled wheelchair 10 herein is configured to stop the motion after the emergency stop button is pressed. The emergency stop button can be arranged on the armrest 150, on a remote control device or on a remote controller which is independently led out and connected with the brain-controlled wheelchair body, etc. The setting position of the emergency stop button can be selected according to actual conditions, and the application is not particularly limited.

It can be understood that by setting a scram button between the I/O interface and the GND interface of the lower computer, when the scram button is pressed, the I/O interface is disconnected, the device connected to the lower computer is disconnected from the lower computer, and the driving motor cannot receive the control signal of the lower computer, so as to stop driving, thereby realizing scram control of the brain-controlled wheelchair 10.

In the implementation process, by setting the emergency stop button, when the brain-controlled wheelchair 10 needs to stop in an emergency, the physical method of controlling the brain-controlled wheelchair 10 through the emergency stop button can reduce the accident rate in the action process of the brain-controlled wheelchair 10 and improve the safety of the brain-controlled wheelchair 10.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (12)

1. A brain-controlled wheelchair, comprising: an electric wheelchair body and a first distance measuring device;

the first distance measuring device is arranged on a bracket at the upper end of the front wheel of the electric wheelchair body, and is configured to acquire obstacle signals around the electric wheelchair body and send the obstacle signals to an upper computer;

The electric wheelchair body comprises a driving motor, wherein the driving motor is configured to act according to a first control instruction so as to drive the brain-controlled wheelchair;

the first control instruction is generated by the upper computer according to the obstacle signal and an electroencephalogram signal fed back by the electroencephalogram signal acquisition device.

2. The brain-controlled wheelchair according to claim 1, wherein the front wheels are provided on both sides of the electric wheelchair body;

at least three first distance measuring devices are arranged on the support at the upper end of the front wheel on each side, and each first distance measuring device is used for acquiring obstacle signals at the front end of the electric wheelchair body, the rear end of the electric wheelchair body and the outer side of the electric wheelchair body on the corresponding side of the first distance measuring device.

3. The brain-controlled wheelchair of claim 1, wherein the electric wheelchair body further comprises: a second distance measuring device and a back shell plate;

at least two second distance measuring devices are arranged on the back shell plate, and the two second distance measuring devices are respectively arranged on two sides of the back shell plate so as to acquire barrier signals on two sides of the rear part of the electric wheelchair body.

4. The brain-controlled wheelchair of claim 1, further comprising: a mechanical arm;

The mechanical arm is arranged on an armrest of the electric wheelchair body, and an operating part is arranged at one end of the mechanical arm, which is far away from the armrest, and is used for operating an object;

the mechanical arm is configured to execute an object operation task under the control of the upper computer.

5. The brain-controlled wheelchair of claim 4, wherein the robotic arm further comprises: an image acquisition device;

the image acquisition device is arranged at one end of the mechanical arm far away from the armrest, and is configured to acquire an image signal of one end of the mechanical arm far away from the electric wheelchair body and send the image signal to the upper computer;

the upper computer is configured to control the mechanical arm to execute an object operation task according to the image signal and the electroencephalogram signal.

6. The brain-controlled wheelchair of claim 1, further comprising: grip strength acquisition means;

the grip strength acquisition device is arranged on the armrest of the electric wheelchair body and is configured to acquire grip strength information of a user.

7. The brain-controlled wheelchair according to any one of claims 1-6, wherein the electric wheelchair body comprises: a lower computer;

The lower computer is provided with a wireless chip;

the lower computer is configured to receive a second control instruction sent by the remote control equipment through the wireless chip and control the driving motor to act according to the second control instruction.

8. The brain-controlled wheelchair of claim 7, further comprising: a router and an upper computer;

the upper computer and the router are arranged at the bottom of the electric wheelchair body, and the upper computer is configured to acquire the obstacle signal and the electroencephalogram signal through the router;

the lower computer is configured to receive a first control instruction sent by the upper computer and control the driving motor to act according to the first control instruction.

9. The brain-controlled wheelchair of claim 7, wherein the lower computer is configured to cease responding to the first control command when the remote control device sends the second control command to the lower computer.

10. The brain-controlled wheelchair of claim 7, wherein the electric wheelchair body further comprises: the device comprises a router, a motor driving plate, a power supply power plate, a battery and an integrated box;

the motor driving plate, the power supply power plate, the router and the lower computer are integrated in the integrated box;

The battery is arranged at the bottom of the electric wheelchair body;

the integrated box is arranged at the rear end of the electric wheelchair body, and a peripheral interface is arranged on the integrated box;

the motor driving plate, the power supply power plate and the router are all connected with the battery and the lower computer, and the lower computer is connected with the battery.

11. The brain-controlled wheelchair of claim 7, further comprising an emergency stop button, the lower computer comprising an I/O interface and a GND interface;

the I/O interface is connected with the GND interface through the emergency stop button, and the brain-controlled wheelchair is configured to stop action after the emergency stop button is pressed.

12. A brain-controlled wheelchair system, comprising: an electroencephalogram signal stimulation device, an electroencephalogram signal acquisition device, an upper computer and the brain-controlled wheelchair according to any one of claims 1 to 7 or 9 to 11;

the electroencephalogram signal stimulation device is used for stimulating a user to generate electroencephalogram signals;

the electroencephalogram signal acquisition device is used for acquiring the electroencephalogram signal and sending the electroencephalogram signal to the upper computer;

the upper computer is used for generating a first control instruction according to the electroencephalogram signal;

The electric wheelchair body comprises a driving motor, wherein the driving motor is used for acquiring the first control instruction and acts according to the first control instruction so as to drive the brain-controlled wheelchair.