TW201842889A - A wheelchair device with a recognizing color and moving - Google Patents

Abstract

A wheelchair device with a recognizing color and moving, applicable to navigation for a patient, comprising a wheelchair unit, a power unit, a control unit and a tracking detection unit. The wheelchair unit includes a seat body for carrying the patient and a moving assembly disposed in the seat body. The power unit includes a motor assembly disposed on the seat body to drive the wheelchair device. The control unit includes a control circuit electrically connected to the motor assembly. The tracking detection unit includes a navigation bar arranged in a complex number on the ground and having a different color, and a tracking detection component electrically connected to the control circuit to recognize the color of the complex navigation color bar. The control circuit may control the motor assembly, respectively, to cause the wheelchair device to advance along the trajectory of the one navigation bars.

Description

 Wheelchair device with color-tracking movement  

The present invention relates to a wheelchair device, and more particularly to a wheelchair device having a color-tracking movement.

With the development of technology, more and more home or environmental systems and devices are designed to introduce automation and intelligent control technology. Among them, the smart auxiliary mobile system and the device can help the user, such as an elderly person with limited mobility, to move, thereby saving the time and effort of the user to handle trivial matters.

Referring to Fig. 1, a navigation environment system 1 of Taiwan Patent No. I474294 is applied to a smart auxiliary mobile device 100 for moving in a region 12 in which a plurality of tags 200 are disposed. The smart assisted mobile device 100 includes a mobile device 110, a photographing unit 120, and a control unit 130.

The navigation environment system 1 must store the data of the area 12 in the database. The current position L1 of the smart auxiliary mobile device 100 can be obtained from the position of the complex label 200. After the target position L2 is set, the navigation environment system 1 plans. The movement path P1 is taken out.

Although Taiwan Patent No. I474294 "How to Set the Navigation Environment" discloses the technology of wheelchair navigation, in actual use, it still has the following disadvantages:

First, you need to set up the database: Before you can navigate the wheelchair, you must enter the map data into the database. The map data contains the coordinates of the route and the coordinates of the obstacle. You need to input the coordinate data into the database accurately, so that the system can plan. Move the path.

Second, can not cope with the special situation: the general wheelchair will encounter other obstacles on the aisle when moving, the walkway is not unimpeded, so the conventional automatic navigation wheelchair can not respond to special events.

Third, it is impossible to issue an alarm: the automatic navigation of the wheelchair is not designed for accidental events, and it is impossible to obtain an impassable situation, and it is impossible to issue an alarm information.

Therefore, how to make the wheelchair navigation more sophisticated, do not need to move the wheelchair by complicated coordinate information and label information, and determine whether the route is suitable for wheelchairs when the wheelchair advances, and notify the relevant personnel to assist when an accident occurs. The relevant technical staff is in urgent need of the goal.

In view of the above, it is an object of the present invention to provide a wheelchair device having a color-tracking movement for carrying a patient, comprising a wheelchair unit, a power unit, a control unit, and a tracking detection unit .

The wheelchair unit includes a seat body for carrying the patient, and a moving component disposed on the seat body.

The power unit includes a motor assembly disposed on the base to drive movement of the wheelchair device.

The control unit includes a control circuit electrically coupled to the motor assembly.

The tracking detection unit includes a plurality of navigation color bars disposed on the ground and having different colors, and a tracking detection component electrically connected to the control circuit to recognize the color of the plurality of navigation color bars.

The control circuit can separately control the motor assembly to cause the wheelchair device to follow the trajectory of one of the navigation bars.

Another technical means of the present invention is that the control unit further includes a route selection interface electrically connected to the control circuit for selecting a navigation color strip for the wheelchair device to advance.

Another technical means of the present invention is that the power unit further includes a brake assembly electrically connected to the control circuit to stop the wheelchair device.

A further technical means of the present invention is that the control unit further includes a remote control component electrically connected to the control circuit for controlling the direction in which the wheelchair device is advanced.

Another technical means of the present invention is that the control unit further includes a wireless information transmission component electrically connected to the control circuit for externally transmitting wireless information.

Another technical means of the present invention resides in the above-mentioned wheelchair device having color-sensitive tracking movement, and further comprising a patient detecting unit comprising a heart rate detecting component electrically connected to the control circuit.

According to still another aspect of the present invention, the patient detecting unit further includes a tilt detecting component electrically connected to the control circuit to detect whether the patient is tilted in a sitting posture.

Another technical means of the present invention is that the wheelchair unit further includes a drip hanging assembly disposed on the base body, and the patient detecting unit further includes a drip detecting component electrically connected to the control circuit.

Another technical means of the present invention is that the control unit further includes an alarm component electrically connected to the control circuit for externally issuing an alarm message.

According to still another aspect of the present invention, the tracking detection unit further includes a distance detecting component electrically connected to the control circuit to detect whether the road condition in front of the wheelchair device is suitable for advancement.

The beneficial effect of the invention is that a special navigation color is set for different purposes, and then a navigation color strip of a specific color is set on the driving route of the destination, and the tracking detecting component can distinguish the colors of different navigation color strips. When the patient is to be transported to one of the purposes, the route selection interface is used to select the color of the navigation strip for the purpose, and the control circuit can follow the color navigation strip to move the wheelchair device to the destination.

A1‧‧‧ destination point

A2‧‧‧ destination point

A3‧‧‧ destination point

B1‧‧‧ starting point

B2‧‧‧ starting point

B3‧‧‧ starting point

2‧‧‧ patients

3‧‧‧ Wheelchair unit

31‧‧‧

32‧‧‧Mobile components

321‧‧‧Drive wheel

322‧‧‧Rotating wheel

33‧‧‧Drip hanging components

4‧‧‧Power unit

41‧‧‧Motor components

42‧‧‧ brake components

5‧‧‧Control unit

51‧‧‧Control circuit

52‧‧‧ route selection interface

53‧‧‧Remote control components

54‧‧‧Wireless information transmission component

55‧‧‧Alarm components

6‧‧‧Track detection unit

61‧‧‧Navigation strips

62‧‧‧Track detection component

63‧‧‧Distance detection component

7‧‧‧ Patient Detection Unit

71‧‧‧Heart detection component

72‧‧‧Tilt detection component

73‧‧‧Drip detection component

1 is a schematic view showing a method for setting a navigation environment in Taiwan Patent No. 1474294; and FIG. 2 is a schematic view showing a preferred embodiment of a wheelchair device having a color-tracking movement according to the present invention; BRIEF DESCRIPTION OF THE DRAWINGS FIG. 4 is a schematic view showing a setting of a plurality of navigation color bars of the preferred embodiment; FIG. 5 is a schematic view showing a preferred embodiment of the present invention; One of the navigation color strips is set; and FIG. 6 is a flow chart illustrating the operational flow of the preferred embodiment.

The related features and technical details of the present invention will be apparent from the following detailed description of the preferred embodiments.

Referring to Figures 2 and 3, a preferred embodiment of a wheelchair apparatus having color-sensitive tracking movement is suitable for carrying a patient 2 to a predetermined purpose. The preferred embodiment includes a wheelchair unit 3 and a power unit. 4. A control unit 5, a tracking detection unit 6, and a patient detection unit 7.

The wheelchair unit 3 includes a seat body 31 for carrying the patient 2, a moving component 32 disposed on the seat body 31, and a drip hanging assembly 33 disposed on the seat body 31.

Preferably, the moving component 32 includes two driving wheels 321 and two rotating wheels 322 to move the position of the seat body 31. The drip hanging assembly 33 is used to suspend the drip used by the patient 2. If the patient 2 does not need to use a drip, the drip hanging assembly 33 can also be detached from the seat 31.

The power unit 4 includes a motor assembly 41 disposed on the base body 31, and a brake assembly 42 disposed on the base body 31. The motor assembly 41 is used to drive the wheelchair device to move. The brake assembly 42 is used to stop. The wheelchair device. Preferably, the motor assembly 41 has two drive motors for respectively driving the rotational speeds of the two transmission wheels 321 to further control the advancement and turning of the wheelchair device by controlling the rotational rotational speed of the two transmission wheels 321. The use of electric motors to control the advancement and turning of wheelchairs has been known to the industry and is widely used in commercially available electric wheelchairs, and will not be described in detail herein.

The control unit 5 includes a control circuit 51 electrically connected to the motor assembly 41 and the brake assembly 42 , a route selection interface 52 electrically connected to the control circuit 51 , and a remote control component 53 electrically connected to the control circuit 51 . A wireless information transmission component 54 electrically coupled to the control circuit 51, and an alarm component 55 electrically coupled to the control circuit 51.

In the preferred embodiment, the control circuit 51 is a tree-based controller, and the operating system is a Linux single-board computer with a built-in Wi-Fi chip and a Bluetooth chip, which can perform wireless transmission of information, and is used by designers. Python is used to edit the operating program of the tree.

The remote control assembly 53 is a directional operating interface to provide a direction for maneuvering the wheelchair assembly. Preferably, the remote control assembly 53 can be disposed on the armrest of the seat body 31 to provide the patient 2 to control the forward direction of the wheelchair device by the control technology of the rocker. In actual implementation, the remote control component 53 can be connected to the control circuit 51 by using a Bluetooth or Wi-Fi wireless transmission technology to provide a medical staff who cares for the patient 2 to control the direction of the wheelchair device. Limited.

The wireless information transmission component 54 utilizes wireless information transmission technology to transmit wireless information to other computer devices or mobile phone devices so that medical personnel can receive location information or alarm information of the wheelchair device.

The alarm component 55 is used to issue an alarm message to the outside. Preferably, the alarm component 55 has an audible alarm and a illuminating alarm. When the control circuit 51 determines that the wheelchair device has a problem, the alarm information of the sound and light is used to notify the medical staff near the wheelchair device. assist.

The tracking detection unit 6 includes a plurality of navigation color strips 61 disposed on the ground, a tracking detection component 62 electrically connected to the control circuit 51 to identify the color of the plurality of navigation color strips 61, and a control circuit 51 is electrically connected to the distance detecting component 63.

Each navigation color bar 61 has a unique color. The route selection interface 52 can provide a color for the user to select the plurality of navigation color bars 61 such that the control circuit 51 controls the forward direction of the wheelchair device in accordance with the navigation color bar 61 of the selected color.

Referring to FIGS. 4 and 5, the plurality of navigation color strips 61 may be tapes of different colors set on the ground, or the plurality of navigation color strips 61 may be painted on the ground with paint of different colors, and then the navigation colors of different colors may be used. Strip 61 is implicated for a different purpose, for example, can be tied to destination point A1 using red navigation color strip 61, tied to destination point A2 using blue navigation color strip 61, and tied to destination using yellow navigation color strip 61 Location A3.

In the preferred embodiment, the tracking detection component 62 is a color-determining wafer using the TCS3200, which has a white light illuminating element and a light-receiving element, and the light emitted by the white light illuminating element illuminates the target object and reflects the light. It can be received by the light receiving element to cause the color discrimination wafer to produce different color information.

The tracking detection component 62 is a plurality of color discrimination chips disposed in front of the base 31, and can detect the color and setting of the ground in front of the wheelchair device. When the tracking detection component 62 detects the color When the information is transmitted to the control circuit 51, the control circuit 51 analyzes the received color information to analyze the color and distribution position of the navigation color strip 61 in front of the wheelchair device.

Preferably, the setting width of the plurality of navigation color bars 61 is fixed, and is set to an arc shape at the turn, so that the control circuit 51 can determine that the setting state of the plurality of navigation color bars 61 is a straight route or a turning route. .

For example, the route selection interface 52 provides a color for the user to select the plurality of navigation color bars 61. When the tracking detection component 62 detects the selected color, the wheelchair device is located at the selected navigation color. On the strip 61, the control circuit 51 records the distribution position of the color, and then controls the wheelchair device to advance straight for a distance. The tracking detection component 62 continuously detects the color on the ground and transmits the color information to the control circuit 51.

When the wheelchair device is advanced in a straight line, the control circuit 51 compares the distribution position of the color to determine whether the wheelchair device is advanced along the position of the navigation color bar 61.

When the control circuit 51 is the same as the detection position of the navigation color strip 61, it indicates that the wheelchair device is in a straight area of the navigation color strip 61, the wheelchair device does advance along the navigation color strip 61, and the control circuit 51 continues. The wheelchair device is controlled to advance in a straight line.

When the control circuit 51 is different from the position of the navigation color bar 61, indicating that the traveling direction of the wheelchair device is shifted, or the turning position of the navigation color bar 61 is encountered, the control circuit 51 controls the moving component 32. So that the wheelchair device follows or follows the navigation color strip 61.

In addition to this, each navigation color bar 61 can be associated with a different area to the destination location of the navigation color bar 61. For example, the red navigation color bar 61 can be pulled out from the start point B1, the start point B2, and the start point B3, respectively, and the red navigation color bars 61 are combined into one, and then tied to the destination point A1.

The distance detecting component 63 includes at least one ground distance detecting component for detecting a ground distance, and at least one front obstacle detecting component for detecting a distance in front of the wheelchair device.

The ground distance detecting component continuously detects the distance between the wheelchair device and the front ground to detect whether there is a recess or a stair edge in front of the wheelchair device to maintain the advancement of the wheelchair device.

The front obstacle detecting component continuously detects the front of the wheelchair device to detect whether there is an obstacle (such as a pedestrian walking on the aisle) in front of the wheelchair device to maintain the advancement of the wheelchair device.

When the control circuit 51 determines that the road condition ahead is not suitable for advancing, the motor assembly 41 is turned off and the brake assembly 42 is activated to avoid an accident in the wheelchair device. In addition, when the wheelchair device stops moving due to an obstacle, the obstacle information is further released by the wireless information transmission component 54 to notify the medical staff to assist, and the wheelchair component is notified of the wheelchair. Medical staff near the device came to assist.

The patient detecting unit 7 includes a heart rate detecting component 71 electrically connected to the control circuit 51, a tilt detecting component 72 electrically connected to the control circuit 51, and a dot detecting electrically connected to the control circuit 51. Component 73.

The heart rate detecting component 71 can be configured to detect the heartbeat frequency of the patient 2, wherein the heart rhythm detecting component 71 has a heart rhythm detecting component disposed on the human finger, and a heart rhythm electrically connected to the heart rhythm detecting component Computational component.

The heart rhythm detecting component can detect the blood vessel pulsation information of the human finger, and the heart rhythm computing component calculates the heart rhythm information of the patient 2 by the blood vessel pulsation information of the human finger, and transmits the heart rhythm information to the control circuit 51.

The heart rate normal range value is stored in the control circuit 51. When the detected heart rate information exceeds the normal heart rate range value, the wireless information transmission component 54 and the alarm component 55 immediately issue an alarm information to notify the relevant medical staff. Come to help and stop the wheelchair device.

The tilt detecting component 72 has a seat tilt detecting component for detecting whether the seat body 31 of the wheelchair unit 3 is tilted, and a patient posture detecting device for detecting whether the patient 2 is correctly seated on the seat body 31. element.

The body tilt detecting component is a horizontal detecting component disposed on the base body 31, and can detect the tilt angle of the base body 31 and transmit information to the control circuit 51. The control circuit 51 stores the same. The normal tilt range value of the seat body 31.

When the wheelchair device is in the tilt range value, it indicates that the seat body 31 is not tilted and is moving on the flat or gentle slope. When the tilt angle of the base 31 exceeds the stored tilt range value, the control circuit 51 determines that the wheelchair device is dumped, and immediately issues an alarm information by the wireless information transmission component 54 and the alarm component 55 to notify the relevant medical personnel. Come to help and stop the wheelchair.

The patient posture detecting component is a plurality of pressure detecting components, and is disposed on the seat body 31 to detect a pressure value of the patient 2 riding on the seat body 31, and transmits the detected pressure information to the control circuit 51. . The control circuit 51 stores the pressure range value at which the patient 2 is normally seated on the seat body 31 of the wheelchair unit 3.

When the detection information of the sitting posture detecting component exceeds the stored pressure range value, the control circuit 51 determines that the patient 2 is dumped, or the patient 2 has left the seat 31, and immediately passes the wireless information transmission component 54 and The alarm component 55 issues an alarm message to notify the relevant medical personnel to assist and stop the wheelchair device.

The droplet detecting component 73 is disposed on the drip hanging component 33 to detect the use of the drip disposed on the drip hanging component 33. Preferably, the drip hanging component 33 is disposed on the drip, detects whether the drip is used up, and transmits detection information to the control circuit 51.

When the control circuit 51 receives the information of the exhaustion, the wireless information transmission component 54 and the alarm component 55 immediately issue an alarm information to notify the relevant medical personnel to assist and stop the wheelchair device.

6 is a flow chart showing the operation of the wheelchair device of the present invention. First, the wheelchair device is powered on to turn on the control circuit 51, and the route selection interface 52 or the remote control assembly 53 is used to select whether to execute the automatic driving program. When the automatic driving program is selected, the control circuit 51 executes the automatic driving program of the wheelchair device. When the autopilot program is not selected, the patient 2 or medical staff can use the remote control assembly 53 to control the direction of movement of the wheelchair device.

The control circuit 51 stores the color of the navigation color bar 61 corresponding to each destination. When the automatic driving program is selected, the color of the navigation color bar 61 can be matched only by selecting the purpose. In actual implementation, the color of the plurality of navigation color bars 61 can be directly selected, and should not be limited thereto.

When the control circuit 51 obtains the destination information, it is determined whether the detection information of the tracking detection component 62 has the color of the navigation color strip 61 connected to the destination.

When the tracking detection component 62 does not detect the color of the navigation color strip 61 of the purpose, the control circuit 51 can of course not execute the automatic driving procedure, and cannot move by itself. The relevant person must be moved to the wheelchair device. The color navigation bar 61, or re-select the purpose.

When the control circuit 51 determines that the wheelchair device is on the ground of the navigation color strip 61 of the color, the wheelchair device can be started to move. When the control circuit 51 advances, it must be determined that there is no obstacle in the movement path of the wheelchair device, the seat body 31 of the wheelchair device is not tilted, the patient 2 must be properly seated on the seat body 31, and whether the use of the patient 2 is normal or not. .

When the above detection information is normal, the control circuit 51 moves the wheelchair device to the selected purpose according to the navigation color bar 61. When the selected purpose is not reached, the control circuit 51 finds that there is an obstacle in front of the wheelchair device, or that the road surface in front of the wheelchair device has a recess, or the wheelchair unit 3 is dumped, or the patient 2 is not seated correctly. The control circuit 51 issues an external alarm by the wireless information transmission component 54 and the alarm component 55 when the chassis 31 of the wheelchair unit 3 or the tracking detection component 62 cannot detect the selected color.

When the control circuit 51 finds that the tracking detection component 62 does not detect the color of the navigation color bar 61, it is determined whether the wheelchair device has reached the selected purpose. Preferably, the destination color can be further set on the ground for each purpose, so that the control circuit 51 determines that the wheelchair device has reached the destination, and issues the information that the wheelchair device has reached the destination. In actual implementation, an RFID chip can be provided for each purpose, and the control circuit 51 can be provided with a wafer reader so that the control circuit 51 can determine whether the wheelchair device has reached the selected purpose.

As can be seen from the above description, the wheelchair device having the color-tracking movement of the present invention does have the following effects:

First, the setting is simple: the invention does not need to set the map database, as long as the navigation color strip 61 to the destination is set on the ground, the wheelchair device can be moved to the purpose according to the navigation color strip 61, and the operation can be automatically performed without complicated operation. drive.

2. Immediately issuing an alarm: The distance detecting component 63 can detect the condition of the road surface and whether there is an obstacle in front, the heart rate detecting component 71 can detect the heart rhythm of the patient 2, and the tilt detecting component 72 can detect Whether the wheelchair unit 3 or the patient 2 is dumped, the drip detection component 73 can detect whether the patient 2 is exhausted or not. When the control circuit 51 finds a danger, the alarm can be immediately issued to notify the relevant personnel to come to the assistance.

Third, the alarm information is sent: the wireless information transmission component 54 of the control unit 5 can transmit the alarm information to the remote medical staff by using the wireless transmission technology, avoiding being restricted by the release range of the sound and light alarm, and causing no personnel before The situation to assist.

In summary, the present invention allows the control circuit 51 to control the movement of the wheelchair device to the selected purpose by using the plurality of navigation color bars 61 disposed on the ground and having different colors, and further utilizes the distance detecting component 63. The heart rate detecting unit 71, the tilt detecting unit 72, and the drip detecting unit 73 ensure the safety of the patient 2 when moving, so that the object of the present invention can be achieved.

The above is only the preferred embodiment of the present invention, and the scope of the invention is not limited thereto, that is, the simple equivalent changes and modifications made by the scope of the invention and the description of the invention are All remain within the scope of the invention patent.

Claims (10)

 A wheelchair device for recognizing color tracking movement, suitable for carrying a patient, comprising: a wheelchair unit, comprising a seat body for carrying the patient, and a moving component disposed on the seat body; a power unit, The utility model comprises a motor component arranged on the seat body for driving the movement of the wheelchair device; a control unit comprising a control circuit electrically connected to the motor component; and a tracking detection unit comprising a plurality of grounding and respectively arranged on the ground a navigation color strip of different colors, and a tracking detection component electrically connected to the control circuit to identify the color of the plurality of navigation color strips; the control circuit can separately control the motor assembly to enable the wheelchair device to follow The trajectory of one of the navigation bars advances.    A wheelchair device having a color-tracking movement according to the first aspect of the invention, wherein the control unit further comprises a route selection interface electrically connected to the control circuit for selecting a navigation color strip for advancing the wheelchair device.    A wheelchair device having a color-tracking movement according to claim 2, wherein the power unit further includes a brake assembly electrically connected to the control circuit to stop the wheelchair device.    A wheelchair device having a color-tracking movement according to claim 3, wherein the control unit further comprises a remote control component electrically connected to the control circuit for controlling the direction in which the wheelchair device is advanced.    A wheelchair device having a color-tracking movement according to claim 4, wherein the control unit further comprises a wireless information transmission component electrically connected to the control circuit for externally transmitting wireless information.    The wheelchair device with color-tracking movement according to claim 5 of the patent application scope further includes a patient detecting unit, and a heart rhythm detecting component electrically connected to the control circuit.    According to the sixth aspect of the invention, the wheelchair detecting device further includes a tilt detecting component electrically connected to the control circuit to detect whether the patient is tilted in a sitting posture.    According to the seventh aspect of the invention, the wheelchair unit further includes a drip hanging assembly disposed on the seat body, the patient detecting unit further comprising a control circuit A drip detection component that is electrically connected.    A wheelchair device having a color-tracking movement according to the invention of claim 8, wherein the control unit further comprises an alarm component electrically connected to the control circuit for externally issuing an alarm message.    The tracking device further includes a distance detecting component electrically connected to the control circuit to detect whether the road condition in front of the wheelchair device is suitable according to the wheelchair device having the color-tracking movement according to claim 9 go ahead.