WO2019127258A1 - Fauteuil roulant et son procédé de commande - Google Patents

Fauteuil roulant et son procédé de commande Download PDF

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Publication number
WO2019127258A1
WO2019127258A1 PCT/CN2017/119539 CN2017119539W WO2019127258A1 WO 2019127258 A1 WO2019127258 A1 WO 2019127258A1 CN 2017119539 W CN2017119539 W CN 2017119539W WO 2019127258 A1 WO2019127258 A1 WO 2019127258A1
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WO
WIPO (PCT)
Prior art keywords
wheelchair
control signal
state
processor
voice
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PCT/CN2017/119539
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English (en)
Chinese (zh)
Inventor
刘伟荣
李家鑫
焦寅
闫励
Original Assignee
四川金瑞麒智能科学技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 四川金瑞麒智能科学技术有限公司 filed Critical 四川金瑞麒智能科学技术有限公司
Priority to CN201780098022.8A priority Critical patent/CN111556738B/zh
Priority to PCT/CN2017/119539 priority patent/WO2019127258A1/fr
Publication of WO2019127258A1 publication Critical patent/WO2019127258A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories

Definitions

  • the present application relates to a wheelchair and a method of controlling the same. Specifically, it relates to a smart wheelchair with a awning and a method of controlling the awning.
  • wheelchairs can help the elderly or the disabled to move basically and improve their daily lives and work quality.
  • a wheelchair may include at least one light intensity sensor for obtaining light intensity.
  • the wheelchair may include at least one sunshade device for shading.
  • the wheelchair can include at least one processor.
  • the at least one processor is coupled to the at least one light intensity sensor and the at least one sunshade device.
  • the at least one processor may be configured to acquire the illumination intensity from the at least one illumination intensity sensor; determine that the illumination intensity satisfies a preset condition, the preset condition is related to a time threshold; and to the at least A shading device transmits at least one first control signal.
  • the at least one first control signal may control the at least one shading device to change from a current state to a target state.
  • the wheelchair may include at least one light intensity sensor, at least one sunshade device, and at least one processor.
  • the at least one processor is coupled to the at least one light intensity sensor and the at least one sunshade device.
  • the method can include obtaining, by the at least one processor, an illumination intensity from the at least one illumination intensity sensor; determining, by the at least one processor, that the illumination intensity meets a predetermined condition, the preset condition and A time threshold is associated; and transmitting, by the at least one processor, at least one first control signal to the at least one shading device.
  • the at least one first control signal may control the at least one shading device to change from a current state to a target state.
  • a non-transitory computer readable medium can include executable instructions.
  • the executable instructions may cause a computer device to perform obtaining light intensity from at least one light intensity sensor; determining that the light intensity meets a preset condition, the preset condition being related to a time threshold; and transmitting to the at least one sunshade device At least one first control signal.
  • the at least one control signal may control the at least one shading device to change from a current state to a target state.
  • the current state may include an open state
  • the target state may include a closed state
  • the current state may include a closed state
  • the target state may include an open state
  • the preset condition may include: an average value of the illumination intensity within the time threshold is greater than a first preset threshold.
  • the preset condition may include: an average value of the illumination intensity within the time threshold is less than a second preset threshold.
  • the wheelchair may include at least one voice device.
  • the at least one processor may transmit the at least one second control signal to the at least one voice device when the illumination intensity satisfies the preset condition.
  • the at least one second control signal may control the at least one voice device to issue a first voice alert.
  • the first voice reminder may include information that the at least one sunshade device changes from the current state to the target state.
  • the wheelchair may include at least one power supply module.
  • the at least one power supply module may include at least one solar cell.
  • the at least one processor may send the at least one third control signal to the at least one voice device.
  • the at least one third control signal may control the at least one voice device to issue a second voice alert.
  • the second voice reminder may include information that the at least one power supply module is low in power.
  • the wheelchair may include at least one positioning device for determining the position and posture of the wheelchair.
  • the at least one processor may be configured to transmit the at least one first control signal to the at least one shading device based on the position and posture of the wheelchair and weather information.
  • FIG. 1 is a schematic illustration of an intelligent wheelchair system in accordance with some embodiments of the present application.
  • FIG. 2 is a schematic illustration of a wheelchair in accordance with some embodiments of the present application.
  • FIG. 3 is a schematic diagram of a processor in accordance with some embodiments of the present application.
  • FIG. 4 is a flow chart of a sunshade control program in accordance with some embodiments of the present application.
  • system means for distinguish one of the different components, components, parts, or components of the various levels in the sequential arrangement. method. However, if other expressions can achieve the same purpose, these terms can be replaced by other expressions.
  • the wheelchair system or method can also be applied to any type of smart device or car other than a wheelchair.
  • a wheelchair system or method can be applied to different smart device systems, including one or a combination of any of a balance wheel, an unmanned ground vehicle, a wheelchair, and the like.
  • the wheelchair system can also be applied to any intelligent system including application management and/or distribution, such as systems for transmitting and/or receiving express delivery, as well as for carrying people or goods to certain locations.
  • the "wheelchair”, “smart wheelchair”, “smart device” of the present application are used interchangeably to refer to a device, device or tool that is movable and automatically operable.
  • This application describes an intelligent wheelchair system 100 as an exemplary system.
  • the method and system of the present application are directed to controlling the opening or closing of a awning of a wheelchair based, for example, on light intensity information collected by the illumination intensity sensor.
  • FIG. 1 shows a schematic diagram of an intelligent wheelchair system 100 in accordance with some embodiments of the present application.
  • the intelligent wheelchair system 100 can include a wheelchair 110, a server 120, a network 130, a positioning device 140, and a storage device 150.
  • the wheelchair 110 can be moved and control changes in its own state depending on the environment in which it is placed.
  • the wheelchair 110 can include a sun awning that can control the opening or closing of the awning depending on the intensity of the outdoor light.
  • the light intensity sensor of the wheelchair 110 can detect sunlight and obtain light intensity
  • the processor of the wheelchair 110 eg, the processor 230 in FIG. 2
  • the processor of the wheelchair 110 can be based on information of the light intensity (eg, the average of the light intensity over a certain period of time). The size of the value) generates a control signal.
  • the processor sends the generated control signal to a control button connected and/or communicated with the awning, and the control button can control the awning to change from an open state to a closed state according to the control signal (for example, the awning is changed from an expanded state to a gathered state) Folded state) or changed from closed state to open state (for example, the awning is changed from a collapsed state to an expanded state).
  • the wheelchair 110 can communicate with the server 120, the pointing device 140, and/or the storage device 150.
  • wheelchair 110 may obtain information (eg, weather information, advertisements, etc.) from server 120 over network 130.
  • the wheelchair 110 can include a signal transceiver for communicating with the positioning device 140 to determine the position of the wheelchair 110.
  • the wheelchair 110 can access information stored in the storage device 150 via the network 130.
  • the server 120 can monitor the wheelchair 110.
  • the wheelchair 110 can transmit status information (eg, the location of the wheelchair 110, the speed of movement, etc.) to the server 120 periodically (eg, every hour).
  • the server 120 can store the status information and monitor the wheelchair 110 based on the status information.
  • Server 120 may also provide information to wheelchair 110.
  • the information information may include real-time or future weather information, news, advertisements (eg, charging station information for wheelchair 110 attachments, mall information, etc.), and the like.
  • Server 120 can be one or a group of computers.
  • a group of computers used to form server 120 can be wired or wirelessly connected (e.g., via network 130).
  • Server 120 can be architected in the cloud.
  • server 120 can be a component of wheelchair 110.
  • Network 130 may be used to transfer information between various devices/components in smart wheelchair system 100.
  • the wheelchair 110 can access information stored in the storage device 150 via the network 130.
  • Network 130 can be a single network, or a combination of multiple different networks.
  • the network 130 may include a local area network (LAN), a wide area network (WAN), a public switched telephone network (PSTN), a virtual network (VN), and the like. a combination of one or more of them.
  • Network 130 can include multiple network access points.
  • Network 130 may use a wired network architecture, a wireless network architecture, and a wired/wireless network hybrid architecture.
  • a wired network may include a combination of one or more cables using metal cables, hybrid cables, fiber optic cables, and the like.
  • Wireless network transmission methods may include Bluetooth, Wi-Fi, ZigBee, Near Field Communication (NFC), Radio Frequency Identification (RFID), Cellular networks (including GSM, CDMA, 3G, 4G, etc.), cellular-based Narrow Band Internet of Things (NB-IoT), and the like.
  • NFC Near Field Communication
  • RFID Radio Frequency Identification
  • Cellular networks including GSM, CDMA, 3G, 4G, etc.
  • NB-IoT cellular-based Narrow Band Internet of Things
  • the positioning device 140 can determine information of the target (eg, the wheelchair 110, the server 120). For example, the positioning device 140 can determine the current time and current location at which the wheelchair 110 is located.
  • the techniques used by the positioning device 140 may include Global Positioning System (GPS) technology, Global Navigation Satellite System (GLONASS) technology, Beidou satellite navigation system technology, Galileo positioning.
  • GPS Global Positioning System
  • GLONASS Global Navigation Satellite System
  • Beidou satellite navigation system technology Galileo positioning.
  • QZSS Quasi-Zenith Satellite System
  • Wi-Fi Wireless Fidelity
  • the information may include the location, speed, and/or time of the target, and the like.
  • Positioning device 140 may include one or more satellites, such as satellite 140-1, satellite 140-2, and satellite 140-3. Satellite 140-1, satellite 140-2, and satellite 140-3 may determine the above information independently or collectively.
  • the positioning device 140 can transmit the above information to the wheelchair 110 or the server 120 via the network 130.
  • Storage device 150 can be used to store data or information.
  • the stored data or information may come from the wheelchair 110, the server 120, and/or the positioning device 140.
  • the stored data or information may be in various forms, such as a combination of one or more of numerical values, signals, images, commands, algorithms, programs, and the like.
  • the stored data may be sensor data in the wheelchair 110, such as location information, light intensity information, and the like.
  • the storage device 150 may include a hard disk, a floppy disk, a random access memory (RAM), a dynamic random access memory (DRAM), a static random access memory (SRAM), and a bubble memory ( Bubble Memory), Thin Film Memory, Magnetic Plated Wire Memory, Phase Change Memory, Flash Memory, Cloud Disk, etc. A variety.
  • the above description of the intelligent wheelchair system 100 is merely for convenience of description and is not intended to limit the application to the scope of the embodiments. It will be appreciated that one skilled in the art, after understanding the principles of the system, can make various details of the intelligent wheelchair system 100, such as any combination of multiple devices/components/modules (eg, a wheelchair) 110 and server 120 are combined into one device, etc.), a single device/component/module is split (eg, splitting wheelchair 110 into one or more devices for performing one or more functions of wheelchair 110, etc.), changing The type of wheelchair 110 is used to apply the system to different fields and the like, but such changes do not depart from the scope of protection of the claims.
  • any combination of multiple devices/components/modules eg, a wheelchair 110 and server 120 are combined into one device, etc.
  • a single device/component/module eg, splitting wheelchair 110 into one or more devices for performing one or more functions of wheelchair 110, etc.
  • the type of wheelchair 110 is used to apply the system to different
  • the wheelchair 110 can include a sensor module 210, a sunshade device 220, a processor 230, a communication module 240, a drive module 250, and a power supply module 260.
  • the sensor module 210 can be used to detect and/or obtain information related to the wheelchair 110.
  • the sensor module 210 can transmit the information to the processor 230 via the communication module 240.
  • the sensor module 210 can include one or more of at least one illumination intensity sensor, at least one positioning device, at least one distance sensor, at least one imaging device, at least one environmental sensor, at least one voice device, and the like. combination.
  • the illumination intensity sensor can detect sunlight and obtain illumination intensity.
  • the illumination intensity sensor may include a photoresistor, a phototube, a photomultiplier tube, an illuminometer, and the like.
  • the positioning device can determine the position and posture of the wheelchair 110.
  • the positioning device can include a position sensor and an attitude sensor.
  • the position sensor can communicate with the positioning device 140 to determine the position of the wheelchair 110.
  • the location of the wheelchair 110 can include longitude, latitude, and/or altitude.
  • the position sensor may determine the position of the wheelchair 110 using one or a combination of any one of GPS technology, GLONASS technology, Beidou satellite navigation system technology, Galileo positioning system technology, QZSS technology, Wi-Fi positioning technology, and the like.
  • the position sensor can be a GPS device.
  • the attitude sensor can determine the attitude of the wheelchair 110.
  • the posture of the wheelchair 110 may include a pitch angle, a rotation angle, a roll angle, an orientation of the wheelchair 110 (for example, toward north or south), and the like.
  • the attitude sensor may include an accelerometer, a gyroscope, a compass, a compass, and the like.
  • the distance sensor can determine the distance between the wheelchair 110 and other target objects (eg, obstacles).
  • the distance sensor may include a laser radar, a sonar, a radar, an infrared range finder, and the like.
  • the imaging device can acquire images and/or video data of the environment in which the wheelchair 110 is located.
  • the imaging device can detect visible light, infrared light, or ultraviolet light.
  • the imaging device can include a camera.
  • the environmental sensor can include one or more sensors for detecting environmental information.
  • the environmental information may include status information of the wheelchair 110 (eg, battery remaining capacity), weather conditions (eg, sunny, rainy, snowing), wind speed, temperature, humidity, air pollution index (eg, PM2.5 index), etc. .
  • the voice device can include one or more microphones, speakers, and the like.
  • the microphone can receive audio information (eg, a voice command of a user receiving the wheelchair 110).
  • the speaker can output audio information (eg, emit a voice alert).
  • the sunshade device 220 can provide a wheelchair 110 with a sunshade function.
  • the sunshade device 220 can include a sun awning, a control button that controls the opening or closing of the awning, a support structure that supports the awning (eg, a support bar, a skeleton of the awning), and the like.
  • the shape of the awning in the unfolded state may be a plane or a curved surface.
  • the shape of the awning in the unfolded state may be umbrella-shaped.
  • the material of the awning may be any ductile material that can block sunlight, such as cotton, silk, nylon, polyester, and the like.
  • the skeleton of the awning can function to support the surface of the awning.
  • the control button can be mounted on the support bar, for example at the bottom of the support bar.
  • the control button can control the opening or closing of the awning according to a control signal sent by the processor 230.
  • the control button may control the awning to change from a closed state (gather collapsed state) to an open state (expanded state) according to a control signal sent by the processor 230, or control the awning to be in an open state (expanded state) It becomes closed (gathered and folded).
  • the illumination intensity sensor can be mounted on the sunshade device 220.
  • the light intensity sensor may be distributed on the outer surface of the sunshade of the sunshade device 220.
  • the position of the illumination intensity sensor on the outer surface of the awning can be such that the illumination intensity sensor is always in a state capable of detecting sunlight and obtaining light intensity when the awning is in an open and closed state.
  • the light intensity sensor can be mounted on the top surface of the support bar of the awning.
  • the top surface of the awning support bar is located above the outer surface of the awning.
  • the top surface of the support rod remains unchanged (for example, folding, bending, etc.), and the illumination sensor mounted on the top surface of the support rod can always be in a position to detect sunlight and obtain light intensity. status.
  • the processor 230 can acquire the information and process the acquired information.
  • the acquired information may include data generated by the sensor module 210, or information stored in other storage modules in the smart wheelchair system 100, and the like. Processing of the information may include generating control signals based on the information and transmitting control signals to other one or more components of the wheelchair 110.
  • the processor 230 can obtain the illumination intensity from the illumination intensity sensor and send a control signal to the shading device 220 based on the magnitude of the illumination intensity.
  • the control button of the sunshade device 220 can control the opening of the sunshade device 220 (and/or the sunshade of the sunshade device 220) or the closure (the sunshade is folded) according to the control signal.
  • the processor 230 may obtain the distance between the wheelchair 110 and the obstacle from the distance sensor and send a control signal to the drive module 250 to control the direction of movement, speed, etc. of the wheelchair 110 according to the magnitude of the distance.
  • processor 230 can include one or a combination of processors, microprocessors, controllers, microcontrollers, and the like.
  • the processor 230 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), and an application specific instruction set processor (ASIP). ), a Physical Processing Unit (PPU), a Digital Processing Processor (DSP), a Field-Programmable Gate Array (FPGA), and a programmable A combination of one or more of a Programmable Logic Device (PLD).
  • CPU central processing unit
  • ASIC application specific integrated circuit
  • ASIP application specific instruction set processor
  • PPU Physical Processing Unit
  • DSP Digital Processing Processor
  • FPGA Field-Programmable Gate Array
  • PLD Programmable Logic Device
  • Communication module 240 can be used for the exchange of information or data.
  • communication module 240 can be used for communication between internal components of wheelchair 110 (eg, sensor module 210, sunshade 220, processor 230, drive module 250, and/or power supply module 260).
  • sensor module 210 can transmit information (eg, location of wheelchair 110, light intensity, etc.) to communication module 240, which can transmit the information to processor 230.
  • communication module 240 can be used for communication between wheelchair 110 and other components of smart wheelchair system 100 (eg, server 120, positioning device 140, storage device 150).
  • the communication module 240 can periodically send status information (eg, location) of the wheelchair 110 to the server 120, which can monitor the wheelchair 110 based on the status information.
  • the communication module 240 can employ wired, wireless, and wired/wireless hybrid technologies.
  • Wired technology can be based on a combination of one or more fiber optic cables, such as metal cables, hybrid cables, fiber optic cables, and the like.
  • Wireless technologies may include Bluetooth, Wi-Fi, ZigBee, Near Field Communication (NFC), Radio Frequency Identification (RFID), cellular networks ( Including GSM, CDMA, 3G, 4G, etc., Narrow Band Internet of Things (NB-IoT) and so on.
  • the drive module 250 can control the movement of the wheelchair 110.
  • the drive module 250 can receive control signals from the processor 230 to control the operation of the drive module 250.
  • the drive module 250 can include one or more steering devices, one or more brake devices, one or more speed adjustment devices, and the like.
  • the steering device can adjust the direction of the wheelchair 110.
  • the braking device can slow or stop the wheelchair 110.
  • the powerplant can control the speed and/or acceleration of the wheelchair 110.
  • the steering device, the braking device and/or the speed regulating device may comprise any combination of mechanical structures that perform their functions.
  • the power supply module 260 can store electrical energy and power the wheelchair 110.
  • the power supply module 260 can receive control signals from the processor 230 to control the power output of the wheelchair 110.
  • the power supply module 260 can include at least one battery.
  • the battery may include one or a combination of a dry battery, a lead storage battery, a lithium battery, a solar battery, a wind power generation battery, a mechanical power generation battery, and the like.
  • the solar cell can convert light energy into electrical energy and store it in the power supply module 260.
  • the wind energy generation battery can convert wind energy into electrical energy and store it in the power supply module 260.
  • the mechanical power generation battery can convert mechanical energy (eg, mechanical energy generated in the movement of the wheelchair 110) into electrical energy and store it in the power supply module 260.
  • the solar cell may include a silicon solar cell, a thin film solar cell, a nanocrystalline chemical solar cell, a fuel sensitized solar cell, a plastic solar cell, or the like.
  • the solar cells may be distributed on the wheelchair 110 in the form of a panel.
  • the solar cell may be distributed in the form of a panel on the outer surface of the awning, the top surface of the support rod of the awning, and the like.
  • processor 230 may send a control signal to a voice device (eg, a horn) of wheelchair 110 when the power of power supply module 260 is less than a power threshold.
  • the control signal can control the voice device to issue a voice reminder.
  • the voice reminder may include information that the power supply module is low in power.
  • the voice reminder can serve to alert the user of the wheelchair 110.
  • the processor 230 can issue a control signal to the power supply module 260.
  • the control signal can control the power supply module 260 to perform a charging operation.
  • the wheelchair 110 is merely for convenience of description and is not intended to limit the scope of the embodiments. It will be appreciated that a variety of details of the wheelchair 110 can be made by those skilled in the art after understanding the principles of the system. For example, the wheelchair 110 can also include a storage module. However, these changes will not depart from the scope of protection of the claims.
  • FIG. 3 shows a schematic diagram of a processor 230 in accordance with some embodiments of the present application.
  • the processor 230 may include a communication unit 310, a determination unit 320, and a control signal generation unit 330.
  • communication unit 310, determination unit 320, and/or control signal generation unit 330 may be connected and/or in communication with each other by wired, wireless, or wired/wireless combination.
  • the communication unit 310 can obtain information from other components of the wheelchair 110 (eg, the sensor module 210, the sunshade device 220, the drive module 250, the power supply module 260, etc.).
  • the communication unit 310 can obtain the illumination intensity by one illumination intensity sensor.
  • the illumination intensity sensor can detect sunlight and acquire the illumination intensity.
  • the light intensity may refer to the luminous flux received per unit area in units of lux.
  • the illumination intensity sensor may include a photoresistor, a phototube, a photomultiplier tube, an illuminometer, and the like.
  • the communication unit 310 can acquire the position and posture of the wheelchair 110 from a positioning device.
  • the location of the wheelchair 110 can include longitude, latitude, and/or altitude.
  • the posture of the wheelchair 110 may include a pitch angle, a rotation angle, a roll angle, an orientation of the wheelchair 110 (eg, toward the south or north), and the like.
  • the positioning device may include a GPS device, a gyroscope, an accelerometer, a compass, a compass, and the like.
  • the communication unit 310 can obtain the power (eg, remaining power) of the power supply module 260 from the power supply module 260.
  • communication unit 310 can obtain the information from other components of wheelchair 110 via communication module 240.
  • the communication unit 310 can also obtain information information from the server 120 via the network 130.
  • the information information may include weather information, advertisement information, and the like.
  • Communication unit 310 may also send a control signal to other components of wheelchair 110 (eg, sensor module 210, sunshade 220, drive module 250, and/or power supply module 260).
  • the control signal may be generated by the control signal generating unit 330.
  • communication unit 310 can transmit the control signals to other components of wheelchair 110 via communication module 240.
  • the determining unit 320 may determine that the illumination intensity satisfies a preset condition.
  • the preset condition is related to a time threshold (eg, 20 minutes).
  • the preset condition may include that an average value of the illumination intensity within the time threshold is greater than a first preset threshold.
  • the preset condition may also include that an average value of the illumination intensity within the time threshold is less than a second preset threshold.
  • the first preset threshold and/or the second preset threshold may be default values set by the smart wheelchair system 100.
  • the first preset threshold may be 10000 Lux
  • the second preset threshold may be 5000Lux.
  • the first predetermined threshold and/or the second predetermined threshold may also be values set and/or adjusted by a user of the wheelchair 110.
  • a user of the wheelchair 110 can set the first predetermined threshold and/or the second predetermined threshold based on his or her sensitivity to light intensity.
  • the determining unit 320 can also determine whether the power of the power supply module 260 is less than a power threshold.
  • the power threshold may be a default value set by an intelligent wheelchair system 100, such as 1 ampere (AH).
  • the control signal generating unit 330 may generate a control signal and transmit it to the communication unit 310.
  • the communication unit 310 can transmit the control signals to other components of the wheelchair 110 (eg, the sensor module 210, the sunshade device 220, the drive module 250, and/or the power supply module 260) to control the operation of other components.
  • the control signal generating unit 330 may generate a first control signal.
  • the control button of the sunshade device 220 can control the awning of the sunshade device 220 to change from an open state (the awning is in an unfolded state) to a closed state (the awning is in a folded and folded state) according to the first control signal, or change from a closed state to a closed state Open state.
  • the control signal generating unit 330 may generate a second control signal.
  • the second control signal can control a voice device (eg, a speaker) of the wheelchair 110 to issue a first voice alert.
  • the first voice alert may include information that the state of the sunshade device 220 changes (eg, will change from an open state to a closed state, or will change from a closed state to an open state).
  • the control signal generating unit 330 may generate a third control signal.
  • the third control signal may control the voice device to issue a second voice reminder.
  • the second voice reminder may include information that the power supply module 260 is low in power.
  • the control signal generating unit 330 may generate a fourth control signal.
  • the fourth control signal may control the power supply module 260 to perform a charging operation. For example, the solar cells in the power supply module 260 are controlled to perform a charging operation.
  • processor 230 is merely for convenience of description, and the present application is not limited to the scope of the embodiments. It will be appreciated that various modifications and changes in form and/or detail may be made to processor 230 after the principles of the system are known to those skilled in the art.
  • processor 230 can include a storage unit. However, such modifications and changes are still within the scope of the claims of the present application.
  • FIG. 4 is a flow chart of a sunshade control program 400 in accordance with some embodiments of the present application.
  • one or more operations of the program 400 can be performed by one or more components in the intelligent wheelchair system 100.
  • program 400 can be implemented by a series of instructions stored in storage device 150. Wheelchair 110 can execute the instructions and execute program 400 accordingly.
  • the communication unit 310 can obtain the illumination intensity from the at least one illumination intensity sensor.
  • communication unit 310 can obtain the illumination intensity from sensor module 210 (including the at least one illumination intensity sensor) via communication module 240.
  • the illumination intensity sensor can detect sunlight and obtain the illumination intensity.
  • the light intensity may refer to the luminous flux received per unit area in units of lux.
  • the illumination intensity sensor may include a photoresistor, a phototube, a photomultiplier tube, an illuminometer, and the like.
  • the illumination intensity sensor can be mounted on one or more components of the wheelchair 110, for example, the illumination intensity sensor can be mounted to the outer surface of the sunshade of the sunshade device 220.
  • the position of the illumination intensity sensor on the outer surface of the awning may be such that the illumination intensity sensor is always in a state capable of detecting sunlight and obtaining light intensity in the open and closed state of the awning.
  • the light intensity sensor can be mounted on the top surface of the support bar of the awning. The top surface of the awning support bar is located above the outer surface of the awning. When the awning is opened or closed, the top surface of the support rod remains unchanged, and the illumination sensor mounted on the top surface of the support rod can always be in a state capable of detecting sunlight and obtaining light intensity.
  • the determining unit 320 may determine that the illumination intensity meets a preset condition, the preset condition being related to a time threshold.
  • the time threshold may be a default value set by an intelligent wheelchair system 100, such as 20 minutes.
  • the time threshold may also be a time value set and/or adjusted by a user of the wheelchair 110.
  • the preset condition may include that an average value of the illumination intensity within the time threshold is greater than a first preset threshold.
  • the preset condition may also include that an average value of the illumination intensity within the time threshold is less than a second preset threshold.
  • the first preset threshold and/or the second preset threshold may be default values set by the smart wheelchair system 100.
  • the first preset threshold may be 10000 Lux
  • the second preset threshold may be 5000Lux.
  • the first predetermined threshold and/or the second predetermined threshold may also be values set and/or adjusted by a user of the wheelchair 110.
  • a user of the wheelchair 110 can set the first predetermined threshold and/or the second predetermined threshold based on his or her sensitivity to light intensity.
  • the communication unit 310 can transmit at least one first control signal to the at least one shading device.
  • the at least one sunshade device can include a sunshade device 220.
  • the control signal generating unit 330 may generate the at least one first control signal and transmit the signal to the communication unit 310.
  • the communication unit 310 can transmit the at least one first control signal to the at least one shading device via the communication module 240.
  • the control button of the at least one sunshade device may control the at least one sunshade device to change from a current state to a target state according to the at least one first control signal.
  • the current state can include an open state
  • the target state can include a closed state.
  • the control button of the at least one sunshade device may control the according to the at least one first control signal.
  • At least one sunshade device changes from an open state to a closed state.
  • the control button of the at least one sunshade device may control the awning of the sunshade device 220 to change from an open state to a closed state according to the at least one first control signal.
  • the current state can include a closed state
  • the target state can include an open state.
  • the control button of the at least one sunshade device may control the according to the at least one first control signal.
  • At least one sunshade device changes from a closed state to an open state.
  • the control button of the at least one sunshade device may control the awning of the sunshade device 220 from the closed state (gathered folded state) to the open state (expanded state) according to the at least one first control signal.
  • the control signal generating unit 330 may generate at least one second control signal and transmit it to the communication unit 310.
  • the communication unit 310 can transmit the at least one second control signal to the at least one voice device (eg, a speaker) through the communication module 240.
  • the at least one second control signal may control the at least one voice device to issue a first voice alert.
  • the first voice reminder may include information that the at least one sunshade device changes from the current state to the target state.
  • the at least one second control signal can control the horn of the wheelchair 110 to emit the first voice alert.
  • the first voice reminder may include information that the sunshade of the sunshade device 220 will change from an open state to a closed state, or information that will change from a closed state to an open state.
  • the content of the first voice reminder may be “the awning is about to open”, “the awning is about to close”, and the like.
  • the wheelchair 110 can include at least one positioning device (eg, a GPS device, a gyroscope, an accelerometer, a compass, a compass, etc.).
  • the at least one positioning device may determine the position and posture of the wheelchair 110 and transmit to the communication unit 310.
  • the location of the wheelchair 110 can include longitude, latitude, and/or altitude.
  • the posture of the wheelchair 110 may include a pitch angle, a rotation angle, a roll angle, an orientation of the wheelchair 110 (eg, toward the south or north), and the like.
  • the communication module 240 can acquire weather information from the server 120 through the network 130 and transmit it to the communication unit 310.
  • the weather information may include weather information of a current time corresponding to the position and posture of the wheelchair 110 and weather information of a future time (for example, one hour in the future).
  • the weather information may include weather conditions (eg, cloudy, sunny, raining, etc.), light intensity, temperature, humidity, wind, and the like.
  • the control signal generating unit 330 may generate the at least one first control signal based on the position and posture of the wheelchair 110 obtained by the communication unit 310 and the weather information.
  • the communication unit 310 can transmit the at least one first control signal to the at least one sunshade device (eg, the sunshade device 220).
  • the control button of the at least one sunshade device may control the at least one sunshade device to change from the current state to the target state according to the at least one first control signal (eg, the sunshade of the at least one sunshade device is The open state changes to a closed state, or from a closed state to an open state).
  • the sunshade of the at least one sunshade device is The open state changes to a closed state, or from a closed state to an open state).
  • the current state of the sunshade of the sunshade device 220 is an open state
  • the weather information corresponding to the position and posture of the wheelchair 110 is "a cloudy period of time (for example, 1 hour)"
  • the control button of the device 220 may control the closed state of the sunshade of the sunshade device 220 from the open state of the current state to the target state according to the at least one first control signal.
  • the present application uses specific words to describe embodiments of the present application.
  • a "one embodiment,” “an embodiment,” and/or “some embodiments” means a feature, structure, or feature associated with at least one embodiment of the present application. Therefore, it should be emphasized and noted that “an embodiment” or “an embodiment” or “an alternative embodiment” that is referred to in this specification two or more times in different positions does not necessarily refer to the same embodiment. . Furthermore, some of the features, structures, or characteristics of one or more embodiments of the present application can be combined as appropriate.
  • aspects of the present application can be illustrated and described by a number of patentable categories or conditions, including any new and useful process, machine, product, or combination of materials, or Any new and useful improvements. Accordingly, various aspects of the present application can be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.) or by a combination of hardware and software.
  • the above hardware or software may be referred to as a "data block,” “module,” “engine,” “unit,” “component,” or “system.”
  • aspects of the present application may be embodied in a computer product located in one or more computer readable medium(s) including a computer readable program code.
  • a computer readable signal medium may contain a propagated data signal containing a computer program code, for example, on a baseband or as part of a carrier.
  • the propagated signal may have a variety of manifestations, including electromagnetic forms, optical forms, and the like, or a suitable combination.
  • the computer readable signal medium may be any computer readable medium other than a computer readable storage medium that can be communicated, propagated, or transmitted for use by connection to an instruction execution system, apparatus, or device.
  • Program code located on a computer readable signal medium can be propagated through any suitable medium, including a radio, cable, fiber optic cable, RF, or similar medium, or a combination of any of the above.
  • the computer program code required for the operation of various parts of the application can be written in any one or more programming languages, including object oriented programming languages such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python. Etc., regular programming languages such as C, Visual Basic, Fortran 2003, Perl, COBOL 2002, PHP, ABAP, dynamic programming languages such as Python, Ruby and Groovy, or other programming languages.
  • the program code can run entirely on the user's computer, or run as a stand-alone software package on the user's computer, or partially on the user's computer, partly on a remote computer, or entirely on a remote computer or server.
  • the remote computer can be connected to the user's computer via any network, such as a local area network (LAN) or wide area network (WAN), or connected to an external computer (eg via the Internet), or in a cloud computing environment, or as a service.
  • LAN local area network
  • WAN wide area network
  • an external computer eg via the Internet
  • SaaS software as a service

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Circuit Arrangement For Electric Light Sources In General (AREA)

Abstract

L'invention concerne un fauteuil roulant (110) et un procédé de commande du fauteuil roulant (110). Le fauteuil roulant (110) comprend au moins un capteur d'intensité lumineuse, au moins un dispositif pare-soleil (220), et au moins un processeur (230). Le ou les processeurs (230) sont connectés au ou aux capteurs d'intensité lumineuse et au ou aux dispositifs pare-soleil (220). Le ou les processeurs (230) sont utilisés pour : obtenir une intensité de lumière à partir du ou des capteurs d'intensité lumineuse ; déterminer que l'intensité lumineuse satisfait une condition prédéfinie, la condition prédéfinie étant associée à un seuil de temps ; et envoyer au moins un premier signal de commande au ou aux dispositifs pare-soleil (220), le ou les premiers signaux de commande commandant le ou les dispositifs pare-soleil (220) pour passer d'un état actuel à un état cible.
PCT/CN2017/119539 2017-12-28 2017-12-28 Fauteuil roulant et son procédé de commande WO2019127258A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201780098022.8A CN111556738B (zh) 2017-12-28 2017-12-28 一种轮椅及其控制方法
PCT/CN2017/119539 WO2019127258A1 (fr) 2017-12-28 2017-12-28 Fauteuil roulant et son procédé de commande

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/119539 WO2019127258A1 (fr) 2017-12-28 2017-12-28 Fauteuil roulant et son procédé de commande

Publications (1)

Publication Number Publication Date
WO2019127258A1 true WO2019127258A1 (fr) 2019-07-04

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Country Status (2)

Country Link
CN (1) CN111556738B (fr)
WO (1) WO2019127258A1 (fr)

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