WO2019127368A1

WO2019127368A1 - Intelligent wheelchair system

Info

Publication number: WO2019127368A1
Application number: PCT/CN2017/119851
Authority: WO
Inventors: 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: 2017-12-29
Filing date: 2017-12-29
Publication date: 2019-07-04
Also published as: CN111542294A

Abstract

A wheelchair (110), comprising an acquisition device (510), an analysis device (520), and an execution device (530). The execution device (530) is configured to acquire information of a user of the wheelchair (110). The information of the user comprises expression, action, and voice. The analysis device (520) is connected to the acquisition device (510). The analysis device (520) is configured to analyze the information of the user and determine the behavior intention of the user. The execution device (530) is connected to the analysis device (520), and is configured to execute a behavior corresponding to the behavior intention of the user. The execution device (530) comprises a mechanical arm (420).

Description

Intelligent wheelchair system

Technical field

The disclosure primarily relates to an intelligent wheelchair system. In particular, the present disclosure relates to an intelligent wheelchair system including a bionic robotic arm.

Background technique

Traditional wheelchairs can't assist users with limited mobility to perform some daily activities, such as drinking water, eating fruits, turning on the TV, etc. Therefore, a wheelchair system that can help users with inconvenient mobility perform daily activities can improve the self-care of wheelchair users. Ability to improve the quality of life.

Summary of the invention

The present disclosure relates to a wheelchair that includes an acquisition device, an analysis device, and an execution device. The execution device is configured to collect information of a user of the wheelchair. The user's information includes expressions, actions, and voices. The analysis device is coupled to the collection device. The analysis device is configured to analyze the information of the user to determine the behavioral intent of the user. The execution device is coupled to the analysis device, the execution device being configured to perform an action corresponding to the behavioral intent of the user. The execution device includes a robotic arm.

In some embodiments, the user information is obtained by a camera or a camera.

In some embodiments, the acquisition device includes a brain signal acquisition module configured to acquire brain signals of the user.

In some embodiments, the brain signal is associated with the behavioral intent of the user.

In some embodiments, the acquisition device includes a location module configured to acquire a current location of the user.

In some embodiments, the acquiring, by the location module, the current location comprises: acquiring, by the location module, a picture of the wheelchair in real time, and matching the picture with a picture in a picture database, where the picture database Each picture corresponds to a position, and based on the matching result, the position corresponding to the picture is determined.

In some embodiments, the analysis device is configured to determine a target location associated with the behavioral intent.

In some embodiments, the act of the execution device performing the behavioral intent of the user comprises moving the wheelchair from the current position to the target location and performing the behavior.

In some embodiments, the robotic arm is movable in at least one spatial direction.

In some embodiments, the robotic arm is mounted on one side of the wheelchair or on both sides of the wheelchair.

In some embodiments, the robotic arm is detachably coupled to the wheelchair.

In some embodiments, the wheelchair includes a power device coupled to the execution device, the power device configured to charge the wheelchair.

In some embodiments, the power supply device automatically charges the wheelchair after receiving a charging request from the executing device.

In some embodiments, the automatically charging the wheelchair after receiving the charging request by the executing device includes: acquiring information of a socket corresponding to a plug of the power device, based on the information of the socket Determining the position of the jack, moving the wheelchair to the position of the jack and inserting the power device plug into the jack.

In some embodiments, the power supply device includes an electric motor configured to convert kinetic energy generated by the execution device when performing the behavior into electrical energy.

Some additional features of this application can be described in the following description. Some additional features of the present application will be apparent to those skilled in the art from a review of the following description and the accompanying drawings. The features of the present disclosure can be realized and attained by the practice or use of the methods and methods and combinations of various aspects of the specific embodiments described below.

DRAWINGS

The disclosure is further illustrated by the following exemplary embodiments. These exemplary embodiments are described in detail with reference to the drawings. These embodiments are non-limiting exemplary embodiments, in which like reference numerals indicate similar structures, and wherein:

1 shows a schematic diagram of a wheelchair system in accordance with some embodiments of the present disclosure;

2 is a schematic diagram of hardware and/or software components of a computing device in accordance with some embodiments of the present disclosure;

3 is a schematic diagram of hardware and/or software components of a mobile device in accordance with some embodiments of the present disclosure;

4 is a block diagram of an exemplary wheelchair shown in accordance with some embodiments of the present disclosure;

5 is a block diagram of an exemplary wheelchair shown in accordance with some embodiments of the present disclosure;

6 is a block diagram of a wheelchair shown in accordance with some embodiments of the present disclosure.

Detailed ways

In the following detailed description, numerous specific details are set forth However, it should be apparent to those skilled in the art that the present disclosure may be practiced without such details. In other instances, well known methods, procedures, systems, components, and/or circuits have been described in a high level (without detail) in order to avoid unnecessarily obscuring aspects of the disclosure.

These and other features and characteristics of the present disclosure, as well as the operational methods and functions of the structural elements and combinations of components involved, as well as the economic factors of manufacturing, will become more apparent upon consideration of the following description with reference to the drawings, all of which constitute portion. It is to be expressly understood, however, that the claims As used in the specification and the claims, the claims

These and other features and characteristics, methods of operation, functions of related elements of the structure, combinations of parts, and economics of manufacture can be better understood with reference to the following description and the accompanying drawings. Part of the manual. It is to be expressly understood, however, that the claims It is understood that the drawings are not to scale.

FIG. 1 illustrates a schematic diagram of a wheelchair system in accordance with some embodiments of the present disclosure. As shown, the wheelchair system 100 can include a wheelchair 110, a network 120, at least one terminal 130, a processing engine 140, and a memory 150. The various components in the wheelchair system 100 can be connected in a variety of ways, and are not limited to the connections shown in the figures. For example, wheelchair 110 can be coupled to processing engine 140 via network 120. As another example, the wheelchair 110 can be directly coupled to the processing engine 140.

The wheelchair 110 can include a wheelchair body 112 and a robotic arm 114. The wheelchair body 112 is movable in at least one direction. The wheelchair body 112 may include an armrest, a seat, a foot pedal, a front wheel, a rear wheel, and the like. The robotic arm 114 can be used to perform behaviors corresponding to user behavioral intent. The robotic arm 114 can include a shoulder joint, an upper arm, an elbow joint, an arm, a wrist joint, a robot, and the like. The robot arm 114 is coupled to the wheelchair body 112.

In some embodiments, the wheelchair 110 can perform behavioral behaviors corresponding to user behavioral intents based on operational commands from the terminal 130 (eg, move, rotate, command to perform an action). In some embodiments, the wheelchair 110 can perform an action corresponding to the user's behavioral intent based on the collected information. The information includes one or a combination of an expression, an action, a voice, a location, a computer signal, and the like.

Network 120 may include a network that facilitates information exchange and/or data exchange in wheelchair system 100. In some embodiments, at least one component of the wheelchair system 100 (eg, wheelchair 110, terminal 130, processing engine 140, memory 150, etc.) can communicate and/or communicate with other at least one component of wheelchair system 100 via network 120. . For example, the processing engine 140 can retrieve data from the wheelchair 110 over the network 120. As another example, the processing engine 140 can obtain user instructions from the terminal 130 over the network 120. Network 120 may be and/or include a public network (such as the Internet), a private network (such as a local area network (LAN), a wide area network (WAN), etc.), a wired network (such as Ethernet), a wireless network (such as an 802.11 network, a Wi-Fi network). ), a combination of one or more of a cellular network (such as a Long Term Evolution (LTE) network), a Frame Relay network, a Virtual Private Network (VPN), a satellite network, a telephone network, a router, a hub, a switch, a server computer, and the like . For example, network 120 may include cable networks, wired networks, fiber optic networks, telecommunications networks, intranets, wireless local area networks (WLANs), metropolitan area networks (MANs), public switched telephone networks (PSTN), Bluetooth, Zigbee networks, near field communications. A combination of one or more of (NFC) networks and the like. In some embodiments, network 120 can include at least one network access point. For example, network 120 may include wired and/or wireless network access points such as base stations and/or Internet switching points. At least one component of the wheelchair system 100 can be coupled to the network 120 via the base station and/or Internet switching point to enable the exchange of data and/or information.

In some embodiments, the wheelchair 110, the processing engine 140, and/or the memory 150 can be directly interconnected. Communication between the wheelchair 110, the processing engine 140, and/or the memory 150 may not be accomplished via the network 120.

The terminal 130 may include one or a combination of the mobile device 130-1, the tablet 130-2, the laptop 130-3, and the like. In some embodiments, mobile device 130-1 can include a combination of one or more of a smart home device, a wearable device, a mobile device, a virtual reality device, an augmented reality device, and the like. In some embodiments, the smart home device may include a combination of one or more of an intelligent lighting device, a control device of an intelligent electronic device, an intelligent monitoring device, a smart television, a smart camera, a walkie-talkie, and the like. In some embodiments, the wearable device can include one or a combination of a bracelet, footwear, glasses, helmet, watch, clothing, backpack, smart accessory, and the like. In some embodiments, the mobile device can include one or more of a mobile handset, a personal digital assistant (PDA), a gaming device, a navigation device, a point of sale (POS) device, a laptop, a tablet, a desktop computer, and the like. Combination of species. In some embodiments, the virtual reality device and/or the augmented reality device may include one of a virtual reality helmet, a virtual reality glasses, a virtual reality eye mask, an augmented reality helmet, augmented reality glasses, an augmented reality eye mask, and the like. Several combinations. For example, the virtual reality device and/or the augmented reality device may include Google glasses, Oculus Rift, Hololens, Gear VR, and the like. In some embodiments, terminal 130 can be part of processing engine 140.

The processing engine 140 can control the wheelchair 110 to perform an action corresponding to the user's behavioral intent. For example, the processing engine 140 can control the movement of the wheelchair body 112 (eg, pan, uphill, downhill). As another example, the processing engine 140 can control the movement of the robotic arm 114 in the wheelchair 110 (eg, grabbing an object, dropping an object). Processing engine 140 may process data and/or information obtained from wheelchair 110, terminal 130, and/or memory 150. For example, the processing engine 140 can process user information and determine the user's behavioral intent. In some embodiments, processing engine 140 can be a separate server or cluster of servers. The server cluster can be centralized or distributed. In some embodiments, processing engine 140 can be local or remote. For example, processing engine 140 may retrieve information and/or data stored in wheelchair 110, terminal 130, and/or memory 150 over network 120. As another example, the processing engine 140 can be directly coupled to the wheelchair 110, the terminal 130, and/or the memory 150 to obtain stored information and/or data. In some embodiments, the functionality of the processing engine 140 can be implemented on a cloud platform. For example, the cloud platform may include one or a combination of a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an interconnected cloud, a cloudy, and the like. The functionality of the processing engine 140 may be implemented by a computing device 200 that includes at least one of the components described in FIG. 2.

Memory 150 can store data, instructions, and/or other information. In some embodiments, memory 150 can store data obtained from terminal 130 and/or processing engine 140. In some embodiments, memory 150 can store data and/or instructions that can be used or executed by processing engine 140 to implement the exemplary methods described in this disclosure. In some embodiments, memory 150 can include one or a combination of mass storage, removable memory, volatile read and write memory, read only memory (ROM), and the like. The mass storage device may include a magnetic disk, an optical disk, a solid state hard disk, or the like. The removable memory may include a flash drive, a floppy disk, an optical disk, a memory card, a compact disk, a magnetic tape, or the like. The volatile read/write memory can include random access memory (RAM). The RAM includes dynamic random access memory (DRAM), double rate synchronous dynamic random access memory (DDR SDRAM), static random access memory (SRAM), thyristor random access memory (T-RAM), zero capacitance random access memory (Z-RAM), and the like. The ROM may include a mask read only memory (MROM), a programmable read only memory (PROM), an erasable programmable random access memory (EPROM), an electrically erasable programmable read only memory (EEPROM), a compact disk (CD). -ROM), digital versatile disk read only memory, and the like. In some embodiments, the functionality of memory 150 can be implemented on a cloud platform. For example, the cloud platform may include one or a combination of a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an interconnected cloud, a cloudy, and the like.

In some embodiments, memory 150 can be coupled to network 120 to communicate with at least one other component of wheelchair system 100 (eg, processing engine 140, terminal 130, etc.). At least one component of the wheelchair system 100 can retrieve data or instructions stored by the memory 150 via the network 120. In some embodiments, the memory 150 can interface or communicate directly with at least one other component of the wheelchair system 100 (eg, the processing engine 140, the terminal 130, etc.). In some embodiments, memory 150 can be part of processing engine 140.

2 is a schematic diagram of hardware and/or software components of computing device 200 that can be configured to implement the functionality of processing engine 140, in accordance with some embodiments of the present disclosure. As shown in FIG. 2, computing device 200 can include a processor 210, a memory 220, an input/output (I/O) 230, and a communication port 240.

The processor 210 can execute computer instructions, such as program code, and can implement the functions of the processing engine 140 described in this disclosure. The computer instructions can include routines, programs, objects, components, data structures, processes, modules, functions, which can implement the specific functions described herein. For example, processor 210 can process image data acquired from wheelchair 110, terminal 130, memory 150, and/or other components of wheelchair system 100. In some embodiments, processor 210 may include at least one hardware processor such as a microcontroller, a microprocessor, a reduced instruction set computer (RISC), application specific integrated circuits (ASICs), a dedicated instruction set processor (ASIP), central Processing unit (CPU), graphics processing unit (GPU), physical processing unit (PPU), microcontroller unit, digital signal processor (DSP), field programmable gate array (FPGA), advanced RISC machine (ARM), A combination of one or more of a programming logic device (PLD), any circuit capable of performing at least one function, or a processor.

For convenience, only one processor is depicted in FIG. 2, but the computing device 200 described in this disclosure may also include multiple processors. Accordingly, the operations and/or method steps described in this disclosure may be performed by the plurality of processors collectively or separately. For example, if the processor of computing device 200 in the present invention needs to perform process A and process B, two or more processors in the computing device can perform process A and process B, either collectively or separately (eg, first process) The process A is performed, the second processor executes process B, or the first processor and the second processor collectively perform process A and process B).

The memory 220 can store data/information from the wheelchair 110, the terminal 130, the memory 150, and/or other components of the wheelchair system 100. In some embodiments, memory 220 can include one or a combination of mass storage, removable memory, volatile read and write memory, read only memory (ROM), and the like. The mass storage device may include a magnetic disk, an optical disk, a solid state hard disk, or the like. The removable memory may include a flash drive, a floppy disk, an optical disk, a memory card, a compact disk, a magnetic tape, or the like. The volatile read/write memory can include random access memory (RAM). The RAM includes dynamic random access memory (DRAM), double rate synchronous dynamic random access memory (DDR SDRAM), static random access memory (SRAM), thyristor random access memory (T-RAM), zero capacitance random access memory (Z-RAM), and the like. The ROM may include a mask read only memory (MROM), a programmable read only memory (PROM), an erasable programmable random access memory (EPROM), an electrically erasable programmable read only memory (EEPROM), a compact disk (CD). -ROM), digital versatile disk read only memory, and the like. In some embodiments, memory 220 may store at least one program and/or instructions to implement the exemplary methods described in this disclosure. For example, memory 220 can store programs to implement the functionality of processing engine 140 to determine scan/rebuild parameters.

I/O 230 can input and/or output signals, data, information, and the like. In some embodiments, I/O 230 is capable of interacting between a user and processing engine 140. In some embodiments, I/O 230 can include an input device and an output device. The input device may include one or a combination of a keyboard, a mouse, a touch screen, a microphone, and the like. The output device may include one or a combination of display devices, loudspeakers, printers, projectors, and the like. The display device may include one or a combination of a liquid crystal display (LCD), a light emitting diode (LED) based display, a flat panel display, a curved screen, a television device, a cathode ray tube (CRT), a touch screen, and the like.

Communication port 240 can be coupled to a network (e.g., network 120) to enable data communication. Communication port 240 may establish a connection between processing engine 140 and wheelchair 110, terminal 130, and/or memory 150. The connection may include a combination of one or more of a wired connection, a wireless connection, any other connection means capable of data transmission and/or data reception, and the like. The wired connection may comprise one or a combination of cables, fiber optic cables, telephone lines, and the like. The wireless connection may include one or a combination of a Bluetooth connection, a Wi-Fi connection, a WiMax connection, a WLAN connection, a ZigBee connection, a mobile network connection (eg, 3G, 4G, 5G, etc.). In some embodiments, communication port 240 can be and/or include a standardized communication port such as RS232, RS485, and the like. In some embodiments, communication port 240 can be a specially designed communication port. For example, communication port 240 can be designed in accordance with the Medical Digital Imaging and Communication Protocol (DICOM).

3 is a schematic diagram of hardware and/or software components of a mobile device that can be configured to implement the functionality of terminal 130, in accordance with some embodiments of the present disclosure. As shown in FIG. 3, mobile device 300 can include communication platform 310, display 320, GPU 330, CPU 340, I/O 350, memory 360, and memory 390. In some embodiments, mobile device 300 may also include other components such as a system bus or controller (not shown in FIG. 3). In some embodiments, mobile device operating system 370 (eg, iOS, Android, Windows Phone, etc.) and at least one application 380 can be loaded into memory 360 from memory 390 for execution by CPU 340. Application 380 can include a browser or any other suitable mobile application for receiving and rendering image processing related information or other information from processing engine 140. User interaction with the information flow can be implemented by the 1/O 350 and sent over the network 120 to the processing engine and/or other components of the wheelchair system 100.

In the present invention, a computer hardware platform can be used as a hardware platform for at least one component to implement various modules, units, and functions thereof. A computer with a user interface can be used as a personal computer (PC), other workstation or terminal device, and a properly programmed computer can also act as a server.

4 is a block diagram of an exemplary wheelchair shown in accordance with some embodiments of the present disclosure. The wheelchair 110 can include a wheelchair body 410, a robotic arm 420, an acquisition device 430, an analysis device 440, and a power supply device 450.

The wheelchair body 410 can be moved in at least one direction (eg, translation, uphill, downhill). As shown, the wheelchair body 440 can include an armrest, a seat, a foot pedal, a front wheel, a rear wheel, and the like. In some embodiments, the wheelchair body 410 can perform behavioral behaviors corresponding to user behavioral intents based on operational commands from the terminal 130 (eg, commands to move or rotate). In some embodiments, the wheelchair body 410 can perform an action corresponding to the user's behavioral intent based on the collected information. The information includes one or a combination of an expression, an action, a voice, a location, a computer signal, and the like.

The robotic arm 420 can be used to perform an action corresponding to the user's behavioral intent. The behavior may include a series of operations such as grabbing an object, dropping an object, pressing a button, and the like. The robotic arm 420 can include a shoulder joint, an upper arm, an elbow joint, an arm, a wrist joint, a robot, and the like. In some embodiments, the shoulder joint is rotatably coupled to the upper arm, the upper arm is rotatably coupled to the elbow joint, the elbow joint is rotatably coupled to the arm, the arm is rotatably coupled to the wrist joint, and the wrist joint is rotatably coupled to the robot. Thus, the robotic arm 420 can be a multi-degree of freedom robotic arm that can move in at least one spatial direction (eg, up, down, left, right, front, back, etc.).

In some embodiments, a mechanical arm 420 is mounted on one side of the wheelchair 110 or a mechanical arm 420 is mounted on each side of the wheelchair, and the robot arm 420 is coupled to the wheelchair body 410. In some embodiments, the manner of attachment between the robotic arm 420 and the wheelchair body 410 includes a threaded connection, a snap connection, a hinged connection, a chute connection, a rolling bearing connection, and the like. The robot arm 420 can be detached from the wheelchair body 410. For example, if the connection between the robot arm 420 and the wheelchair body 410 is a threaded connection, the thread can be unscrewed by a wrench to achieve disassembly. For another example, the buckle can include a positioning member and a fastener. If the mechanical arm 420 is connected to the wheelchair body 410 in a snap-fit manner, the fastener can be disassembled for disassembly.

In some embodiments, the robotic arm 420 can include an anti-collision sensor, a pressure sensor, or the like. The anti-collision sensor prevents the robot arm from hitting an obstacle while performing a behavioral action. For example, when the robot arm 420 hits an obstacle, the anti-collision sensor will give an alarm to remind you to avoid obstacles. The pressure sensor can be used to measure the strength of the robot arm 420 in performing the behavior to avoid damage to the object. For example, when the force is greater than a certain threshold, the pressure sensor will sound an alert to alert you to the force.

The collection device 430 can collect information of the user of the wheelchair. The user's information may include one or a combination of an expression, a voice, an action, a brain signal, a location, input information, and the like. The expression, action, voice, etc. may be information related to the user's behavioral intent. Different of the brain signals may correspond to different behavioral intents of the user. For example, a user who wants to drink water produces a unique brain signal that corresponds to the user's intention to drink water. As another example, when a user wants to watch a television, a unique brain signal is generated, which corresponds to the behavioral intention of the user who wants to watch the television. The location may include the current location of the user and a target location associated with the user's behavioral intent. In some embodiments, the collection device 430 can also collect information of the user of the wheelchair 100 through the terminal 130. For example, the user can input information related to the behavior intention through the terminal 130.

The analysis device 440 can analyze the information of the user to determine the behavioral intent of the user. In some embodiments, analysis device 440 determines the behavioral intent of the user based on methods of speech recognition, image recognition, text recognition, and the like. Specifically, the feature of the user's information collected by the collection device 430 may be extracted based on the method, and the behavioral intention corresponding to the feature may be determined based on the feature-behavior intent database. The feature-behavior intent database may be a plurality of features pre-stored in the analysis device 440 and a behavioral intent correspondence. For example, if the user's voice includes "I want to drink water," the user's behavioral intention is to drink water. For another example, if the user's action includes pointing to a particular direction, the user's behavioral intent is to move in the direction. For another example, if the user stares at an object for a long time, the user's behavioral intention is to acquire the object.

In some embodiments, the analysis device 440 can determine the physical state of the user based on the information of the user. For example, if the user's expression includes sadness, the user's actions include licking the stomach, which may indicate that the user is unwell.

The power device 450 can charge the wheelchair. The power device 450 can be mounted on the upper portion of the wheelchair body 410 or on the robot arm 420. In some embodiments, the wheelchair 110 can be charged automatically or manually. In some embodiments, after the battery is fully charged, the power device 450 can transmit the information that the charging is complete. For example, the information on the completion of charging may be displayed on the terminal 130 in the form of text. For another example, the charging request may be broadcast in the form of voice, such as "charge is completed, please pull the plug" and the like. After the user receives the information that the charging is completed, the robot arm 420 can be controlled to pull the plug out of the socket.

In some embodiments, power supply device 450 can include one or a combination of an electric motor, a battery, a solar panel, and the like. The electric motor can convert the kinetic energy generated during the movement of the wheelchair 110 into electrical energy (such as the movement of the wheelchair body, the movement of the robot arm, etc.), and the solar panel can convert the solar energy into electrical energy. The battery can store electrical energy generated by an electric motor, a solar panel, or the like.

In some embodiments, the wheelchair 110 is coupled to the processing engine 140, and portions of the functions of the collection device 430, the analysis device 440, or the power device 450 can also be performed by the processing engine 140. For example, the processing engine 140 can analyze the information of the user of the wheelchair 110 collected by the collection device 430 to determine behaviors that correspond to the user's behavioral intent. As another example, the processing engine 140 can control the wheelchair 110 to perform an action corresponding to the user's behavioral intent.

FIG. 5 is a block diagram of an exemplary wheelchair shown in accordance with some embodiments of the present disclosure. The wheelchair 110 can include an acquisition device 510, an analysis device 520, and an execution device 530. Analysis device 520 can be coupled to an acquisition device, and collection device 520 can be coupled to an execution device. Devices can be connected by cable or wirelessly. Exemplary cables may include coaxial cables, communication cables, flexible cables, spiral cables, non-metallic sheathed cables, metal sheathed cables, multi-core cables, twisted-pair cables, ribbon cables, shielded cables, telecommunications cables , double-strand cable, parallel double-core wire, twisted pair, etc. Exemplary wireless methods may include IEEE 802.11 series standards, IEEE 802.15 series standards (such as Bluetooth technology and Zigbee technology, etc.), first generation mobile communication technologies, second generation mobile communication technologies (such as FDMA, TDMA, SDMA, CDMA, And SSMA, etc., general packet radio service technology, second generation mobile communication technologies (such as CDMA2000, WCDMA, TD-SCDMA, and WiMAX), fourth generation mobile communication technologies (such as TD-LTE and FDD-LTE, etc.) .

The collection device 510 can collect information of the user of the wheelchair. The user's information may include one or a combination of an expression, a voice, an action, a location, a brain signal, input information, and the like. Acquisition device 510 can include sensor 512, brain signal acquisition module 514, and positioning module 516.

The sensor 512 can collect expressions, actions, voices, and the like of the user when using the wheelchair. In some embodiments, the expression, action, voice, etc. may be information related to the user's behavioral intent. In some embodiments, sensor 512 can be mounted on wheelchair 110, which can also be integrated into a camera, camera, camera, etc., placed in an environment in which wheelchair 110 or wheelchair 110 is located. For example, if the wheelchair 110 is in an indoor environment, the integrated sensor 512 can be placed on a table, cabinet, or on a wheelchair 110, an indoor wall, or the like.

The brain signal acquisition module 514 can acquire the brain signals of the user. In some embodiments, brain signal acquisition module 514 can be placed on the user's head. Different brain signals can correspond to different behavioral intents of the user. For example, a user who wants to drink water produces a unique brain signal that corresponds to the user's intention to drink water. As another example, when a user wants to watch a television, a unique brain signal is generated, which corresponds to the behavioral intention of the user who wants to watch the television. The brain signal acquisition module 514 can pre-collect a plurality of brain initial signals corresponding to the behavior intentions, and construct a behavioral intention-brain signal database. The behavioral intent-brain signal database can be used to determine the behavioral intent of the brain signals acquired in real time. For example, if the brain signal collected in real time is consistent with the brain signal corresponding to the user's desire to watch TV, the user's behavior is intended to drink water.

The location module 516 can collect the location of the user of the wheelchair 110. The location may include the current location of the user and a target location associated with the user's behavioral intent. In some embodiments, location module 516 can determine the location of the user based on the picture-location database. Specifically, the location module 516 may pre-collect a plurality of environment pictures, each picture corresponding to a specific location, and performing location marking on the picture to generate a picture-location database. The location module 516 matches the current environment picture or the environment picture of the target location with the picture in the picture-location database based on the picture recognition technology after acquiring the current environment picture of the wheelchair or the environment picture of the target location in real time. And determining a location or a target location corresponding to the picture based on the matching result. For example, in the matching process, if the picture in the database is found to be the same as the environment picture, the position corresponding to the picture may be taken as the current location or the target location of the user.

In some embodiments, the location module 516 can acquire the location of the user of the wheelchair 110 by a positioning technique. Exemplary positioning techniques may include Global Positioning System (GPS) technology, Global Navigation Satellite System (GLONASS) technology, Compass navigation system (COMPASS) technology, Galileo positioning system (Galileo) technology, Quasi-Zenith satellite system (QZSS) technology, One or any combination of wireless fidelity (WiFi) positioning technologies and the like.

In some embodiments, the collection device 510 can also collect information of the user of the wheelchair 100 through the terminal 130. The user can input information related to the behavior intention through the terminal 130. For example, the user can input information related to the behavioral intention in the form of text or voice.

The analysis device 520 can analyze the information of the user to determine the behavioral intent of the user. In some embodiments, analysis device 520 determines the user's behavioral intent based on methods of speech recognition, image recognition, character recognition, and the like. Specifically, the feature of the user's information collected by the collection device 510 may be extracted based on the method, and the behavioral intention corresponding to the feature may be determined based on the feature-behavior intent database. The feature-behavior intent database may be a plurality of features and behavior intent correspondences pre-stored in the analysis device 520. For example, if the user's voice includes "I want to drink water," the user's behavioral intention is to drink water. For another example, if the user's action includes pointing to a particular direction, the user's behavioral intent is to move in the direction. For another example, if the user stares at an object for a long time, the user's behavioral intention is to acquire the object.

In some embodiments, the analysis device 520 can determine the physical state of the user based on the information of the user. For example, if the user's expression includes sadness, the user's actions include licking the stomach, which may indicate that the user is unwell.

Execution device 530 can perform an action corresponding to the behavioral intent. Execution device 530 can include a robotic arm 420. In some embodiments, execution device 530 determines an object corresponding to the behavior based on the behavior. For example, if the behavior is intended to eat an apple, the execution device 530 determines that the object corresponding to eating the apple is an apple. After the object is determined, the execution device 530 determines the position of the object by the acquisition device 510, determines the travel path and moves the wheelchair 110 to the position, acquires the object through the robot arm 420, and performs subsequent processing on the object. For example, if the behavior is intended to eat an apple, after the apple is obtained, the apple is placed at the user's mouth.

In some embodiments, the wheelchair 110 is coupled to the processing engine 140, and portions of the functions of the acquisition device 510, the analysis device 520, or the execution device 530 can also be performed by the processing engine 140. For example, the processing engine 140 can analyze the information of the user of the wheelchair 110 that the collection device 510 has collected to determine behaviors that correspond to the user's behavioral intent. As another example, the processing engine 140 can control the wheelchair 110 to perform an action corresponding to the user's behavioral intent.

6 is a block diagram of a wheelchair shown in accordance with some embodiments of the present disclosure. The wheelchair 110 can include an acquisition device 510, an analysis device 520, an execution device 530, and a power supply device 640.

The power device 640 can be coupled to an execution device 530 that can charge the wheelchair. The power device 640 can be mounted on the wheelchair body 410 or the robot arm 420. In some embodiments, the wheelchair 110 can be automatically charged. Specifically, the method for automatically charging includes: after the power device 640 determines that the power is lower than a preset threshold, sending a charging request to the executing device 530. After receiving the charging request, the execution device 530 acquires the socket information corresponding to the plug of the power device 640. For example, a three-hole plug corresponds to a three-port socket, and a two-hole plug corresponds to a two-port socket. In some embodiments, power device 530 can obtain the jack information with image recognition technology. Exemplary image recognition techniques may include one or a combination of one of a shape feature based recognition technique, a color feature based recognition technique, and a texture feature based recognition technique. The execution device 530 moves the wheelchair 110 to the position of the socket. In some embodiments, the plug is docked to the socket and the plug is inserted into the socket for automatic charging.

In some embodiments, the wheelchair 110 can be charged manually. Specifically, after determining that the power is lower than the preset threshold, the power device 640 sends a charging request to the terminal 130. For example, the charging request may be displayed on the user terminal 130 interface in the form of text. For another example, the charging request may also be broadcasted in the form of voice, for example, “the battery is insufficient, please charge”. As another example, the charging request can be presented in the form of an alert. After receiving the charging request, the user determines location information of the socket corresponding to the plug of the power device, and sends a request to the execution device 530 to navigate to the location information. After reaching the position, the user inserts the plug into the jack by controlling the robot arm to achieve charging. In some embodiments, after receiving the charging request, the user can push the wheelchair 110 to the position of the socket and insert the plug to achieve charging.

In some embodiments, after the battery is fully charged, the power device 640 can transmit the information that the charging is complete. For example, the information on the completion of charging may be displayed on the interface of the user terminal 130 in the form of text. For another example, the charging request may also be broadcasted in the form of voice, such as “charge is completed, please pull the plug” and the like. After the user receives the information that the charging is completed, the robot can be controlled to pull the plug out of the socket.

In some embodiments, power supply device 640 can include one or a combination of an electric motor, a battery, a solar panel, and the like. The electric motor can convert the kinetic energy generated during the movement of the wheelchair 110 into electrical energy (eg, movement of the wheelchair body, movement of the robot arm, etc.). Solar panels convert solar energy into electrical energy. The battery can store electrical energy generated by an electric motor, a solar panel, or the like.

All or part of the software can communicate from time to time via networks such as the Internet or a variety of other long-distance communication networks. Such communication may, for example, cause software to be loaded from one computer or processor to another computer or processor, such as from a management server or host computer of the engine to a computing environment or other system hardware that performs similar functions of a computing environment or blood pressure monitoring. platform. Thus, another type of medium that can carry software components includes light, electric waves, and electromagnetic waves through wired and optical fixed telephone networks and various air links, such as on physical interfaces between local devices. Physical components that carry such waves (such as wired or wireless links, optical links, etc.) may also be considered as a medium for carrying software. As used herein, unless the term "memory" medium is restricted, a term such as a computer or machine "readable medium" refers to any medium that participates in providing instructions to a processor for execution.

Thus, a machine-readable medium can take many forms, including a physical memory medium, a carrier wave medium, or a physical transmission medium. Non-volatile memory media includes, for example, optical or magnetic disks, such as memory devices in any computer or the like, which can be used to implement a system as shown in the Figures, or any component thereof. Volatile memory media includes dynamic memory, the main memory of such computer platforms. Physical transmission media include coaxial cables; copper wires and fibers, including wires that form a bus within a computer system. The carrier transmission medium can be in the form of an electrical or electromagnetic signal, or in the form of an acoustic or optical wave, such as a wave generated during radio frequency (RF) infrared (IR) communication. Thus, common forms of computer readable media include, for example, floppy disks, floppy disks, hard disks, magnetic tape, any other magnetic media, CD-ROM, DVD or DVD-ROM, any other optical media, perforated card, perforated tape, with aperture pattern Any other physical storage medium, RAM, PROM and EPROM, FLASH-EPROM, any other memory chip or key cartridge, carrier transmission data or instructions, cable or link to transmit such carrier, or computer from which the programming code can be read And / or any other medium of data. Many of these forms of computer readable media may involve carrying one or more sequences of one or more instructions to a physical processor for execution.

Those skilled in the art will recognize that the present disclosure is susceptible to various modifications and/or enhancements. For example, although the implementation of the various components described above may be included in a hardware device, it may be implemented by only a software solution, such as a device on an existing server. Additionally, the blood pressure monitoring system disclosed herein can be implemented as firmware, firmware/software combination, firmware/hardware combination, or hardware/firmware/software combination.

Claims

A wheelchair characterized in that the wheelchair comprises:

An acquisition device configured to collect information of a user of the wheelchair, the user's information including an expression, an action, and a voice;

An analysis device coupled to the collection device, configured to analyze information of the user to determine a behavioral intent of the user; and

Executing a device, the execution device being coupled to the analysis device, configured to perform an action corresponding to the behavioral intent of the user, the execution device comprising a robotic arm.
The wheelchair of claim 1 wherein said user information is obtained by a camera or a camera.
The wheelchair of claim 1 wherein said acquisition device comprises a brain signal acquisition module, said brain signal acquisition module being configured to acquire a brain signal of said user.
The wheelchair of claim 3 wherein said brain signal is associated with said behavioral intent of said user.
The wheelchair of claim 1 wherein said collection device comprises a position module configured to acquire a current position of said user.
The wheelchair according to claim 5, wherein the location module acquiring the current location comprises:

Obtaining a picture of the wheelchair in real time through the location module;

Matching the picture with a picture in a picture database, each picture in the picture database corresponding to a location; and

Based on the matching result, the location corresponding to the picture is determined.
The wheelchair of claim 1 wherein said analysis device is configured to determine a target location associated with said behavioral intent.
The wheelchair according to claim 7, wherein said executing device performs an action corresponding to said behavioral intent of said user comprises:

Moving the wheelchair from the current position to the target position; and

The behavior is performed by the robotic arm.
The wheelchair of claim 8 wherein said robotic arm is movable in at least one spatial direction.
A wheelchair according to claim 8, wherein said mechanical arm is mounted on one side of said wheelchair or on both sides of said wheelchair.
The wheelchair of claim 8 wherein said robotic arm is detachably coupled to said wheelchair.
The wheelchair of claim 1 wherein said wheelchair includes a power supply device coupled to said execution device, said power supply device being configured to charge said wheelchair.
The wheelchair according to claim 12, wherein said power source device automatically charges said wheelchair after receiving a charging request from said executing device.
The wheelchair according to claim 13, wherein the automatic charging of the wheelchair by the power supply device after receiving the charging request from the executing device comprises:

Obtaining information of a socket corresponding to a plug of the power device;

Determining a location of the socket based on the information of the socket;

Moving the wheelchair to the position of the socket; and

Plug the power device plug into the jack.
A wheelchair according to claim 12, wherein said power supply device comprises an electric motor configured to convert kinetic energy generated by said executing device when said behavior is performed into electrical energy.