CN110623799A - A control method and device for an intelligent wheelchair - Google Patents

Abstract

The application provides a control method and device for an intelligent wheelchair, which is applied to an intelligent wheelchair. The intelligent wheelchair includes a support structure, a lifting structure and a control structure, and the support structure and the control structure are electrically connected; the support structure includes an electric push rod, a support plate, a support Rod, lever; the control method includes: the control structure receives the first action instruction sent by the mobile terminal; generates the first control instruction according to the first action instruction, and sends the first control instruction to the electric push rod; When a control instruction instructs the electric push rod to shorten, the shortening operation is performed according to the first control instruction, and the lever and the support plate are driven to rotate with the support rod as the fulcrum, so that the side of the support plate away from the electric push rod rises, and the support plate assists the user to use Its buttocks leave the seating position. The intelligent wheelchair control method provided in this application can assist the user or the nursing staff to conveniently complete transfer and movement, reduce the labor intensity of the nursing staff, and improve the user's confidence in life.

Description

A control method and device for an intelligent wheelchair

technical field

The present application relates to the technical field of intelligent control, in particular, to a control method and device for an intelligent wheelchair.

Background technique

The problem of transfer and movement is an urgent problem to be solved for the frail elderly and disabled people with declining lower limb functions. Such people are often difficult to transfer between different positions and walk on their own due to insufficient lower limb strength, and need the assistance of nursing equipment or the help of nursing staff to complete the above behaviors.

At present, the existing nursing equipment such as lifts and wheelchairs cannot solve the problems of transfer and movement of such people at the same time, and users cannot independently complete the operation of lifts and wheelchairs to complete transfer and movement; When the user is completely unable to take care of himself, a nursing staff cannot assist the user to complete the transfer and movement, which is time-consuming and labor-intensive.

Contents of the invention

In view of this, the purpose of the embodiment of the present application is to provide a control method and device for an intelligent wheelchair, which can assist the user or the nursing staff to complete transfer and movement conveniently, reduce the labor intensity of the nursing staff, and improve the life confidence of the user .

In some embodiments, an embodiment of the present application provides a control method for an intelligent wheelchair, wherein, applied to an intelligent wheelchair, the intelligent wheelchair includes a support structure, a lifting structure and a control structure, and the support structure and the control structure electrical connection; the support structure includes an electric push rod, a support plate, a support rod, and a lever; one end of the electric push rod is connected to the side of the support plate close to the electric push rod, and the lever is fixed on the On the support plate, one end of the support rod is hinged on the lever, and the other end of the electric push rod is hinged on the lifting structure;

The control methods include:

The control structure receives the first action instruction sent by the mobile terminal;

Generate a first control instruction according to the first action instruction, and send the first control instruction to the electric push rod; so that the electric push rod shortens when the first control instruction indicates that the electric push rod At this time, the shortening operation is performed according to the first control command, and the lever and the support plate are driven to rotate with the support rod as a fulcrum, so that after the side of the support plate away from the electric push rod rises, the The support plate lifts the user, causing the user's buttocks to leave the user's sitting position.

In some embodiments, the control method of the intelligent wheelchair also includes:

receiving a second action instruction sent by the mobile terminal;

Generate a second control instruction according to the second action instruction, and send the second control instruction to the electric push rod; so that the electric push rod is extended when the second control instruction instructs the electric push rod For a long time, the elongation operation is performed according to the second control instruction to drive the lever and the support plate to rotate with the support rod as the fulcrum, so that the side of the support plate away from the electric push rod descends , the support plate assists the user to sit down.

In some embodiments, the smart wheelchair also includes a seat structure, the seat structure is electrically connected to the control structure; the seat structure includes a seat board, a seat support beam and a motor; the seat The support beam is fixed on the lifting structure, the seat board is connected to the seat support beam through a connecting plate, and the motor is electrically connected to the control structure;

The control methods include:

receiving a third action instruction sent by the mobile terminal;

Generate a third control instruction according to the third action instruction, and send the third control instruction to the motor; so that the motor drives the seat board to move, so that the user enters or leaves the seat The preset area corresponding to the chair board.

In some embodiments, the smart wheelchair also includes a collection structure, the collection structure includes a pressure sensor, and the pressure sensor is arranged on the support plate;

The control methods include:

The control structure receives the force information of the support plate monitored by the pressure sensor in real time;

Comparing multiple stress information collected simultaneously by pressure sensors respectively arranged in different areas on the support plate, when it is determined that there is a difference in the multiple force information, or, each adjacent collection on the support plate The surface force distribution information at the time point is compared, and when there is a difference in the surface force distribution information at adjacent collection time points, a stop command is generated and the stop command is sent to the electric push rod, so that the electric push rod The push rod stops the current operation.

In some embodiments, the intelligent wheelchair also includes an alarm structure, and the alarm structure is electrically connected to the control structure; the control method includes:

When it is determined that there is a difference in the plurality of force information, or, when there is a difference in the surface force distribution information at adjacent collection time points, an alarm instruction is generated, and the alarm instruction is sent to the alarm structure; so that The alert structure alerts according to the alert instruction.

In some embodiments, the smart wheelchair also includes a mobile chassis; the mobile chassis includes a lidar sensor, a tracking sensor, a vision sensor and a driving wheel, and the lidar sensor, the tracking sensor, the vision sensor are electrically connected to the control structure;

The control methods include:

Receiving the environmental data in the preset area collected by the lidar sensor and the preset navigation landmark data detected by the tracking sensor;

Receive the image information of the user at the target position and/or the image information of the marker at the target position collected by the visual sensor;

According to the received environmental data, the navigation landmark data, the image information of the user at the target position and/or the image information of the marker at the target position, formulate a movement trajectory, and control the drive according to the movement trajectory wheel to move.

In some embodiments, the acquisition structure further includes a height detection sensor; the height detection sensor is arranged on the seat board, and the height detection sensor is electrically connected to the control structure;

The control methods include:

receiving the current first horizontal height detected by the height detection sensor and the second horizontal height of the user;

When the difference between the first horizontal height and the second horizontal height is less than a preset threshold, the lifting structure is controlled to move upward by a set distance, so that the lifting structure drives the seat board to move upward by a set distance. fixed distance.

In some embodiments, the control method further includes: when the difference between the first horizontal height and the second horizontal height is greater than or equal to the preset threshold, controlling the lifting structure to move to Make the difference between the first horizontal height and the second horizontal height smaller than a preset threshold.

In some embodiments, the collection structure further includes a speech recognition module and a gesture recognition module; wherein, the speech recognition module and the gesture recognition module are both electrically connected to the control structure;

The control methods include:

receiving the voice instruction to be recognized by the speech recognition module and the gesture instruction to be collected by the gesture recognition module;

A fourth control instruction is generated based on the voice instruction or the gesture instruction.

In some embodiments, the embodiment of the present application provides a control device for an intelligent wheelchair, wherein, applied to an intelligent wheelchair, the intelligent wheelchair includes a support structure, a lifting structure and a control structure, and the support structure and the control structure electrical connection; the support structure includes an electric push rod, a support plate, a support rod, and a lever; one end of the electric push rod is connected to the side of the support plate close to the electric push rod, and the lever is fixed on the On the support plate, one end of the support rod is hinged on the lever, and the other end of the electric push rod is hinged on the lifting structure;

The control device includes:

The first receiving module is configured to receive the first action instruction sent by the mobile terminal;

The first sending module is configured to generate a first control instruction according to the first action instruction, and send the first control instruction to the electric push rod; so that the electric push rod is in the first control instruction When the electric push rod is instructed to shorten, the shortening operation is performed according to the first control command, and the lever and the support plate are driven to rotate with the support rod as a fulcrum, so that the support plate is far away from the electric push rod After one side is raised, the support plate lifts the user, causing the user's buttocks to leave the user's sitting position.

A control method and device for an intelligent wheelchair provided in the embodiment of the present application is applied to an intelligent wheelchair. The intelligent wheelchair includes a support structure, a lifting structure and a control structure, and the support structure and the control structure are electrically connected; the support structure includes an electric push rod, a support plate , support rod, lever; one end of the electric push rod is connected to the side of the support plate close to the electric push rod, the lever is fixed on the support plate, one end of the support rod is hinged on the lever, and the other end of the electric push rod is hinged on the lifting structure The control method includes: the control structure receives the first action instruction sent by the mobile terminal; generates the first control instruction according to the first action instruction, and sends the first control instruction to the electric push rod; When the electric push rod is instructed to shorten, the shortening operation is performed according to the first control command, and the lever and the support plate are driven to rotate with the support rod as the fulcrum, so that the side of the support plate away from the electric push rod rises, and the support plate lifts the user, making the user’s The buttocks are out of the user's seating position. The intelligent wheelchair control method provided by the embodiment of the present application can assist the user or the nursing staff to conveniently complete transfer and movement, reduce the labor intensity of the nursing staff, and improve the user's confidence in life.

In order to make the above-mentioned purpose, features and advantages of the present application more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, so It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

FIG. 1 shows a flow chart of a control method for an intelligent wheelchair provided in an embodiment of the present application;

FIG. 2 shows a flow chart of another intelligent wheelchair control method provided by the embodiment of the present application;

FIG. 3 shows a flow chart of another intelligent wheelchair control method provided by the embodiment of the present application;

FIG. 4 shows a flow chart of another intelligent wheelchair control method provided by the embodiment of the present application;

Fig. 5 shows a flow chart of another intelligent wheelchair control method provided by the embodiment of the present application;

FIG. 6 shows a schematic structural diagram of a control device for a smart wheelchair provided by an embodiment of the present application;

FIG. 7 shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only It is a part of the embodiments of this application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.

As shown in Figure 1, the embodiment of the present application provides a control method for an intelligent wheelchair. The control method is applied to an intelligent wheelchair. The intelligent wheelchair includes a support structure, a lifting structure and a control structure, and the support structure and the control structure are electrically connected; the support structure It includes an electric push rod, a support plate, a support rod, and a lever; one end of the electric push rod is connected to the side of the support plate close to the electric push rod, the lever is fixed on the support plate, one end of the support rod is hinged on the lever, and the end of the electric push rod The other end is hinged on the lifting structure.

Among them, specifically include the following steps:

S101, the control structure receives the first action instruction sent by the mobile terminal;

S102. Generate a first control instruction according to the first action instruction, and send the first control instruction to the electric push rod; so that the electric push rod is extended according to the first control instruction when the first control instruction indicates that the electric push rod is extended. The long operation drives the lever and the support plate to rotate with the support rod as the fulcrum, so that after the side of the support plate away from the electric push rod descends, the support plate lifts the user so that the user’s buttocks leave the user’s sitting position.

In a specific implementation, the control structure includes a wired receiving module, which can receive the first action instruction transmitted by the wired mobile terminal in real time. Of course, the first action instruction transmitted by the wired mobile terminal is generated by the user or the nursing staff operating the wired mobile terminal; The structure may also include a wireless receiving module, which can receive the first action instruction transmitted by the wireless mobile terminal in real time, wherein the first action instruction transmitted by the wireless mobile terminal is generated by the user or the nursing staff operating the wireless mobile terminal.

After receiving the first action instruction, the control structure generates the first control instruction and sends the first control instruction to the electric push rod. In a specific application, the electric push rod can be controlled to extend or shorten. When the first control command indicates that the electric push rod is extended, after the control structure sends the first control command to the electric push rod, the electric push rod command to perform a shortening operation. During the shortening process of the electric push rod, it will drive the lever and the support plate to rotate with the support rod as the fulcrum, so that the side of the support plate away from the electric push rod rises, and the support plate can support the user. Specifically, the user can move to the support board, or the nurse assists the user to move to the support board, put the user's chest in contact with the support board, and place the user's arm on the armrest connected to the support board, so that the support board and the armrest can support the user without additional Nursing staff can help users, reducing the labor intensity of nursing staff, saving time and effort.

In the case where the support plate supports the user, the control method shown in Figure 2 can be combined to assist the user to sit down, wherein the specific steps are as follows:

S201. Receive a second action instruction sent by the mobile terminal;

S202. Generate a second control instruction according to the second action instruction, and send the second control instruction to the electric push rod; so that the electric push rod is extended according to the second control instruction when the second control instruction indicates that the electric push rod is extended. The long operation drives the lever and the support plate to rotate with the support rod as the fulcrum, so that after the side of the support plate away from the electric push rod descends, the support plate assists the user to sit down.

In a specific implementation, the user or the caregiver may use the wired mobile terminal or the wireless mobile terminal to send a second action command, and the second action command may instruct the electric push rod to extend. Specifically, after receiving the second action instruction, the control structure generates a second control instruction according to the second action instruction, and sends the second control instruction to the electric push rod. After the electric push rod receives the second control instruction, it performs an elongation operation. During the elongation process of the electric push rod, it will drive the lever and the support plate to rotate with the support rod as the fulcrum, so that the support plate is far away from a part of the electric push rod. The side descends, so that the support plate assists the user to sit down, and it is not necessary for the nursing staff to fix the wheelchair while assisting the user to sit down, which reduces the labor intensity of the nursing staff.

The control method in Figure 1 and Figure 2 can assist the user to transfer from the target position to the wheelchair. Of course, when the user transfers from the smart wheelchair to the target position, the control method in Figure 2 can be executed first to realize the user To transfer from the smart wheelchair to the target position, specifically, the mobile terminal can be used to control the electric push rod to shorten the operation, so that the support plate assists the user to lift the hip from the sitting position, and supports the user who leans forward, so that the user can transfer to the wheelchair by himself. The target location, or it is convenient for the nursing staff to assist the user to transfer to the target location.

The intelligent wheelchair in the embodiment of the present application also includes a seat structure, and the seat structure is electrically connected to the control structure; the seat structure includes a seat board, a seat support beam and a motor; the seat support beam is fixed on the lifting structure, and the seat The board is connected with the seat support beam through the connection board, and the motor is electrically connected with the control structure. Correspondingly, when assisting the user to transfer and move, a control method as shown in Figure 3 is also included, wherein the specific steps are as follows:

S301. Receive a third action instruction sent by the mobile terminal;

S302. Generate a third control instruction according to the third action instruction, and send the third control instruction to the motor; so that the motor drives the seat board to move, so that the user enters or leaves the preset area corresponding to the seat board.

In a specific implementation, when the user transfers from the target position to the wheelchair, the user or the caregiver can use a mobile terminal (including a wired mobile terminal and a wireless mobile terminal) to generate a third action instruction, and after generating the third action instruction, the mobile terminal A third action instruction is sent to the control structure. After receiving the third motion command, the control structure generates a third control command according to the third motion command, and sends the third control command to the motor. When the third action command indicates that the two seat boards are separated, the motor drives the two seat boards to move in opposite directions according to the third control command, so that the two seat boards are separated, and the user can enter the corresponding seat board. within the preset area; wherein, after the user enters into the preset area corresponding to the seat board, the support board can be used to support the user's body. When the third action instruction indicates that the two seat panels are closed, that is, the user has entered the preset area corresponding to the seat panel, the motor drives the two seat panels to move in opposite directions according to the third control instruction, so as to The two seat panels are closed to realize the user's purpose of taking a seat.

It is worth noting that a pressure sensor can also be set on the seat board to detect the force information on the seat board. When the user leaves the seat board, the force detected by the pressure sensor on the seat board If the value is 0, the pressure sensor can send the detected force information to the control structure. When the control structure determines that the force value in the received force information is 0, and the electric push rod is performing an extension operation, it generates a third control instruction for controlling the separation of the two seat panels, and sends the third control command The command is sent to the motor so that the motor drives the two seat panels apart; when the control structure determines that the force value in the received force information is 0, and the electric push rod is performing the shortening operation, it generates a control mechanism to control the two seat panels. The third control command for the closing of the seat panels is sent to the motor, so that the motor drives the two seat panels to close.

Here, the smart wheelchair in the embodiment of the present application is also provided with a gyroscope, and the gyroscope sends the collected data such as angular velocity to the control structure, and the control structure can assist in adjusting the current posture of the smart wheelchair based on the data sent by the gyroscope, so as to The posture of the intelligent wheelchair is convenient for the user to transfer and move.

The intelligent wheelchair provided by the embodiment of the present application also includes a collection structure, the collection structure includes a pressure sensor, and the pressure sensor is arranged on the support plate. The specific control method is combined with the method shown in Figure 4, and the specific steps are as follows:

S401, the control structure receives the force information of the support plate monitored by the pressure sensor in real time;

S402. Comparing the multiple force information collected simultaneously by the pressure sensors set in different areas on the support plate, when it is determined that there are differences in the multiple force information, or, comparing the surface of each adjacent collection time point on the support plate The force distribution information is compared, and when there is a difference in the surface force distribution information at adjacent collection time points, a stop command is generated and sent to the electric push rod to stop the current operation of the electric push rod.

Here, the pressure sensor can monitor the force information of the support plate in real time, including force value and force position, etc., and send all the monitored force information to the control structure. Pressure sensors are set on the left and right sides, and pressure sensors can also be set on the upper and lower sides of the support plate, and pressure sensors can also be set on the left, right, upper, lower, diagonal and other sides of the support plate for simultaneous acquisition Force information on different areas of the support plate.

Specifically, during the telescopic process of the electric push rod, the pressure sensor collects two force information on the left and right parts of the support plate in real time and at the same time, and sends the two force information to the control structure, and the control structure receives the two force information Afterwards, compare the two force information, when it is determined that there is a difference between the two force information on the left and right parts of the adjacent support plate (the difference between the force values in the two force information is greater than the preset difference) , generate a stop command, and send the stop command to the electric actuator, so that the electric actuator stops the current operation. In addition, the pressure sensor sends the surface force distribution information of the support plate to the control structure in real time. When the control structure receives the force distribution information of each surface, it compares the surface force distribution information at adjacent collection time points, When there is a difference in surface force distribution information at adjacent collection time points, a stop command is generated and sent to the electric push rod, so that the electric push rod stops the current operation. (For example, due to the shift of the user's center of gravity to the left or right, the force position of the support plate changes; due to the backward shift of the user's center of gravity, the force value of the support plate decreases, etc.), a stop command is generated and the stop command Send it to the electric actuator to stop the current operation of the electric actuator to avoid danger to the user.

It is worth noting that before the electric push rod is extended or shortened, the pressure sensor collects the force distribution information on the surface of the support plate and sends it to the control structure. The control structure compares the surface force distribution information at each adjacent collection time point, and when the difference between the surface force distribution information at adjacent collection time points is small, then controls the electric actuator to perform the operation of elongation or shortening. Avoid lengthening or shortening operations before the user is firmly on their feet, causing accidents to the user.

Moreover, the intelligent wheelchair also includes an alarm structure, which is electrically connected to the control structure. When it is determined that there is a difference in multiple force information, or when there is a difference in the surface force distribution information at adjacent collection time points, an alarm command is generated and sent to the alarm structure, so that the alarm structure performs the alarm according to the alarm command. Alert, use the alert structure to alert the user to pay attention to safety. Wherein, the alarm structure can include a buzzer, and the buzzer can sound according to the alarm command to prompt the user; the alarm structure can also include a light emitting diode (Light Emitting Diode, LED) lamp, and the LED lamp can flash according to the preset flashing rule according to the alarm command. Blinking; the alert structure may also include a communication device. After the communication device receives the alert command, it may generate alert information and send it to the mobile device corresponding to the emergency contact of the current user; the embodiment of the present application does not specifically limit this.

The intelligent wheelchair of the embodiment of the present application also includes a mobile chassis, the mobile chassis includes a laser radar sensor, a tracking sensor and a driving wheel, and the laser radar sensor and the tracking sensor are all electrically connected to the control structure; it can be combined with the control method shown in Figure 5 to Control the smart wheelchair to move, and the specific steps are as follows:

S501, receiving the environmental data in the preset area collected by the lidar sensor, the preset navigation landmark data detected by the tracking sensor, and the image information of the user at the target position and/or the image of the marker at the target position collected by the visual sensor information;

S502. According to the received environmental data, navigation landmark data, image information of the user at the target location and/or image information of markers at the target location, formulate a movement trajectory, and control the driving wheels to move according to the movement trajectory.

In the specific implementation, the lidar sensor can collect the environmental data in the preset area (with the current position as the center and the preset distance as the radius to determine the preset area) in real time, including the shape data of obstacles, the distance from the current position, etc. , the lidar sensor sends the collected environmental data to the control structure, and the control structure simulates the current virtual environment of the smart wheelchair based on the received environmental data. Based on the simulated environment, according to the starting position (current position) and the end position to formulate the trajectory of the smart wheelchair.

Further, it is also possible to pre-lay magnetic strips or dark ribbons on the ground as navigation landmarks, and each navigation landmark carries a location identification, for example, the latitude and longitude data where the current navigation landmark is located, or the distance between the current navigation landmark and a certain reference position. distance data, etc. Tracking sensors can detect navigational landmark data and send the navigational landmark data to the control structure.

The control structure can formulate a motion trajectory according to the received environmental data and navigation landmark data, and control the driving wheel to move according to the motion trajectory, so that the sliding drives the intelligent wheelchair to move from the starting position to the end position. Here, the rough positioning of the smart wheelchair can be realized through the lidar sensor and the tracking sensor.

After the rough positioning of the target position, the visual sensor (or distance sensor, the embodiment of the present application is described by taking the visual sensor as an example) arranged on the rear side of the mobile chassis can also be used to collect the image information and/or the user's image information at the target position in real time. The image information of the marker at the target location, sending the image information of the user at the target location and/or the image information of the marker at the target location to the control structure. Here, in practical applications, only the image information of the user at the target position can be collected, and only natural markers (such as bed feet, etc.) or artificial markers (such as specially arranged two-dimensional codes, polygonal Of course, in order to ensure the accuracy of fine positioning, the image information of the user at the target position and the image information of the marker at the target position can be collected at the same time. After the control structure receives the image information of the user at the target position and/or the image information of the marker at the target position, it calculates the relative pose information between the smart wheelchair and the target position, and plans the movement trajectory through the control structure to control the intelligent wheelchair. The wheelchair moves backwards along the planned trajectory, so that the user stops moving when the user is located in the preset area corresponding to the seat board (that is, the left and right seat boards are located on both sides of the user), so as to realize the precise positioning of the smart wheelchair.

In a specific implementation, the acquisition structure further includes a height detection sensor; the height detection sensor is arranged on the seat board, and the height detection sensor is electrically connected to the control structure.

Receive the current first horizontal height detected by the height detection sensor and the second horizontal height where the user is; when the difference between the first horizontal height and the second horizontal height is less than a preset threshold, control the lifting structure to move upward Set the distance so that the lifting structure drives the seat board to move up the set distance; when the difference between the first horizontal height and the second horizontal height is greater than or equal to the preset threshold, control the lifting structure to move so that the first The difference between the horizontal height and the second horizontal height is less than a preset threshold.

In a specific implementation, the height detection sensor is arranged on the seat board. Of course, since the height of the two seat boards is the same, the height detection sensor can be arranged on any seat board, and the height detection sensor can monitor the current position of the seat board in real time. The first horizontal height; in addition, the height detection sensor can also detect the second horizontal height where the user is in real time. In order to avoid the waste of resources of the height detection sensor, it can be set to collect the user's transfer instruction after receiving the user's transfer instruction. The height of the second level.

After the height detection sensor monitors the first horizontal height and the second horizontal height of the seat panel, it sends the first horizontal height and the second horizontal height to the control structure. The control structure calculates the difference between the first level and the second level, and when the difference between the first level and the second level is less than a preset threshold value, that is, the level of the seat panel is different from that of the user. When the horizontal heights are similar, the lifting structure is controlled to move upwards by a set distance. Since the seat board is fixed on the lifting structure, it can drive the seat board to move upwards by a set distance while the lifting structure moves upwards, that is, to make The horizontal height of the seat board is higher than the horizontal height of the user, which is convenient for the user to transfer.

When the difference between the first horizontal height and the second horizontal height is greater than the preset threshold, that is, when the horizontal height of the seat board is greatly different from the horizontal height of the user, the lifting structure is controlled to move so that The difference between the first horizontal height and the second horizontal height is smaller than a preset threshold. Specifically, after it is determined that the difference between the first horizontal height and the second horizontal height is greater than the preset threshold, the size between the first horizontal height and the second horizontal height can be further judged, if the first horizontal height is greater than the second level, control the lifting structure to descend until the difference between the first level and the second level is less than the preset threshold; if the first level is less than the second level, control the lifting structure to rise until the first level The difference between the altitude and the second horizontal height is less than a preset threshold. After the difference between the first horizontal height and the second horizontal height is less than a preset threshold, the lifting structure is controlled to move upward by a set distance.

The collection structure in the embodiment of the present application further includes a micro switch, which is arranged on the seat support beam and is electrically connected to the control structure. When the micro switch touches an object during the descent of the seat support beam, it will return a trigger signal to the control structure, and at this moment, the control structure controls the lifting structure to stop moving.

In a specific implementation, the acquisition structure of the embodiment of the present application further includes a voice recognition module and a gesture recognition module; wherein, the voice recognition module and the gesture recognition module are both electrically connected to the control structure.

In a specific implementation, the user or the caregiver can issue a voice to give instructions to the smart wheelchair. When the user or the caregiver makes a specified voice, the microphone array in the voice recognition module can recognize the specified voice issued by the user or the caregiver, and according to The recognized specified voice generates a corresponding voice instruction. The voice recognition module sends the recognized voice command to the control structure, and the control structure generates a fourth control command based on the voice command after receiving the voice command.

Similarly, the user or caregiver can also give instructions to the smart wheelchair by making specified gestures or expressions. When the user or caregiver makes a specified gesture or expression, the gesture recognition module collects information from the user or caregiver through the visual sensor and depth sensor. facial movements and gestures of the person, and generate a corresponding fourth control instruction. The control structure can control the intelligent wheelchair to perform corresponding actions according to the fourth control instruction.

The intelligent wheelchair control method provided by the embodiment of the present application can assist the user or the nursing staff to conveniently complete transfer and movement, reduce the labor intensity of the nursing staff, and improve the user's confidence in life.

Based on the same inventive concept, the embodiment of the present application also provides the control device of the intelligent wheelchair corresponding to the control method of the intelligent wheelchair, because the principle of solving the problem of the device in the embodiment of the present application is similar to the control method of the above-mentioned intelligent wheelchair in the embodiment of the present application , so the implementation of the device can refer to the implementation of the method, and the repetition will not be repeated.

Referring to Fig. 6, the control device of the intelligent wheelchair provided by another embodiment of the present application includes:

The first receiving module 601 is configured to receive the first action instruction sent by the mobile terminal;

The first sending module 602 is configured to generate a first control instruction according to the first action instruction, and send the first control instruction to the electric push rod; When the instruction indicates that the electric push rod is shortened, the shortening operation is performed according to the first control instruction to drive the lever and the support plate to rotate with the support rod as a fulcrum, so that the support plate is far away from the electric push rod. After one side of the bar is raised, the support plate lifts the user, taking the user's buttocks away from the user seating position.

In one embodiment, the control device of the above-mentioned intelligent wheelchair also includes:

The second receiving module 603 is configured to receive a second action instruction sent by the mobile terminal;

The second sending module 604 is configured to generate a second control instruction according to the second action instruction, and send the second control instruction to the electric push rod; When the instruction indicates that the electric push rod is extended, the extension operation is performed according to the second control instruction, and the lever and the support plate are driven to rotate with the support rod as a fulcrum, so that the support plate is far away from the After one side of the electric push rod descends, the support plate assists the user to sit down.

In another embodiment, the control device of the above-mentioned smart wheelchair also includes:

The third receiving module 605 is configured to receive a third action instruction sent by the mobile terminal;

The third sending module 606 is configured to generate a third control instruction according to the third action instruction, and send the third control instruction to the motor; so that the motor drives the seat board to move, so as to Make the user enter or leave the preset area corresponding to the seat board.

In another embodiment, the control device of the above-mentioned intelligent wheelchair also includes:

The fourth receiving module 607 is configured to receive the force information of the support plate monitored by the pressure sensor in real time;

The fourth sending module 608 is configured to compare multiple force information collected simultaneously by pressure sensors respectively arranged in different areas on the support plate, and when it is determined that there is a difference in the multiple force information, or, Compare the surface force distribution information at each adjacent collection time point on the support plate, and generate a stop command when there is a difference in the surface force distribution information at adjacent collection time points, and send the stop command to the electric motor push rod, so that the electric push rod stops the current operation.

In yet another embodiment, the control device of the above-mentioned smart wheelchair also includes:

The alarm module 609 is configured to generate an alarm instruction when it is determined that there is a difference in the plurality of force information, or when there is a difference in the surface force distribution information at adjacent collection time points, and send the alarm instruction to all the alarm structure; causing the alarm structure to alarm according to the alarm instruction.

In yet another embodiment, the control device of the above-mentioned smart wheelchair also includes:

The fifth receiving module 610 is configured to receive the environmental data in the preset area collected by the lidar sensor, the preset navigation landmark data detected by the tracking sensor, and the image information of the user at the target position collected by the visual sensor and /or image information of markers at the target location;

The first control module 611 is configured to formulate a motion trajectory according to the received environmental data, the navigation landmark data, the image information of the user at the target position and/or the image information of the marker at the target position, according to The motion track controls the driving wheel to move.

In yet another embodiment, the control device of the above-mentioned smart wheelchair also includes:

The sixth receiving module 612 is configured to receive the current first horizontal height detected by the height detection sensor and the second horizontal height of the user;

The second control module 613 is configured to control the lifting structure to move upward by a set distance when the difference between the first horizontal height and the second horizontal height is less than a preset threshold, so that the lifting structure can drive The seat board moves up a set distance.

In yet another embodiment, the control device of the above-mentioned smart wheelchair also includes:

The third control module 614 is configured to control the lifting structure to move when the difference between the first horizontal height and the second horizontal height is greater than or equal to the preset threshold, so that the first The difference between the horizontal height and the second horizontal height is smaller than a preset threshold.

In yet another embodiment, the control device of the above-mentioned smart wheelchair also includes:

The seventh receiving module 615 is configured to receive the voice instruction to be recognized by the speech recognition module and the gesture instruction to be collected by the gesture recognition module;

The generating module 616 is configured to generate a fourth control instruction based on the voice instruction or the gesture instruction.

7 describes the structure of an electronic device 700 provided by an embodiment of the present invention, the electronic device 700 includes: at least one processor 701, at least one network interface 704 or other user interface 703, memory 705, and at least one communication bus 702. The communication bus 702 is used to realize connection communication between these components. The electronic device 700 optionally includes a user interface 703, including a display (for example, a touch screen, LCD, CRT, holographic imaging (Holographic) or projection (Projector), etc.), a keyboard or a pointing device (for example, a mouse, a trackball (trackball) , touch pad or touch screen, etc.).

The memory 705 may include read-only memory and random-access memory, and provides instructions and data to the processor 701 . A portion of memory 705 may also include non-volatile random access memory (NVRAM).

In some implementations, the memory 705 stores the following elements, executable modules or data structures, or their subsets, or their extended sets;

In the embodiment of the present invention, by calling the program or instruction stored in the memory 705, the processor 701 is used to:

The control structure receives the first action instruction sent by the mobile terminal;

Generate a first control instruction according to the first action instruction, and send the first control instruction to the electric push rod; so that the electric push rod shortens when the first control instruction indicates that the electric push rod At this time, the shortening operation is performed according to the first control command, and the lever and the support plate are driven to rotate with the support rod as a fulcrum, so that after the side of the support plate away from the electric push rod rises, the The support plate lifts the user, causing the user's buttocks to leave the user's sitting position.

Optionally, the method executed by the processor 701 further includes:

receiving a second action instruction sent by the mobile terminal;

Generate a second control instruction according to the second action instruction, and send the second control instruction to the electric push rod; so that the electric push rod is extended when the second control instruction instructs the electric push rod For a long time, the elongation operation is performed according to the second control instruction to drive the lever and the support plate to rotate with the support rod as the fulcrum, so that the side of the support plate away from the electric push rod descends , the support plate assists the user to sit down.

Optionally, the method executed by the processor 701 includes:

receiving a third action instruction sent by the mobile terminal;

Generate a third control instruction according to the third action instruction, and send the third control instruction to the motor; so that the motor drives the seat board to move, so that the user enters or leaves the seat The preset area corresponding to the chair board.

Optionally, the method executed by the processor 701 includes:

The control structure receives the force information of the support plate monitored by the pressure sensor in real time;

Comparing multiple stress information collected simultaneously by pressure sensors respectively arranged in different areas on the support plate, and determining that there are differences in the multiple force information, or, comparing each adjacent acquisition time on the support plate The surface force distribution information of the point is compared, and when there is a difference in the surface force distribution information of adjacent collection time points, a stop command is generated and the stop command is sent to the electric push rod, so that the electric push rod lever to stop the current operation.

Optionally, the method executed by the processor 701 includes:

When it is determined that there is a difference in the plurality of force information, or, when there is a difference in the surface force distribution information at adjacent collection time points, an alarm instruction is generated, and the alarm instruction is sent to the alarm structure; so that The alert structure alerts according to the alert instruction.

Optionally, the method executed by the processor 701 includes:

Receive the environmental data in the preset area collected by the lidar sensor, the preset navigation landmark data detected by the tracking sensor, and the image information of the user at the target position collected by the visual sensor and/or the marker at the target position image information;

According to the received environmental data, the navigation landmark data, the image information of the user at the target position and/or the image information of the marker at the target position, formulate a movement trajectory, and control the drive according to the movement trajectory wheel to move.

Optionally, the method executed by the processor 701 includes:

receiving the current first horizontal height detected by the height detection sensor and the second horizontal height of the user;

When the difference between the first horizontal height and the second horizontal height is less than a preset threshold, the lifting structure is controlled to move upward by a set distance, so that the lifting structure drives the seat board to move upward by a set distance. fixed distance.

Optionally, in the method executed by the processor 701, when the difference between the first horizontal height and the second horizontal height is greater than or equal to the preset threshold, the lifting structure is controlled to move, so that The difference between the first horizontal height and the second horizontal height is smaller than a preset threshold.

Optionally, the method executed by the processor 701 includes:

receiving the voice instruction to be recognized by the speech recognition module and the gesture instruction to be collected by the gesture recognition module;

A fourth control instruction is generated based on the voice instruction or the gesture instruction.

The computer program product of the intelligent wheelchair control method and device provided in the embodiments of the present application includes a computer-readable storage medium storing program codes, and the instructions included in the program codes can be used to execute the methods in the previous method embodiments, and the specific implementation can be Refer to the method embodiments, which will not be repeated here.

Specifically, the storage medium can be a general-purpose storage medium, such as a removable disk, a hard disk, etc. When the computer program on the storage medium is run, it can execute the above-mentioned control method of the intelligent wheelchair, thereby assisting the user or the caregiver to complete the operation conveniently. Transferring and moving reduces the labor intensity of nursing staff and improves users' confidence in life.

If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, and other media that can store program codes.

Finally, it should be noted that: the above-described embodiments are only specific implementations of the application, used to illustrate the technical solutions of the application, rather than limiting it, and the scope of protection of the application is not limited thereto, although referring to the aforementioned The embodiment has described this application in detail, and those of ordinary skill in the art should understand that any person familiar with this technical field can still modify the technical solutions described in the foregoing embodiments within the technical scope disclosed in this application Changes can be easily imagined, or equivalent replacements can be made to some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the application, and should be covered by this application. within the scope of protection. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims (10)

1. A control method for an intelligent wheelchair, characterized in that it is applied to an intelligent wheelchair, and the intelligent wheelchair includes a support structure, a lifting structure and a control structure, and the support structure is electrically connected to the control structure; the support structure includes Electric push rod, support plate, support rod, lever; one end of the electric push rod is connected to the side of the support plate close to the electric push rod, the lever is fixed on the support plate, and the support rod One end of the push rod is hinged on the lever, and the other end of the electric push rod is hinged on the lifting structure; The control methods include: The control structure receives the first action instruction sent by the mobile terminal; Generate a first control instruction according to the first action instruction, and send the first control instruction to the electric push rod; so that the electric push rod shortens when the first control instruction indicates that the electric push rod At this time, the shortening operation is performed according to the first control command, and the lever and the support plate are driven to rotate with the support rod as a fulcrum, so that after the side of the support plate away from the electric push rod rises, the The support plate lifts the user, causing the user's buttocks to leave the user's sitting position. 2. The control method according to claim 1, further comprising: receiving a second action instruction sent by the mobile terminal; Generate a second control instruction according to the second action instruction, and send the second control instruction to the electric push rod; so that the electric push rod is extended when the second control instruction instructs the electric push rod For a long time, the elongation operation is performed according to the second control instruction to drive the lever and the support plate to rotate with the support rod as the fulcrum, so that the side of the support plate away from the electric push rod descends , the support plate assists the user to sit down. 3. The control method according to claim 1, wherein the intelligent wheelchair also includes a seat structure, and the seat structure is electrically connected to the control structure; the seat structure includes a seat board, a seat A chair support beam and a motor; the seat support beam is fixed on the lifting structure, the seat board is connected to the seat support beam through a connecting plate, and the motor is electrically connected to the control structure; The control methods include: receiving a third action instruction sent by the mobile terminal; Generate a third control instruction according to the third action instruction, and send the third control instruction to the motor; so that the motor drives the seat board to move, so that the user enters or leaves the seat The preset area corresponding to the chair board. 4. The control method according to claim 3, wherein the intelligent wheelchair further comprises a collection structure, the collection structure includes a pressure sensor, and the pressure sensor is arranged on the support plate; The control methods include: The control structure receives the force information of the support plate monitored by the pressure sensor in real time; Comparing multiple stress information collected simultaneously by pressure sensors respectively arranged in different areas on the support plate, when it is determined that there is a difference in the multiple force information, or, each adjacent collection on the support plate The surface force distribution information at the time point is compared, and when there is a difference in the surface force distribution information at adjacent collection time points, a stop command is generated and the stop command is sent to the electric push rod, so that the electric push rod The push rod stops the current operation. 5. The control method according to claim 4, wherein the intelligent wheelchair also includes an alarm structure, and the alarm structure is electrically connected to the control structure; the control method comprises: When it is determined that there is a difference in the plurality of force information, or, when there is a difference in the surface force distribution information at adjacent collection time points, an alarm instruction is generated, and the alarm instruction is sent to the alarm structure; so that The alert structure alerts according to the alert instruction. 6. The control method according to claim 1, wherein the intelligent wheelchair also includes a mobile chassis; the mobile chassis includes a laser radar sensor, a tracking sensor, a visual sensor and a driving wheel, and the laser radar sensor, Both the tracking sensor and the visual sensor are electrically connected to the control structure; The control methods include: Receive the environmental data in the preset area collected by the lidar sensor, the preset navigation landmark data detected by the tracking sensor, and the image information of the user at the target position collected by the visual sensor and/or the marker at the target position image information; According to the received environmental data, the navigation landmark data, the image information of the user at the target position and/or the image information of the marker at the target position, formulate a movement trajectory, and control the drive according to the movement trajectory wheel to move. 7. The control method according to claim 4, wherein the acquisition structure further comprises a height detection sensor; the height detection sensor is arranged on the seat board, and the height detection sensor is connected with the control Structural electrical connection; The control methods include: receiving the current first horizontal height detected by the height detection sensor and the second horizontal height of the user; When the difference between the first horizontal height and the second horizontal height is less than a preset threshold, the lifting structure is controlled to move upward by a set distance, so that the lifting structure drives the seat board to move upward by a set distance. fixed distance. 8. The control method according to claim 7, characterized in that, when the difference between the first horizontal height and the second horizontal height is greater than or equal to the preset threshold, the lifting structure is controlled to perform moving so that the difference between the first horizontal height and the second horizontal height is smaller than a preset threshold. 9. The control method according to claim 8, wherein the acquisition structure further comprises a speech recognition module and a gesture recognition module; wherein, the speech recognition module and the gesture recognition module are electrically connected to the control structure connect; The control methods include: receiving the voice instruction to be recognized by the speech recognition module and the gesture instruction to be collected by the gesture recognition module; A fourth control instruction is generated based on the voice instruction or the gesture instruction. 10. A control device for an intelligent wheelchair, characterized in that it is applied to an intelligent wheelchair, and the intelligent wheelchair includes a support structure, a lifting structure and a control structure, and the support structure is electrically connected to the control structure; the support structure includes Electric push rod, support plate, support rod, lever; one end of the electric push rod is connected to the side of the support plate close to the electric push rod, the lever is fixed on the support plate, and the support rod One end of the push rod is hinged on the lever, and the other end of the electric push rod is hinged on the lifting structure; The control device includes: The first receiving module is configured to receive the first action instruction sent by the mobile terminal; The first sending module is configured to generate a first control instruction according to the first action instruction, and send the first control instruction to the electric push rod; so that the electric push rod is in the first control instruction When the electric push rod is instructed to shorten, the shortening operation is performed according to the first control command, and the lever and the support plate are driven to rotate with the support rod as a fulcrum, so that the support plate is far away from the electric push rod After one side is raised, the support plate lifts the user, causing the user's buttocks to leave the user's sitting position.