CN109512594A - The road surface hole sill identifying system and its wheelchair of wheelchair - Google Patents
The road surface hole sill identifying system and its wheelchair of wheelchair Download PDFInfo
- Publication number
- CN109512594A CN109512594A CN201811392250.9A CN201811392250A CN109512594A CN 109512594 A CN109512594 A CN 109512594A CN 201811392250 A CN201811392250 A CN 201811392250A CN 109512594 A CN109512594 A CN 109512594A
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- wheelchair
- control module
- elevation information
- height
- road surface
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- 230000007246 mechanism Effects 0.000 claims description 19
- 241000219098 Parthenocissus Species 0.000 claims description 14
- 230000033228 biological regulation Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 9
- 230000007423 decrease Effects 0.000 description 8
- 230000000630 rising effect Effects 0.000 description 6
- 230000007547 defect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/40—General characteristics of devices characterised by sensor means for distance
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention is suitable for wheelchair technical field, provide the road surface hole sill identifying system and its wheelchair of a kind of wheelchair, the road surface hole sill identifying system of wheelchair includes: range finder module, first height on the ground wheelchair measures the raised or sunken relatively described wheelchair in front of the wheelchair when advancing where, and the first elevation information is sent to control module；Second height on ground where measuring the raised or sunken relatively described wheelchair at the wheelchair rear when wheelchair rollback, and the second elevation information is sent to control module；Control module receives first elevation information and perhaps second elevation information and controls the driving status of the wheelchair according to first elevation information or the second elevation information.Whereby, the road surface hole sill identifying system and its wheelchair of wheelchair of the invention realizes and identifies and encounter raised or sunken in wheelchair driving process, adjusts the driving status of wheelchair, guarantee the safety of rider.
Description
Technical field
The present invention relates to a kind of road surface of wheelchair technical field more particularly to wheelchair hole sill identifying system and its wheelchairs.
Background technique
At present wheelchair on the market due to can not automatic identification wheelchair front or behind hole sill etc., taken turns when rider drives
When chair quickly moves forwards or backwards, if it is not that (step may be to rise or fall to very high step that above or below, which has a,
), if driver does not notice and wheelchair travel speed is too fast, the hole sill of front or behind are caused to impact, are held very much
The forward or backward overturning of wheelchair is easily caused, very big harm is caused to rider.
In conclusion existing wheelchair is in actual use, it is clear that there is inconvenient and defect, it is therefore necessary to be changed
Into.
Summary of the invention
For above-mentioned defect, the purpose of the present invention is to provide a kind of road surface of wheelchair hole sill identifying system and its wheels
Chair identifies to realize and encounters raised or sunken in wheelchair driving process, adjusts the driving status of wheelchair, guarantee rider's
Safety.
To achieve the goals above, the present invention provides a kind of road surfaces of wheelchair to cheat sill identifying system, comprising:
Range finder module measures the raised or sunken relatively described wheelchair institute in front of the wheelchair when wheelchair advances
The first height on ground, and the first elevation information of first height is sent to control module；When the wheelchair rollback,
Second height on ground where it measures the raised or sunken relatively described wheelchair at the wheelchair rear, and highly by described second
The second elevation information be sent to control module；
Control module, the control module and the range finder module communicate to connect, receive first elevation information or
Second elevation information described in person, and control according to first elevation information or the second elevation information the traveling shape of the wheelchair
State.
Sill identifying system is cheated according to the road surface of the wheelchair, the range finder module includes:
First distance measuring sensor is set to the front side of the wheelchair, and when the wheelchair advances, it is high to measure described first
Degree；
Second distance measuring sensor, is set to the rear side of the wheelchair, and when the wheelchair rollback, it is high to measure described second
Degree.
Sill identifying system is cheated according to the road surface of the wheelchair, the wheelchair includes creeper undercarriage and wheel walking
Mechanism；The control module is communicated to connect with the creeper undercarriage and the wheel walking mechanism respectively, controls institute
State the work of creeper undercarriage and the wheel walking mechanism；The control module according to first elevation information or
When second elevation information controls creeper undercarriage work, the driving status of the wheelchair is crawler belt driving mode；It is described
When control module controls wheel walking mechanism work according to first elevation information or the second elevation information, the wheel
The driving status of chair is wheel driving mode.
Cheat sill identifying system according to the road surface of the wheelchair, if the control module according to first elevation information or
When the second elevation information of person judges that first height or the second height are less than or equal to first predetermined value, the control module control
The wheel walking mechanism work is made, the driving status of the wheelchair is wheel driving mode；Otherwise, the control module control
Creeper undercarriage work, the driving status of the wheelchair be crawler belt driving mode to the wheelchair pass by the protrusion or
When recess, the control module controls the wheel walking mechanism work, and the driving status of the wheelchair is switched to wheel traveling
Mode.
Sill identifying system is cheated according to the road surface of the wheelchair, the predetermined value is 50mm.
Sill identifying system is cheated according to the road surface of the wheelchair, is connected with speed regulation device on the wheel of the wheelchair, it is described
Control module and the speed regulation device communicate to connect；If the control module is according to first elevation information or the second height
It is described when information judges that first height or the second height are less than or equal to first predetermined value and are more than or equal to second predetermined value
Control module, which controls the speed regulation device, reduces the travel speed of the wheel, and the driving status of the wheelchair is to travel at a slow speed.
Sill identifying system is cheated according to the road surface of the wheelchair, the second predetermined value is 30mm.
Sill identifying system is cheated according to the road surface of the wheelchair, further includes voice module, with the control module communication link
It connects, the control module sends corresponding phonetic order to institute's predicate according to first elevation information or the second elevation information
Sound module, the voice module receive the phonetic order and play suggestion voice corresponding with the phonetic order.
It include wheel described in any of the above embodiments the present invention also provides one kind to realize another goal of the invention of the invention
The wheelchair of the road surface hole sill identifying system of chair.
The present invention is set as including range finder module and control module by the way that sill identifying system is cheated on the road surface of wheelchair, wherein surveying
The height on ground, convex where can identifying away from module and measuring the raised or sunken opposite wheelchair of the wheelchair front or behind
The ground sill to raise upward or the step of rising etc. where can be opposite wheelchair are acted, recess can be where opposite wheelchair
The step etc. in hole or decline that is recessed downwards of ground, the elevation information that control module is measured according to range finder module, adjustment wheel
The driving status of chair, to guarantee the safety of rider.In addition, the present invention is also provided with voice module, mentioned for issuing voice
Show and rider is reminded to take care.Whereby, the road surface hole sill identifying system and its wheelchair of wheelchair of the invention, realizes and identifies
What is encountered in wheelchair driving process is raised or sunken, adjusts the driving status of wheelchair, guarantees the safety of rider.
Detailed description of the invention
Fig. 1 is the modular structure schematic diagram of the road surface hole sill identifying system for the wheelchair that first embodiment of the invention provides；
Fig. 2 is the road conditions schematic diagram for having decline step in front of wheelchair provided in an embodiment of the present invention；
Fig. 3 is the road conditions schematic diagram for having hole in front of wheelchair provided in an embodiment of the present invention；
Fig. 4 is that have the road conditions schematic diagram for rising step in front of wheelchair provided in an embodiment of the present invention；
Fig. 5 is the road conditions schematic diagram for having sill in front of wheelchair provided in an embodiment of the present invention；
Fig. 6 is the road conditions schematic diagram that there is decline step at wheelchair rear provided in an embodiment of the present invention；
Fig. 7 is the road conditions schematic diagram that there is hole at wheelchair rear provided in an embodiment of the present invention；
Fig. 8 is that wheelchair rear provided in an embodiment of the present invention has the road conditions schematic diagram for rising step；
Fig. 9 is the road conditions schematic diagram that there are sill at wheelchair rear provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to FIG. 1 to FIG. 9, in the first embodiment of the invention, a kind of road surface hole sill identifying system of wheelchair is provided
100, comprising:
Range finder module 10, when wheelchair 200 advances, where the raised or sunken opposite wheelchair 200 in 200 front of measurement wheelchair
First height on ground, and the first elevation information of first height is sent to control module 20；When wheelchair 200 retreats,
Second height on its raised or sunken opposite 200 place ground of wheelchair for measuring 200 rear of wheelchair, and by second height
Second elevation information is sent to control module 20.
Control module 20, control module 20 and range finder module 10 communicate to connect, receive first elevation information or
Second elevation information, and according to the driving status of first elevation information or the second elevation information control wheelchair 200.
In this embodiment, the road surface hole sill identifying system 100 of wheelchair is set as including range finder module 10 and control mould
Block 20 is identified and is measured its height to the raised or sunken of 200 front or behind of wheelchair, and protrusion can be opposite wheelchair
Ground sill to raise upward or the step of rising where 200 etc., recess can be the ground at opposite 200 place of wheelchair downwards
The hole of recess or the step of decline etc., control module 20 and range finder module 10 communicate to connect, and control module 20 is according to ranging mould
The driving status for the elevation information adjustment wheelchair 200 that block 10 is measured, ensures the safety of rider.Particularly, wheelchair 200 advances
When, range finder module 10 can measure first height on the raised or sunken opposite 200 place ground of wheelchair in 200 front of wheelchair, and
First elevation information of first height is sent to control module 20；When wheelchair 200 retreats, range finder module 10 can be measured
Second height on the raised or sunken opposite 200 place ground of wheelchair at 200 rear of wheelchair, and it is high by the second of second height
Degree information is sent to control module 20, and control module 20 is according to first elevation information or the second elevation information by wheelchair
200 driving status is automatically regulated to be the driving status of relatively current road condition safety, to guarantee the safety of rider.
Referring to FIG. 1 to FIG. 9, in second embodiment of the invention, range finder module 10 includes:
First distance measuring sensor 11 is set to the front side of wheelchair 200, and when wheelchair 200 advances, it is high to measure described first
Degree；
Second distance measuring sensor 12 is set to the rear side of wheelchair 200, and when wheelchair 200 retreats, it is high to measure described second
Degree.
In third embodiment of the invention, wheelchair 200 includes creeper undercarriage and wheel walking mechanism；Control module
20 communicate to connect with the creeper undercarriage and the wheel walking mechanism respectively, control the creeper undercarriage with
And the work of the wheel walking mechanism；Control module 20 controls institute according to first elevation information or the second elevation information
When stating creeper undercarriage work, the driving status of wheelchair 200 is crawler belt driving mode；Control module 20 is high according to described first
When spending information or the second elevation information control wheel walking mechanism work, the driving status of wheelchair 200 is wheel traveling
Mode.
In this embodiment, wheelchair 200 includes wheel driving mode and crawler belt driving mode, and control module 20 can root
Judge that wheelchair 200 is suitble to travel using wheel driving mode or crawler belt according to first elevation information or the second elevation information
Mode, thus the driving status of adjust automatically wheelchair 200, it is ensured that the safety of rider.
Particularly, if control module 20 judges described first according to first elevation information or the second elevation information
When height or the second height are less than or equal to first predetermined value, control module 20 controls the wheel walking mechanism work, wheelchair
200 driving status is wheel driving mode；Otherwise, control module 20 controls the creeper undercarriage work, wheelchair 200
When driving status is that crawler belt driving mode to wheelchair 200 passes by described raised or sunken, control module 20 controls the wheel row
Mechanism work is walked, the driving status of wheelchair 200 is switched to wheel driving mode.
Preferably, predetermined value 50mm.I.e. if the hole of 200 front or behind of wheelchair, sill rise step or
The step of decline is greater than 50mm with respect to the height on the ground where wheelchair 200, then control module 20 controls the crawler travel machine
Structure work, wheelchair 200 completely across it is described it is raised or sunken after switch back into wheel driving mode.If the front of wheelchair 200 or after
The step in the hole of side, the step of sill rising or decline is less than or equal to 50mm with respect to the height on the ground where wheelchair 200, then controls
The driving status that molding block 20 controls wheelchair 200 is switched to wheel driving mode.
Particularly, speed regulation device, control module 20 and the speed regulation device communication link are connected on the wheel of wheelchair 200
It connects；If control module 20 judges described first highly according to first elevation information or the second elevation information or second is high
When degree is less than or equal to first predetermined value and is more than or equal to second predetermined value, control module 20 is controlled described in the speed regulation device reduction
The travel speed of wheel, the driving status of wheelchair 200 are to travel at a slow speed.
In this embodiment, the travel speed of wheelchair 200 is controlled by setting speed regulation device, it is preferred that described second
Predetermined value is 30mm；If the step in the hole of 200 front or behind of wheelchair, the step that sill rise or decline is with respect to wheelchair 200
When the height on the ground at place is within the scope of 30~50mm, control module 20 controls the traveling speed that speed regulation device adjusts wheelchair 200
It spends to driving status at a slow speed.It, can since the influence to wheelchair 200 is little when the first height or the second height are less than 30mm
So that it is travelled with normal speed in wheel driving mode.
Further include voice module 30 in one embodiment of the present of invention, is communicated to connect with control module 20, control module 20
Corresponding phonetic order is sent to voice module 30, voice module 30 according to first elevation information or the second elevation information
It receives the phonetic order and plays suggestion voice corresponding with the phonetic order.For example, the first height or the second height
When for 30~50mm, voice module 30 can play voice " there are road conditions in front, reduces travel speed "；First height or second
When height is greater than 50mm, voice " front there are road conditions, switches crawler belt driving mode " etc. is played.
In one embodiment of the present of invention, the road surface hole sill including wheelchair described in any of the above-described a embodiment are additionally provided
The wheelchair 200 of identifying system 100.In above-mentioned multiple embodiments, sill identifying system 100 is cheated to the road surface of specific wheelchair
Structure be described.Details are not described herein.
In conclusion the present invention is set as including range finder module and control mould by the way that sill identifying system is cheated on the road surface of wheelchair
Block, wherein range finder module can identify and measure ground where the raised or sunken opposite wheelchair of the wheelchair front or behind
Height, protrusion can be the ground sill to raise upward or step of rising where opposite wheelchair etc., and recess can be phase
The hole be recessed downwards to the ground where wheelchair or the step of decline etc., control module are believed according to the height that range finder module is measured
Breath, adjusts the driving status of wheelchair, to guarantee the safety of rider.In addition, the present invention is also provided with voice module, for sending out
Voice prompting reminds rider to take care out.Whereby, the road surface hole sill identifying system and its wheelchair of wheelchair of the invention, is realized
It identifies and encounters raised or sunken in wheelchair driving process, adjust the driving status of wheelchair, guarantee the safety of rider.
Certainly, the present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, ripe
It knows those skilled in the art and makes various corresponding changes and modifications, but these corresponding changes and change in accordance with the present invention
Shape all should fall within the scope of protection of the appended claims of the present invention.
Claims (9)
1. sill identifying system is cheated on a kind of road surface of wheelchair characterized by comprising
Range finder module measures the raised or sunken relatively described wheelchair location in front of the wheelchair when wheelchair advances
First height in face, and the first elevation information of first height is sent to control module；When the wheelchair rollback, survey
Second height on ground where measuring the raised or sunken wheelchair relatively at the wheelchair rear, and by the of second height
Two elevation informations are sent to control module；
Control module, the control module and the range finder module communicate to connect, and receive first elevation information or institute
The second elevation information is stated, and controls the driving status of the wheelchair according to first elevation information or the second elevation information.
2. sill identifying system is cheated on the road surface of wheelchair according to claim 1, which is characterized in that the range finder module includes:
First distance measuring sensor is set to the front side of the wheelchair, when the wheelchair advances, measures first height；
Second distance measuring sensor, is set to the rear side of the wheelchair, when the wheelchair rollback, measures second height.
3. sill identifying system is cheated on the road surface of wheelchair according to claim 1, which is characterized in that the wheelchair includes crawler belt row
Walk mechanism and wheel walking mechanism；The control module respectively with the creeper undercarriage and the wheel walking mechanism
Communication connection, controls the work of the creeper undercarriage and the wheel walking mechanism；The control module is according to institute
When stating the first elevation information or the second elevation information control creeper undercarriage work, the driving status of the wheelchair is
Crawler belt driving mode；The control module controls the wheel according to first elevation information or the second elevation information and walks
When mechanism works, the driving status of the wheelchair is wheel driving mode.
4. sill identifying system is cheated on the road surface of wheelchair according to claim 3, which is characterized in that if the control module according to
It is predetermined that first elevation information or the second elevation information judge that first height or the second height are less than or equal to first
When value, the control module controls the wheel walking mechanism work, and the driving status of the wheelchair is wheel driving mode；It is no
Then, the control module controls the creeper undercarriage work, and the driving status of the wheelchair is crawler belt driving mode to institute
When stating wheelchair and passing by described raised or sunken, the control module controls the wheel walking mechanism work, the row of the wheelchair
The state of sailing is switched to wheel driving mode.
5. sill identifying system is cheated on the road surface of wheelchair according to claim 4, which is characterized in that the predetermined value is 50mm.
6. sill identifying system is cheated on the road surface of wheelchair according to claim 5, which is characterized in that connect on the wheel of the wheelchair
It is connected to speed regulation device, the control module and the speed regulation device communicate to connect；If the control module is high according to described first
Degree information or the second elevation information judge it is described first height or the second height be less than or equal to first predetermined value and greater than etc.
When second predetermined value, the control module, which controls the speed regulation device, reduces the travel speed of the wheel, the wheelchair
Driving status is to travel at a slow speed.
7. sill identifying system is cheated on the road surface of wheelchair according to claim 6, which is characterized in that the second predetermined value is
30mm。
8. sill identifying system is cheated on the road surface of wheelchair according to claim 1, which is characterized in that it further include voice module, with
The control module communication connection, the control module send corresponding according to first elevation information or the second elevation information
Phonetic order to the voice module, the voice module receives the phonetic order and plays corresponding to the phonetic order
Suggestion voice.
9. a kind of wheelchair of the road surface hole sill identifying system including wheelchair according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811392250.9A CN109512594A (en) | 2018-11-21 | 2018-11-21 | The road surface hole sill identifying system and its wheelchair of wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811392250.9A CN109512594A (en) | 2018-11-21 | 2018-11-21 | The road surface hole sill identifying system and its wheelchair of wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109512594A true CN109512594A (en) | 2019-03-26 |
Family
ID=65776596
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811392250.9A Pending CN109512594A (en) | 2018-11-21 | 2018-11-21 | The road surface hole sill identifying system and its wheelchair of wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109512594A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3303817A1 (en) * | 1983-01-17 | 1983-07-21 | Alfred Dipl.-Ing. 8017 Ebersberg Hönig | Step-climbing wheelchair system |
| KR20100043395A (en) * | 2008-10-20 | 2010-04-29 | 한국산재의료원 | Wheel chair |
| CN202136503U (en) * | 2011-07-01 | 2012-02-08 | 山东科技大学 | Voice controlled obstacle-avoidance wheelchair |
| CN202235988U (en) * | 2011-06-27 | 2012-05-30 | 胡达广 | Electric wheel chair applied to multiple road conditions |
| CN108606880A (en) * | 2018-03-16 | 2018-10-02 | 上海文圭精密机械有限公司 | A kind of full landform intelligent wheel chair of climbing stairs |
-
2018
- 2018-11-21 CN CN201811392250.9A patent/CN109512594A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3303817A1 (en) * | 1983-01-17 | 1983-07-21 | Alfred Dipl.-Ing. 8017 Ebersberg Hönig | Step-climbing wheelchair system |
| KR20100043395A (en) * | 2008-10-20 | 2010-04-29 | 한국산재의료원 | Wheel chair |
| CN202235988U (en) * | 2011-06-27 | 2012-05-30 | 胡达广 | Electric wheel chair applied to multiple road conditions |
| CN202136503U (en) * | 2011-07-01 | 2012-02-08 | 山东科技大学 | Voice controlled obstacle-avoidance wheelchair |
| CN108606880A (en) * | 2018-03-16 | 2018-10-02 | 上海文圭精密机械有限公司 | A kind of full landform intelligent wheel chair of climbing stairs |
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Application publication date: 20190326 |
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