CN110623799B - A kind of intelligent wheelchair control method and device - 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 The control method includes: the control structure receives the first action command sent by the mobile terminal; generates the first control command according to the first action command, and sends the first control command to the electric push rod; When a control command instructs the electric push rod to shorten, the shortening operation is performed according to the first control command 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 rises, the support plate assists the user to make Its buttocks leave the seating position. The intelligent wheelchair control method provided by the present application can assist the user or the nursing staff to conveniently complete the transfer and movement, reduce the labor intensity of the nursing staff, and enhance the user's confidence in life.

Description

A kind of intelligent wheelchair control method and device

technical field

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

Background technique

The problem of transfer and mobility is an urgent problem to be solved by the frail elderly and disabled people with lower extremity function decline. Such people are often unable to complete the 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 transfer and movement problems of such people at the same time, and users cannot independently complete the operation of lifts and wheelchairs to complete the 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.

SUMMARY OF THE INVENTION

In view of this, the purpose of the embodiments 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 conveniently complete the transfer and movement, reduce the labor intensity of the nursing staff, and improve the user's confidence in life .

In some embodiments, the embodiments of the present application provide a control method for a smart wheelchair, wherein, applied to a smart wheelchair, the smart wheelchair includes a support structure, a lifting structure and a control structure, 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 method includes:

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

Generate a first control command according to the first action command, and send the first control command to the electric push rod; so that the electric push rod shortens when the first control command instructs the electric push rod to shorten When the shortening operation is performed according to the first control command, 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, so the The support plate lifts the user so that the user's buttocks leave the user's sitting position.

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

receiving a second action instruction sent by the mobile terminal;

Generate a second control command according to the second action command, and send the second control command to the electric push rod; so that the electric push rod is instructed by the second control command to extend the electric push rod For a long time, the extension operation is performed according to the second 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 is lowered. , the support plate assists the user to sit down.

In some embodiments, the intelligent wheelchair further includes a seat structure, the seat structure and the control structure are electrically connected; the seat structure includes a seat panel, a seat support beam and a motor; the seat The support beam is fixed on the lifting structure, the seat board is connected with the seat support beam through a connecting plate, and the motor is electrically connected with the control structure;

The control method includes:

receiving a third action instruction sent by the mobile terminal;

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

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

The control method includes:

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

Comparing multiple pieces of force information simultaneously collected by pressure sensors arranged in different areas on the support plate, when it is determined that there is a difference in the multiple pieces of force information, or, collecting every adjacent piece of 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 Fader stops the current operation.

In some embodiments, the intelligent wheelchair further includes an alarm structure, 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; The alarm structure performs an alarm according to the alarm instruction.

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

The control method includes:

Receive environmental data collected by the lidar sensor in a preset area and the tracking sensor to detect preset navigation road sign data;

receiving 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 vision sensor;

According to the received environmental data, the navigation road sign data, the image information of the user at the target position and/or the image information of the marker at the target position, a motion trajectory is formulated, and the drive is controlled according to the motion trajectory wheel to move.

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

The control method includes:

receiving the current first level detected by the altitude detection sensor and the second level where the user is located;

When the difference between the first level and the second level is smaller 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 level and the second level is greater than or equal to the preset threshold, controlling the lifting structure to move, so as to The difference between the first level and the second level is made smaller than a preset threshold.

In some embodiments, the acquisition 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 method includes:

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

Based on the voice instruction, or the gesture instruction, a fourth control instruction is generated.

In some embodiments, the embodiments of the present application provide a control device for a smart wheelchair, wherein, when applied to a smart wheelchair, the smart wheelchair includes a support structure, a lifting structure and a control structure, 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:

a first receiving module, configured to receive a first action instruction sent by the mobile terminal;

A first sending module, configured to generate a first control command according to the first action command, and send the first control command to the electric push rod; so that the electric push rod is in the first control command 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 the side of the user is raised, the support plate lifts the user, so that the user's buttocks leave the user's sitting position.

The control method and device for an intelligent wheelchair provided by the embodiments of the present application are applied to the 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 command sent by the mobile terminal; generates the first control command according to the first action command, and sends the first control command to the electric push rod; so that the electric push rod is in the first control command When the electric push rod is instructed to shorten, the shortening operation is carried out according to the first control command, and the lever and the support plate are rotated 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, so that the user's The buttocks leave the user's seating position. The intelligent wheelchair control method provided by the embodiments of the present application can assist the user or the nursing staff to conveniently complete the 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 objects, features and advantages of the present application more obvious and easy to understand, the preferred embodiments are exemplified below, and are described in detail as follows in conjunction with the accompanying drawings.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following drawings will briefly introduce the drawings that need to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 shows a flowchart of a method for controlling an intelligent wheelchair provided by an embodiment of the present application;

FIG. 2 shows a flowchart of another method for controlling an intelligent wheelchair provided by an embodiment of the present application;

FIG. 3 shows a flowchart of another method for controlling an intelligent wheelchair provided by an embodiment of the present application;

FIG. 4 shows a flowchart of another method for controlling an intelligent wheelchair provided by an embodiment of the present application;

FIG. 5 shows a flowchart of another method for controlling an intelligent wheelchair provided by an embodiment of the present application;

FIG. 6 shows a schematic structural diagram of a control device for an intelligent 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 purposes, 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 with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only It is a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations. Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

As shown in FIG. 1 , an 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 Including electric push rod, support plate, support rod and 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 electric push rod The other end is hinged on the lifting structure.

Among them, the specific steps include the following:

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

S102, generate a first control command according to the first action command, and send the first control command to the electric push rod; so that when the first control command instructs the electric push rod to extend, the electric push rod extends according to the first control command The long operation drives 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 lifts the user, and 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; control The structure can 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 command, the control structure generates the first control command, and sends the first control command 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 instructs the electric push rod to extend, the control structure sends the first control command to the electric push rod, and the electric push rod is controlled according to the first control command. command to shorten. In the process of shortening 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 plate by himself. board, or the caregiver assists the user to move to the support board, contacts the user's chest with the support board, and places 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 support users, reduce the labor intensity of nursing staff, save time and effort.

In the case that the support plate supports the user, the control method shown in FIG. 2 can be used to assist the user to sit down, wherein the specific steps are as follows:

S201, receiving a second action instruction sent by a mobile terminal;

S202, generate a second control command according to the second action command, and send the second control command to the electric push rod; so that when the second control command instructs the electric push rod to extend, the electric push rod extends according to the second control command Long operation, drive the lever and the support plate to rotate with the support rod as the fulcrum, after the support plate is lowered from the side away from the electric push rod, the support plate assists the user to sit down.

In a specific implementation, the user or the caregiver can use a wired mobile terminal or a wireless mobile terminal to send a second action instruction, and the second action instruction can instruct the electric push rod to extend. Specifically, after receiving the second action command, the control structure generates a second control command according to the second action command, and sends the second control command to the electric push rod. After the electric push rod receives the second control command, it performs an extension operation. During the extension 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 the electric push rod. The side lowers, 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, thereby reducing the labor intensity of the nursing staff.

The control methods shown in Fig. 1 and Fig. 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 Fig. 2 can be executed first to realize the 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 buttocks away from the sitting position, and supports the user to lean forward, so that the user can transfer to the destination 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 further includes a seat structure, and the seat structure and the control structure are electrically connected; 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 plate is connected with the seat support beam through the connecting plate, and the motor is electrically connected with the control structure. Correspondingly, the control method shown in FIG. 3 is also included when assisting the user to transfer and move, wherein the specific steps are as follows:

S301, receiving a third action instruction sent by a mobile terminal;

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

In a specific implementation, when the user transfers to the wheelchair from the target position, the user or the caregiver can use the mobile terminal (including the wired mobile terminal and the wireless mobile terminal) to generate a third action instruction. After the third action instruction is generated, the mobile terminal A third action instruction is sent to the control structure. After receiving the third action command, the control structure generates a third control command according to the third action command, and sends the third control command to the motor. When the third action command instructs the two seat panels to separate, the motor drives the two seat panels to move in opposite directions according to the third control command, so that the two seat panels are separated, and the user can enter the corresponding seat panel The user can use the support plate to support the user's body after entering the preset area corresponding to the seat board. When the third action command indicates that the two seat panels are closed, that is, the user has entered the preset area corresponding to the seat panels, the motor drives the two seat panels to move in opposite directions according to the third control command, so as to The two seat panels are closed to achieve the purpose of user sitting.

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 pressure sensor on the seat board monitors the force. With a value of 0, the pressure sensor can send the monitored 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 command for controlling the separation of the two seat panels, and sends the third control command to the control structure. The command is sent to the motor, so that the motor drives the two seat panels to separate; when the control structure determines that the force value in the received force information is 0, and the electric push rod is performing a shortening operation, it will generate a control system to control the two seat plates. The third control command for closing the seat panel 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 angular velocity and other data 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 that 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 further 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 FIG. 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, compare the multiple force information simultaneously collected by the pressure sensors 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 of the support plate at each adjacent collection time point The force distribution information is compared, and when there is a difference in the surface force distribution information at the adjacent collection time points, a stop command is generated, and the stop command is sent to the electric actuator to stop the current operation of the electric actuator.

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

Specifically, for the telescopic process of the electric push rod, the pressure sensor collects the 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. After that, the two force information are compared, and when it is determined that there is a difference between the two force information on the left and right parts of the adjacent support plates (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 to stop the current operation of the electric actuator. 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 of adjacent collection time points. When there is a difference in the surface force distribution information at the adjacent collection time points, a stop command is generated, and the stop command is sent to the electric actuator to stop the current operation of the electric actuator. (For example, when the user's center of gravity shifts to the left or right, the force position of the support plate changes; because the user's center of gravity shifts backward, the force value of the support plate decreases, etc.), a stop command will be generated and the stop command will be executed. 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 performs the operation of extending or shortening, 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, it controls the electric push rod to perform the operation of extending or shortening, Avoid stretching or shortening operations before the user is firmly on their feet, causing the user to be surprised.

In addition, the intelligent wheelchair also includes an alarm structure, and the alarm structure is electrically connected with 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 instruction is generated, and the alarm instruction is sent to the alarm structure, so that the alarm structure performs the alarm instruction according to the alarm instruction. Alerts, using alert structures to alert users to pay attention to safety. Wherein, the alarm structure may include a buzzer, and the buzzer sounds according to the alarm instruction to prompt the user; the alarm structure may also include a light emitting diode (Light Emitting Diode, LED) light, and the LED light is activated according to the alarm instruction according to a preset flickering rule Blinking; the alarm structure may further include a communication device. After receiving the alarm instruction, the communication device can generate alarm information and send it to the mobile device corresponding to the emergency contact of the current user, etc. This is not specifically limited in this embodiment of the present application.

The intelligent wheelchair of the embodiment of the present application further includes a mobile chassis, the mobile chassis includes a lidar sensor, a tracking sensor and a driving wheel, and the lidar sensor and the tracking sensor are all electrically connected to the control structure; the control method shown in FIG. To control the intelligent wheelchair to move, the specific steps are as follows:

S501: Receive environmental data in a preset area collected by a lidar sensor, navigation road sign data set in advance detected by a tracking sensor, and image information of a user at a target location and/or an image of a marker at the target location collected by the vision sensor information;

S502, formulate a motion trajectory according to the received environmental data, navigation road sign data, image information of the user at the target location, and/or image information of the marker at the target location, and control the drive wheel to move according to the motion trajectory.

In a specific implementation, the lidar sensor can collect real-time environmental data in a preset area (with the current position as the center and the preset distance as the radius to determine the preset area), 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 intelligent wheelchair according to the received environmental data. and the end position to formulate the motion trajectory of the intelligent wheelchair.

Further, magnetic strips or dark color bands can be laid on the ground in advance as navigation road signs, and each navigation road sign carries a position identification, for example, the latitude and longitude data of the current navigation road sign, or the distance of the current navigation road sign from a certain reference position. distance data, etc. Tracking sensors can detect the navigational waypoint data and send the navigational waypoint data to the control structure.

The control structure can formulate a motion trajectory according to the received environmental data and navigation road sign 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 coarse positioning of the smart wheelchair can be achieved through the lidar sensor and the tracking sensor.

After the rough positioning of the target position, a visual sensor (or a distance sensor, the embodiment of the present application is described by taking the visual sensor as an example) provided on the rear side of the mobile chassis can also be used to collect real-time image information of the user on the target position and/or The image information of the marker at the target location sends 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, or only natural markers (such as the foot of a bed, etc.) or artificial markers (such as specially arranged two-dimensional codes, polygons, etc.) at the target position can be collected. Of course, in order to ensure the accuracy of precise 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 receiving the image information of the user at the target position and/or the image information of the marker at the target position, the control structure calculates the relative pose information of the intelligent 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 in the preset area corresponding to the seat board (ie, the separated left and right seat boards are located on both sides of the user), so as to realize the precise positioning of the intelligent 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 level detected by the height detection sensor and the second level where the user is located; when the difference between the first level and the second level is less than a preset threshold, control the lifting structure to move upward Setting a distance, so that the lifting structure drives the seat board to move up the set distance; when the difference between the first level and the second level is greater than or equal to a preset threshold, the lifting structure is controlled to move, so that the first level The difference between the horizontal height and the second horizontal height is smaller than the preset threshold.

In a specific implementation, the height detection sensor is arranged on the seat panel. Of course, since the heights of the two seat panels are the same, the height detection sensor can be arranged on any seat panel, and the height detection sensor can monitor the current seat panel in real time. The first level; in addition, the height detection sensor can also detect the second level of the user in real time. In order to avoid the waste of resources of the height detection sensor, it can be set to collect the user after receiving the transfer instruction from the user. The second level at which it is located.

After monitoring the first level and the second level of the seat panel, the height detection sensor sends the first level and the second level 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, that is, the level of the seat board is the same as where the user is located. When the level of the lift structure is similar, the lifting structure is controlled to move up the set distance. Since the seat board is fixed on the lift structure, the lift structure can move the seat board upward at the same time as the set distance, that is, so that The level height of the seat board is higher than the level where the user is located, which is convenient for the user to move and ride.

When the difference between the first level and the second level is greater than the preset threshold, that is, when the level of the seat board is greatly different from the level where the user is located, the lifting structure is controlled to move, so that the The difference between the first level and the second level is less than a preset threshold. Specifically, after it is determined that the difference between the first level and the second level is greater than the preset threshold, the size between the first level and the second level may be further judged. If the first level is greater than the second level The horizontal height is controlled to descend until the difference between the first horizontal height and the second horizontal height is smaller than the preset threshold; if the first horizontal height is less than the second horizontal height, the lifting structure is controlled to rise until the first horizontal height The difference between the second level and the second level is less than the preset threshold. After the difference between the first level and the second level is smaller than the preset threshold, the lifting structure is controlled to move up 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 contacts an object during the descending process of the seat support beam, it will return a trigger signal to the control structure, and at this time, 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 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.

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

Similarly, the user or the caregiver can also give instructions to the smart wheelchair by making the specified gesture or expression. When the user or the caregiver makes the specified gesture or expression, the gesture recognition module collects the user or the caregiver through the visual sensor and the depth sensor. The facial action and gesture action of the person are generated, and the corresponding fourth control instruction is generated. 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 embodiments of the present application can assist the user or the nursing staff to conveniently complete the 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 a control device for an intelligent wheelchair corresponding to the control method for the intelligent wheelchair. , so the implementation of the device may refer to the implementation of the method, and the repeated parts will not be repeated.

Referring to FIG. 6 , a control device for an 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 command according to the first action command, and send the first control command to the electric push rod; so that the electric push rod is in the first control mode. When the 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 a fulcrum, so that the support plate is far away from the electric push rod. After one side of the pole is raised, the support plate lifts the user so that the user's buttocks leave the user's seating position.

In one embodiment, the control device for the above-mentioned intelligent wheelchair further includes:

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

The second sending module 604 is configured to generate a second control command according to the second action command, and send the second control command to the electric push rod; so that the electric push rod is in the second control mode. When the instruction instructs the electric push rod to extend, 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 is lowered, the support plate assists the user to sit down.

In another embodiment, the control device for the above-mentioned intelligent wheelchair further includes:

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

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

In yet another embodiment, the control device for the above-mentioned intelligent wheelchair further includes:

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

The fourth sending module 608 is configured to compare multiple pieces of force information simultaneously collected by the pressure sensors respectively arranged in different areas of the support plate, and when it is determined that the multiple pieces of force information are different, or, The surface force distribution information of each adjacent collection time point on the support plate is compared, and when there is a difference in the surface force distribution information of the adjacent collection time points, a stop instruction is generated, and the stop instruction is sent to the electric motor. push rod to stop the current operation of the electric push rod.

In yet another embodiment, the control device for the above-mentioned intelligent wheelchair further 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; so that the alarm structure performs an alarm according to the alarm instruction.

In yet another embodiment, the control device for the above-mentioned intelligent wheelchair further includes:

The fifth receiving module 610 is configured to receive the environmental data in the preset area collected by the lidar sensor, the navigation road sign data set in advance detected by the tracking sensor, and the image information of the user on the target position collected by the vision sensor and /or image information of the marker at the target location;

The first control module 611 is used to formulate a motion trajectory according to the received environmental data, the navigation road sign data, the image information of the user at the target position and/or the image information of the marker at the target position, and follow the steps of: The motion track controls the drive wheel to move.

In yet another embodiment, the control device for the above-mentioned intelligent wheelchair further includes:

a sixth receiving module 612, configured to receive the current first level detected by the altitude detection sensor and the second level where the user is located;

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 level and the second level is smaller than a preset threshold, so that the lift structure drives The seat pan is moved upward by a set distance.

In yet another embodiment, the control device for the above-mentioned intelligent wheelchair further includes:

The third control module 614 is configured to control the lifting structure to move when the difference between the first level and the second level 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 less than a preset threshold.

In yet another embodiment, the control device for the above-mentioned intelligent wheelchair further includes:

A seventh receiving module 615, configured to receive the voice command to be recognized by the voice recognition module and the gesture command 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.

FIG. 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 implement connection communication between these components. The electronic device 700 optionally includes a user interface 703, including a display (eg, touch screen, LCD, CRT, holographic or projector, etc.), keyboard or pointing device (eg, mouse, trackball) , touch pad or touch screen, etc.).

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

In some embodiments, memory 705 stores the following elements, executable modules or data structures, or a subset thereof, or an extended set thereof;

In this embodiment of the present invention, by calling programs or instructions stored in the memory 705, the processor 701 is configured to:

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

Generate a first control command according to the first action command, and send the first control command to the electric push rod; so that the electric push rod shortens when the first control command instructs the electric push rod to shorten When the shortening operation is performed according to the first control command, 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, so the The support plate lifts the user so that the user's buttocks leave the user's sitting position.

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

receiving a second action instruction sent by the mobile terminal;

Generate a second control command according to the second action command, and send the second control command to the electric push rod; so that the electric push rod is instructed by the second control command to extend the electric push rod For a long time, the extension operation is performed according to the second 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 is lowered. , the support plate assists the user to sit down.

Optionally, the method performed by the processor 701 includes:

receiving a third action instruction sent by the mobile terminal;

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

Optionally, the method performed by the processor 701 includes:

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

Comparing multiple pieces of force information simultaneously collected by pressure sensors arranged in different areas on the support plate, it is determined that there are differences in the multiple pieces of force information, or, by comparing each adjacent collection time on the support plate The surface force distribution information of the points 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 performed 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; The alarm structure performs an alarm according to the alarm instruction.

Optionally, the method performed by the processor 701 includes:

Receive the environmental data in the preset area collected by the lidar sensor, the navigation road sign data set in advance detected by the tracking sensor, and the image information of the user at the target position and/or the marker at the target position collected by the vision sensor image information;

According to the received environmental data, the navigation road sign data, the image information of the user at the target position and/or the image information of the marker at the target position, a motion trajectory is formulated, and the drive is controlled according to the motion trajectory wheel to move.

Optionally, the method performed by the processor 701 includes:

receiving the current first level detected by the altitude detection sensor and the second level where the user is located;

When the difference between the first level and the second level is smaller 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 as to make the lift structure move. The difference between the first level and the second level is less than a preset threshold.

Optionally, the method performed by the processor 701 includes:

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

Based on the voice instruction, or the gesture instruction, a fourth control instruction is generated.

The computer program product of the intelligent wheelchair control method and device provided by 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 foregoing method embodiments. Refer to the method embodiment, which is not repeated here.

Specifically, the storage medium can be a general 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, so as to assist the user or the nursing staff to conveniently complete the Transfer and move, reduce the labor intensity of nursing staff, and improve the user's confidence in life.

The functions, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a processor-executable non-volatile computer-readable storage medium. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to 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-mentioned embodiments are only specific implementations of the present application, and are used to illustrate the technical solutions of the present application, rather than limit them. The embodiments describe the application in detail, and those of ordinary skill in the art should understand that: any person skilled in the art can still modify the technical solutions described in the foregoing embodiments within the technical scope disclosed in the application. Or can easily think of changes, or equivalently replace 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 in the embodiments of the application, and should be covered in 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 (9)

1. A control method for an intelligent wheelchair, characterized in that it is applied to an intelligent wheelchair, the intelligent wheelchair includes a support structure, a lifting structure and a control structure, the support structure and the control structure are electrically connected; the support structure includes Electric push rod, support plate, support rod, lever; one end of the electric push rod is connected with the side of the support plate close to the electric push rod, the lever is fixed on the support plate, the support rod One end of the electric push 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; Generate a first control command according to the first action command, and send the first control command to the electric push rod; so that the electric push rod shortens when the first control command instructs the electric push rod to shorten When the shortening operation is performed according to the first control command, 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, so the the support plate lifts the user, so that the user's buttocks leave the user's sitting position; The intelligent wheelchair further includes a collection structure, the collection structure includes a pressure sensor, and the pressure sensor is arranged on the support plate; The control method includes: The control structure receives the force information of the support plate monitored in real time by the pressure sensor; Comparing multiple pieces of force information simultaneously collected by pressure sensors arranged in different areas on the support plate, when it is determined that there is a difference in the multiple pieces of force information, or, collecting every adjacent piece of 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 Fader stops the current operation. 2. The control method according to claim 1, further comprising: receiving a second action instruction sent by the mobile terminal; Generate a second control command according to the second action command, and send the second control command to the electric push rod; so that the electric push rod is instructed by the second control command to extend the electric push rod For a long time, the extension operation is performed according to the second 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 is lowered. , the support plate assists the user to sit down. 3 . The control method according to claim 1 , wherein the intelligent wheelchair further comprises a seat structure, the seat structure and the control structure are electrically connected; the seat structure comprises a seat plate, a seat a seat 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 method includes: receiving a third action instruction sent by the mobile terminal; Generate a third control command according to the third action command, and send the third control command to the motor; so that the motor drives the seat panel to move, so that the user enters or leaves the seat The preset area corresponding to the chair board. The control method according to claim 1, wherein the intelligent wheelchair further comprises 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; The alarm structure performs an alarm according to the alarm instruction. 5. The control method according to claim 1, wherein the intelligent wheelchair further comprises a mobile chassis; the mobile chassis comprises a lidar sensor, a tracking sensor, a vision sensor and a driving wheel, the lidar sensor, The tracking sensor and the vision sensor are both electrically connected to the control structure; The control method includes: Receive the environmental data in the preset area collected by the lidar sensor, the navigation road sign data set in advance detected by the tracking sensor, and the image information of the user at the target position and/or the marker at the target position collected by the vision sensor image information; According to the received environmental data, the navigation road sign data, the image information of the user at the target position and/or the image information of the marker at the target position, a motion trajectory is formulated, and the drive is controlled according to the motion trajectory wheel to move. 6 . The control method according to claim 3 , 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 method. 7 . structural electrical connection; The control method includes: receiving the current first level detected by the altitude detection sensor and the second level where the user is located; When the difference between the first level and the second level is smaller 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. 7. The control method according to claim 6, wherein when the difference between the first level and the second level is greater than or equal to the preset threshold, the lifting structure is controlled to perform moving so that the difference between the first level and the second level is less than a preset threshold. 8. The control method according to claim 7, 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 both electrically connected to the control structure. connect; The control method includes: receiving the voice command to be recognized by the voice recognition module and the gesture command to be collected by the gesture recognition module; Based on the voice instruction, or the gesture instruction, a fourth control instruction is generated. 9. A control device for an intelligent wheelchair, characterized in that, when 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 Electric push rod, support plate, support rod, lever; one end of the electric push rod is connected with the side of the support plate close to the electric push rod, the lever is fixed on the support plate, the support rod One end of the electric 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: a first receiving module, configured to receive a first action instruction sent by the mobile terminal; A first sending module, configured to generate a first control command according to the first action command, and send the first control command to the electric push rod; so that the electric push rod is in the first control command 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 the side of the user is raised, the support plate lifts the user, so that the user's buttocks leave the user's sitting position; The fourth sending module is used to compare multiple pieces of force information simultaneously collected by the pressure sensors arranged in different areas on the support plate, and when it is determined that the multiple pieces of force information are different, or, send the The surface force distribution information of each adjacent collection time point on the support plate is compared, and when there is a difference in the surface force distribution information of the adjacent collection time points, a stop instruction is generated, and the stop instruction is sent to the electric pusher. lever to stop the current operation of the electric push rod; The fourth receiving module is configured to receive the force information of the support plate monitored by the pressure sensor in real time.

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