CN110742744B

CN110742744B - Double-form intelligent nursing wheelchair

Info

Publication number: CN110742744B
Application number: CN201911202438.7A
Authority: CN
Inventors: 王世伟; 李淑娟; 文世鹏; 程杨杨
Original assignee: Huainan Normal University
Current assignee: Huainan Normal University
Priority date: 2019-11-29
Filing date: 2019-11-29
Publication date: 2024-07-23
Anticipated expiration: 2039-11-29
Also published as: CN110742744A

Abstract

The invention provides a double-form intelligent nursing wheelchair, which relates to a wheelchair, and comprises a seat, an auxiliary crawling device, an auxiliary balancing device and a control system, wherein the auxiliary crawling device and the auxiliary balancing device assist the wheelchair to finish stair climbing operation; the intelligent control and intelligent obstacle avoidance of the wheelchair are realized by arranging the control module and the infrared ranging module, so that the problem that the existing wheelchair is difficult to upstairs and downstairs is solved, and the wheelchair is more intelligent and humanized.

Description

Double-form intelligent nursing wheelchair

Technical Field

The invention relates to a wheelchair, in particular to a dual-form intelligent nursing wheelchair.

Background

Wheelchairs are an important tool for rehabilitation, not only for disabled limbs and mobility impaired persons, but also for physical exercise and social activities by means of wheelchairs. Wheelchairs currently marketed mainly comprise two types: manual wheelchairs and electric wheelchairs. The former is driven by hand or manpower, and the latter is driven by motor and uses electric power to replace the manpower.

Whether it be a manual wheelchair or an electric wheelchair, the primary purpose is to assist the user in going forward. The existing wheelchair generally comprises a wheelchair frame, wheels, a brake device and a seat rest, and mainly realizes forward and backward movement on a flat road by means of the wheels. The existing wheelchair has the advantages of over-specific purpose, monotonous function and low safety coefficient, and has no other practical use except for protecting the injured part of a patient or the injured part of the old. Many old people in China still live in old communities, have the problems of pavement potholes, lack of elevators and the like, and are difficult to automatically go out even if the electric wheelchair is provided. The existing wheelchair can not assist a user to realize activities of going upstairs, potholes on the road surface and the like by self.

Therefore, the application provides a double-form intelligent nursing wheelchair.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a double-form intelligent nursing wheelchair.

In order to achieve the above object, the present invention provides the following technical solutions:

a dual-form intelligent nursing wheelchair comprises a seat, an auxiliary crawling device, an auxiliary balancing device and a control system;

The seat comprises a seat body, two movable wheels, two universal wheels and two first motors, wherein the two movable wheels are respectively arranged on the outer walls of the two sides of the rear of the seat body through a rotating shaft, and the two universal wheels are arranged on the two sides of the bottom of the front of the seat body; the two first motors are respectively fixed on the inner walls of the two sides of the seat body, and the output shaft of each first motor is connected with one rotating shaft through a coupler;

The auxiliary crawling device is arranged below the seat body and comprises a supporting plate and two groups of ladder caterpillar devices arranged on two sides of the supporting plate, the bottom of the rear of the seat body is rotationally connected with the two groups of ladder caterpillar devices, and the two movable wheels are respectively arranged on the outer sides of the ladder caterpillar devices on two sides;

The auxiliary balancing device is arranged in the middle of the rear bottom of the seat body and is in telescopic connection with the seat body, and the auxiliary balancing device is used for extending out and adjusting the levelness of the device when climbing stairs;

The seat comprises a seat body, and is characterized in that two groups of first electric push rods are arranged at the bottom of the front of the seat body, first sliding grooves matched with the two first electric push rods are formed in the two groups of step crawler devices, the first electric push rods are fixed at the bottom of the seat body, and the push rod end parts of the first electric push rods are in sliding connection with the first sliding grooves through ball joints;

the control system comprises a controller, a manipulation module, an infrared ranging module and a levelness sensor, wherein the controller and the levelness sensor are arranged at the bottom of the seat body, the manipulation module is arranged at one side of the seat body, the infrared ranging module is arranged on the front side of the seat body, the infrared ranging module and the levelness sensor are electrically connected with the controller, the controller receives instructions and signals of the manipulation module, the infrared ranging module and the levelness sensor, judges the received instructions and signals, and controls the movable wheel, the auxiliary crawling device, the auxiliary balancing device and the first electric push rod to act according to judgment results.

Preferably, each group of ladder track devices comprises a track box, a flexible chain ring track and a bearing seat fixedly connected with the inner side of the rear part of the track box, the track box is fixedly connected with the supporting plate, three riding wheels and a driven wheel are uniformly arranged on the outer wall of the track box from front to back, an inducer higher than the driven wheel is arranged behind the driven wheel, a driving shaft higher than the inducer and positioned in front of the inducer is rotatably arranged on the outer wall of the bearing seat, and the flexible chain ring track is installed around the driving shaft, the inducer, the driven wheel and the three riding wheels; the seat is characterized in that second motors are arranged on two sides of the seat body, an output shaft of each second motor drives one driving shaft to rotate through a belt, and the first sliding groove is formed in the crawler belt box.

Preferably, the auxiliary balancing device is arranged in the middle of the rear bottom of the seat body, the auxiliary balancing device comprises a connecting plate, two balance auxiliary wheels and two groups of second electric pushing rods, the two balance auxiliary wheels are arranged on two sides of one end of the connecting plate through rotating shafts respectively, the other end of the connecting plate is in sliding connection with the bottom of the seat body, two second sliding grooves matched with the second electric pushing rods are formed in the connecting plate, the second electric pushing rods are fixed on the bottom of the seat body, and the pushing rod ends of the second electric pushing rods are in sliding connection with the second sliding grooves through ball joints.

Preferably, the seat body comprises a seat plate box, a backrest, a pedal, two groups of third electric push rods and two groups of fourth electric push rods, wherein the two sides of the seat plate box are respectively provided with a handrail box, the bottom of the backrest is hinged with the top of a backboard of the seat plate box, the two groups of third electric push rods are respectively fixed in the two handrail boxes, the two sides of the backrest are provided with third sliding grooves matched with the third electric push rods, and the push rod ends of the third electric push rods are in sliding connection with the third sliding grooves through ball joints; the two groups of fourth electric push rods are respectively fixed at the bottom in front of the seat plate box, a fourth chute matched with the fourth electric push rods is formed in the bottom of the foot pedal, and the end parts of the push rods of the fourth electric push rods are in sliding connection with the fourth chute through ball joints;

The two first motors are respectively fixed on the inner walls of two sides of the seat plate box, a connecting block is arranged at the rear of the seat plate box and is rotationally connected with the two groups of bearing seats, and the controller controls the third electric push rod and the fourth electric push rod to act.

Preferably, the operation module comprises an up button, a down button, an operation lever and five limit switches, wherein the up button, the down button and the operation lever are arranged on one side of the armrest box, the limit switches are arranged in the armrest box on one side, the operation lever is arranged in front of the armrest box on one side, a control lever is arranged in the operation lever, an operation head is arranged at the top of the control lever, four limit switches surround the front, the rear, the left and the right of the operation lever where the control lever is arranged, the other limit switch is arranged below the control lever, and when the operation lever is sequentially pulled forwards, backwards, leftwards and rightwards, the operation lever sequentially touches the four limit switches on the front, the rear, the left and the right; when the operation head is pressed down, the bottom of the control rod touches the other limit switch;

The upper button, the lower button and the five limit switches are electrically connected with the controller, the controller controls the descending or ascending of the ladder track device by receiving signals of the upper button and the lower button, the controller controls the wheelchair to move forwards, backwards, leftwards and rightwards by receiving signals of the four limit switches arranged around the control rod, and the controller controls the back rest and the pedal to be flattened or folded by receiving signals of the limit switches arranged below the control rod.

Preferably, the heating massage module and the temperature detection module are arranged in the armrest box, the seat plate box and the backrest, and the light sensing heart rate testing module is further arranged on one side of the armrest box.

Preferably, the front of the pedal is also provided with a monitoring induction lamp.

Preferably, the wheelchair APP comprises a wheelchair APP arranged in the mobile device, a GPS (global positioning system) locator is arranged in the seat box, and the wheelchair APP is in communication connection with the controller and the GPS locator through a wireless communication module.

Preferably, video call equipment is arranged on the armrest box on the other side.

Preferably, the wheelchair further comprises a power module, wherein the power module is arranged at the bottom of the seat box and is used for supplying power to the whole wheelchair.

The invention provides a dual-form intelligent nursing wheelchair which comprises a seat, an auxiliary crawling device, an auxiliary balancing device and a control system, wherein the auxiliary crawling device and the auxiliary balancing device assist the wheelchair to finish stair climbing operation, meanwhile, two groups of first electric push rods are arranged at the front bottom of a seat body, first sliding grooves matched with the two first electric push rods are formed in the two groups of ladder crawler devices, the first electric push rods are fixed at the bottom of the seat body, the push rod ends of the first electric push rods are in sliding connection with the first sliding grooves through ball joints, and the seat is jacked up through the first electric push rods in the stair climbing process, so that the seat is always kept in a horizontal state; the intelligent control and intelligent obstacle avoidance of the wheelchair are realized by arranging the control module and the infrared ranging module, so that the problem that the existing wheelchair is difficult to upstairs and downstairs is solved, and the wheelchair is more intelligent and humanized.

Drawings

Fig. 1 is a schematic structural diagram of a dual-modality intelligent care wheelchair according to embodiment 1 of the present invention;

FIG. 2 is a schematic side view of a dual-modality intelligent care wheelchair according to embodiment 1 of the present invention;

fig. 3 is a schematic rear view of a dual-form intelligent care wheelchair according to embodiment 1 of the present invention;

FIG. 4 is a schematic view of the partial structure of the A part of FIG. 3;

FIG. 5 is a block diagram of the wheelchair as it climbs a stairs;

FIG. 6 is a schematic view of the partial structure of the B portion of FIG. 5;

FIG. 7 is a schematic view of the partial structure of the C portion of FIG. 5;

FIG. 8 is a schematic view of the wheelchair with the backrest and foot pedals deployed;

FIG. 9 is a schematic diagram of an auxiliary crawling apparatus;

FIG. 10 is a schematic diagram of an auxiliary balancing apparatus;

FIG. 11 is a schematic view of a steering module;

FIG. 12 is a lever control morphology flow diagram;

FIG. 13 is a flow chart of the operation of going upstairs and downstairs of the dual-modality intelligent care wheelchair of embodiment 1 of the present invention;

fig. 14 is a system hardware design diagram of the dual-modality intelligent care wheelchair of the embodiment 1 of the present invention.

Reference numerals illustrate:

The seat 1, the movable wheel 11, the universal wheel 12, the seat box 13, the backrest 14, the pedal 15, the third electric push rod 16, the fourth electric push rod 17, the armrest box 18, the third chute 19, the fourth chute 110 and the connecting block 111; the auxiliary crawling device 2, the supporting plate 21, the crawler box 22, the flexible chain link crawler 23, the bearing seat 24, the riding wheel 25, the driven wheel 26, the inducer 27, the driving shaft 28 and the second motor 29; the auxiliary balance device 3, the connecting plate 31, the balance auxiliary wheel 32, the second electric push rod 33 and the second chute 34; the first electric push rod 4, the first chute 5, the operating module 6, the operating lever 61, the operating head 62, the "up" button 63 and the "down" button 64; an infrared ranging module 7 and a monitoring induction lamp 8.

Detailed Description

The present invention will be described in detail below with reference to the drawings and the embodiments, so that those skilled in the art can better understand the technical scheme of the present invention and can implement the same. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the technical solutions of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless explicitly specified or limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more, and will not be described in detail herein.

Example 1

The invention provides a dual-form intelligent nursing wheelchair, which is particularly shown in figures 1 to 11, and comprises a seat 1, an auxiliary crawling device 2, an auxiliary balancing device 3 and a control system;

the seat 1 comprises a seat body, two movable wheels 11, two universal wheels 12 and two first motors, wherein the two movable wheels 11 are respectively arranged on the outer walls of the two sides of the rear of the seat body through a rotating shaft, and the two universal wheels 12 are arranged on the two sides of the bottom of the front of the seat body; the two first motors are respectively fixed on the inner walls of the two sides of the seat body, and the output shaft of each first motor is connected with a rotating shaft through a coupler; the two movable wheels 11 are used for walking on a level road, have good damping effect, and the universal wheels 12 are convenient and flexible to change direction. The seat body is mainly 7000 series aluminum alloy aerospace aluminum alloy, is heat-treatable alloy, belongs to super-hard aluminum alloy and has good wear resistance.

The auxiliary crawling device 2 is arranged below the seat body, the auxiliary crawling device 2 comprises a supporting plate 21 and two groups of ladder caterpillar devices arranged on two sides of the supporting plate 21, the bottom of the rear of the seat body is rotationally connected with the two groups of ladder caterpillar devices, and the two movable wheels 11 are respectively arranged on the outer sides of the ladder caterpillar devices on the two sides;

The auxiliary balancing device 3 is arranged in the middle of the rear bottom of the seat body and is in telescopic connection with the seat body, and the auxiliary balancing device 3 is used for extending out and adjusting the levelness of the device when climbing stairs;

The seat body front bottom is provided with two sets of first electric putter 4, all sets of ladder crawler attachment on offer with two first electric putter 4 complex first spout 5, and first electric putter 4 is fixed in seat body bottom, and the push rod tip of first electric putter 4 passes through ball joint and first spout 5 sliding connection. As shown in fig. 5, when climbing stairs, the first electric push rod 4 is used for pushing the seat body to jack up in the front direction, so as to control the seat body to level and ensure the safety when climbing stairs, the auxiliary balancing device 3 pops up and withdraws to the highest place so as to ensure the balance when the gravity center suddenly changes when the nursing wheelchair reaches the top of stairs, and the movable wheel 11 is used for walking on a level road and has good cushioning effect.

The control system comprises a controller, a control module 6, an infrared ranging module 7 and a levelness sensor, wherein the controller and the levelness sensor are arranged at the bottom of the seat body, the control module 6 is arranged at one side of the seat body, the infrared ranging module 7 is arranged on the front side of the seat body, the infrared ranging module 7 and the levelness sensor are electrically connected with the controller, the controller receives instructions and signals of the control module 6, the infrared ranging module 7 and the levelness sensor, the controller judges the received instructions and signals, and controls the moving wheel 11, the auxiliary crawling device 2, the auxiliary balancing device 3 and the first electric push rod to act according to judging results. The controller is internally provided with an information detection unit, an information receiving unit, an information processing unit and a motor feedback control unit. When the infrared ranging module 7 detects that the distance is not within the set safety distance, the first motor stops to achieve intelligent obstacle avoidance, the advancing speed can be effectively controlled, the obstacles can be effectively avoided, and the use safety of a user is ensured.

Specifically, as shown in fig. 9, in this embodiment, each group of ladder track devices includes a track box 22, a flexible link track 23, and a bearing seat 24 fixedly connected to the inner side of the rear of the track box 22, the track box 22 is fixedly connected to a supporting plate 21, three supporting pulleys 25 and a driven pulley 26 are uniformly arranged on the outer wall of the track box 22 from front to back, an inducer 27 higher than the driven pulley 26 is arranged behind the driven pulley 26, a driving shaft 28 higher than the inducer 27 and located in front of the inducer 27 is rotatably arranged on the outer wall of the bearing seat 24, and the flexible link track 23 is installed around the driving shaft 28, the inducer 27, the driven pulley 26, and the three supporting pulleys 25; the seat body both sides all are provided with second motor 29, and the output shaft of every second motor 29 passes through the belt and drives a drive shaft 28 rotation, and first spout 5 is seted up on track case 22. The bearing seat 24 is used for bearing the weight of the whole track and preventing the track from falling off when the wheelchair turns or rolls, and the surface of the flexible chain ring track 23, which is contacted with the ground, is provided with a reinforced anti-skid rib so as to improve the firmness of the track plate and the adhesion of the track to the ground.

Further, as shown in fig. 4 and 10, in this embodiment, the auxiliary balancing device 3 is disposed in the middle of the rear bottom of the seat body, the auxiliary balancing device 3 includes a connecting plate 31, two balance auxiliary wheels 32 and two sets of second electric pushing rods 33, the two balance auxiliary wheels 32 are disposed on two sides of one end of the connecting plate 31 through respective rotating shafts, the other end of the connecting plate 31 is slidably connected with the bottom of the seat body, two second sliding grooves 34 matched with the second electric pushing rods 33 are formed on the connecting plate 31, the second electric pushing rods 33 are fixed on the bottom of the seat body, and the pushing rod ends of the second electric pushing rods 33 are slidably connected with the second sliding grooves 34 through ball joints. The cooperation of the ball head and the second chute 34 realizes the stable ejection of the balance auxiliary wheel. When the auxiliary balancing device 3 is used for realizing reciprocating motion, a speed reducing device can be omitted, a transmission gap is avoided, the motion is stable, and the wheelchair is used for effectively solving the problem that the gravity center can be suddenly changed when the wheelchair reaches the top of the stairs, and realizing excessive balancing.

Further, as shown in fig. 6 and 7, in this embodiment, the seat body includes a seat box 13, a backrest 14, a foot rest 15, two sets of third electric push rods 16 and two sets of fourth electric push rods 17, two sides of the seat box 13 are respectively provided with a handrail box 18, the bottom of the backrest 14 is hinged with the top of the backboard of the seat box 13, the two sets of third electric push rods 16 are respectively fixed in the two handrail boxes 18, two sides of the backrest 14 are provided with third sliding grooves 19 matched with the third electric push rods 16, and the push rod ends of the third electric push rods 16 are slidably connected with the third sliding grooves 19 through ball joints; the two groups of fourth electric push rods 17 are respectively fixed at the bottom of the front part of the seat plate box 13, a fourth chute 110 matched with the fourth electric push rods 17 is formed at the bottom of the foot pedal 15, and the push rod end parts of the fourth electric push rods 17 are in sliding connection with the fourth chute 110 through ball joints;

The two first motors are respectively fixed on the inner walls of the two sides of the seat box 13, a connecting block 111 is arranged at the rear of the seat box 13, the connecting block 111 is rotationally connected with two groups of bearing seats 24, and the controller controls the third electric push rod 16 and the fourth electric push rod 17 to act.

Further, if 11 is shown, in this embodiment, the operation module 6 includes an "up" button 63, a "down" button 64, an operation lever 61 and five limit switches disposed in the side armrest box 18, the operation lever 61 is rotatably disposed in front of the side armrest box 18, a control lever is disposed in the operation lever 61, an operation head 62 is disposed at the top of the control lever, four limit switches are disposed around the control lever and disposed at the front, rear, left and right of the operation lever 61, and another limit switch is disposed under the control lever, and when the operation lever 61 is sequentially pulled forward, rear, left and right, the operation lever 61 sequentially touches the four limit switches at the front, rear, left and right; when the operating head 62 is pressed, the bottom of the control rod touches the other limit switch;

The "up" button 63, the "down" button 64, and the five limit switches are all electrically connected to the controller, the controller controls the descent or ascent of the stair track device by receiving the signals of the "up" button 63 and the "down" button 64, the controller controls the wheelchair to advance, retreat, turn left and turn right by receiving the signals of the four limit switches provided around the control lever, and the controller controls the flattening or retraction of the backrest 14 and the foot pedals 15 by receiving the signals of the limit switches provided below the control lever. When the operating head 62 is pressed down, as shown in fig. 2, the controller controls the third electric push rod 16 and the two sets of fourth electric push rods 17 to retract, pulls up the backrest 14, lowers the foot pedal 15, and returns to the wheelchair state; when the operation head 62 is lifted, as shown in fig. 8, the controller controls the third electric push rod 16 and the two sets of fourth electric push rods 17 to push out, the backrest 14 is put flat, the foot rest 15 is pulled up, the nursing wheelchair is converted into a wheelchair bed, and the control rod can control the forward, backward, leftward and rightward movement of the wheelchair. The walking speed of the auxiliary crawling device 2 is regulated by the control module 6, so that the whole machine can conveniently move, turn, climb a slope, walk and the like.

In this embodiment, the armrest box 18, the seat box 13 and the backrest 14 are respectively provided with a heating massage module and a temperature detection module, and one side of the armrest box 18 is also provided with a light sensing heart rate testing module. The temperature detection module is used for detecting temperature to control the temperature of the seat and the armrest to be suitable for a human body, and the light sensation heart rate test module is used for detecting the heart rate of a user at regular time.

Further, in this embodiment, the front surface of the foot pedal 15 is further provided with a monitor sensing lamp 8, and when the monitor sensing lamp 8 detects that the light transmittance is less than the set value, the monitor sensing lamp is automatically turned on.

Further, in this embodiment, the wheelchair APP is further provided in the mobile device, and a GPS locator is provided in the sitting board box 13, and the wheelchair APP is in communication connection with the controller and the GPS locator through the wireless communication module. If the wheelchair is abnormal, an alarm is given out at the first time, so that targeted measures are taken for processing, and meanwhile, a dangerous signal is sent to the family of wheelchair users or nearby community hospitals by utilizing wireless signals.

Further, in this embodiment, the other side armrest box 18 is provided with a video call device. The user guardian can check the real-time position of the wheelchair, and the user can set an emergency contact person to send the position of the user to the guardian by continuously and quickly pressing 5 the operation head in emergency.

Further, in this embodiment, the wheelchair further includes a power module, which is disposed at the bottom of the seat box 13 and supplies power to the entire wheelchair.

The controller of the intelligent wheelchair control system provided by the embodiment consists of an upper control part and a lower control part: the upper control adopts STM32 series microcontroller STM32F103RCT6 chips which are pushed out by an intentional semiconductor group (ST); the lower control adopts JY01 chip which is introduced by Shanghai Juyi electronic technology development limited company, the chip is a multifunctional brushless direct current motor driving integrated chip, and has the functions of speed regulation, forward and reverse rotation, overcurrent protection and the like, and the characteristics of stable work, strong interference resistance and the like. The received information is calculated and processed and then transmitted to a motor feedback control unit, so that operation control is further developed. And then the characteristics of the data are found out for diagnosis by analyzing the data. The method helps the user plan a reasonable travel route, and ensures safety and effectiveness.

The motors in the embodiment and the motors used by the electric push rod are direct current motors, and the control system in the embodiment completes the design and implementation of the intelligent wheelchair controller system through the study of the establishment of a mathematical model of the brushless direct current motor, the design of an intelligent wheelchair controller hardware circuit, an upper control algorithm and the like. The control rod 61 is arranged beside the right armrest box 18, the control rod 61 acts to enable the control rod to touch different limit switches, and the limit switch acts to trigger the JY01 chip to execute corresponding programs so as to operate the brushless motor to rotate positively and negatively, and then the forward, backward, left rotation and right rotation of the wheelchair are controlled; pressing the operating head 62, triggering the limit switch below the control rod to act, correspondingly executing the program by the STM32 chip, and correspondingly acting the electric push rod to realize the conversion from the wheelchair to the bed, otherwise, lifting the operating head upwards to realize the conversion from the bed to the wheelchair; as shown in fig. 5, when the "up" button 63 is pressed, the step crawler moves backward to go up stairs, and after climbing up stairs, the level sensor of the seat cooperates with the STM32 of the electric putter controlling the bottom of the wheelchair, and the electric putter is controlled to act to control the level of the seat. The "down" button 64 is pressed and the rear balance auxiliary wheel 32 pops up to 45 deg. based on the existing stair angle of 20 deg. -45 deg., after which the stair track will move forward and the auxiliary wheel will retract slowly until the stair track coincides with the stair plane, the control flow diagrams are shown in figures 12 to 14.

The system hardware circuit mainly comprises an STM32 control circuit, a drive circuit based on an IR2136 drive chip, a three-phase full-bridge inverter circuit, an isolation circuit, a rotor position detection circuit, a keyboard circuit and a display circuit, as shown in FIG. 12. The STM32 microprocessor of the system generates 6 paths of pulse width modulation signals, the signals are transmitted to the IR2136 driving circuit through the isolation chip, and the IR2136 driving chip controls the on-off of the MOSFET according to PWM, so that the three-phase winding of the motor is switched and electrified. The three-resistor current sampling circuit detects a motor current signal and feeds the motor current signal back to the STM32 microprocessor, and current is adjusted in real time to ensure safe and stable operation of the motor. The two movable wheels 11 are internally provided with Hall position sensors, the Hall position sensors detect the position of the rotor, the STM32 microprocessor captures feedback pulse signals of the Hall position sensors, judges the correct position of the rotor, and outputs corresponding PWM signals for phase change control. Meanwhile, the rotating speed can be calculated according to the Hall position signal and used as rotating speed feedback, the actual rotating speed is detected and compared with the given rotating speed, and the rotating speed is adjusted by adopting a fuzzy PI control algorithm. The voltage can be changed by changing the duty cycle of the STM32 output PWM signal, thereby regulating the rotational speed. The isolation circuit is designed for guaranteeing the stability and anti-interference performance of the circuit, and is mainly used for transmitting 6 paths of PWM signals into the driving chip through the isolation chip, and collecting rotor position signals are transmitted into the STM32 microprocessor through the isolation chip. The system adopts STM32 as a control chip, the software design operates in Kei lMDK environment, and a fuzzy PI control algorithm code is written in C language, so that current feedback and rotating speed feedback double closed-loop control is realized. The system software mainly comprises a main program and an interrupt program, designs the brushless direct current motor, consists of a motor main body and a driver, and is a typical electromechanical integrated product. Because the brushless DC motor operates in a self-control mode, a starting winding is not additionally arranged on a rotor like a synchronous motor which is started under heavy load under variable frequency speed regulation, and oscillation and step-out can not be generated when the load is suddenly changed. Structurally, a brushless motor is similar to a brushed motor, and a rotor and a stator are also arranged, but the structure of the brushless motor is opposite to that of the brushed motor; the rotor of the brush motor is a coil winding and is connected with the power output shaft, and the stator is permanent magnet steel; the rotor of the brushless motor is permanent magnet steel, the permanent magnet steel is connected with the output shaft together with the shell, the stator is a winding coil, the commutating brush used for alternating electromagnetic field of the brush motor is removed, in brief, by changing the alternating frequency of current wave input to the stator coil of the brushless motor and forming a magnetic field rotating around the geometric axis of the motor around the winding coil, the permanent magnet steel on the rotor is driven to rotate by the magnetic field, the motor is started, the performance of the motor is related to factors such as the number of the magnet steel, the magnetic flux intensity of the magnet steel, the input voltage of the motor and the like, and the control performance of the brushless motor is greatly related. In general, the structure of a brushless motor is relatively simple, and the service performance of the brushless motor is truly determined, or a brushless electronic speed regulator is good, and the electronic speed regulator needs to have overall control of the processes of single chip microcomputer control program design, circuit design, complex processing technology and the like.

The multifunctional intelligent nursing wheelchair can safely drive indoors and outdoors, can adjust the speed according to environmental changes, and can operate in different environments, such as grasslands, sand lands, stepped places and the like. If the front is provided with an obstacle, the wheelchair can accurately judge according to the situation, and the speed of the wheelchair is adjusted. If the obstacle is a step, the wheelchair will stop moving according to the obstacle avoidance function and the wheelchair user will choose to move next.

The above embodiments are merely preferred embodiments of the present invention, the protection scope of the present invention is not limited thereto, and any simple changes or equivalent substitutions of technical solutions that can be obviously obtained by those skilled in the art within the technical scope of the present invention disclosed in the present invention belong to the protection scope of the present invention.

Claims

1. The double-form intelligent nursing wheelchair is characterized by comprising a seat (1), an auxiliary crawling device (2), an auxiliary balancing device (3) and a control system;

The seat (1) comprises a seat body, two movable wheels (11), two universal wheels (12) and two first motors, wherein the two movable wheels (11) are respectively arranged on the outer walls of the two sides of the rear of the seat body through a rotating shaft, and the two universal wheels (12) are arranged on the two sides of the bottom of the front of the seat body; the two first motors are respectively fixed on the inner walls of the two sides of the seat body, and the output shaft of each first motor is connected with one rotating shaft through a coupler;

The auxiliary crawling device (2) is arranged below the seat body, the auxiliary crawling device (2) comprises a supporting plate (21) and two groups of ladder caterpillar devices arranged on two sides of the supporting plate (21), the bottom of the rear of the seat body is rotationally connected with the two groups of ladder caterpillar devices, and the two movable wheels (11) are respectively arranged on the outer sides of the ladder caterpillar devices on two sides;

The auxiliary balancing device (3) is arranged in the middle of the rear bottom of the seat body and is in telescopic connection with the seat body, and the auxiliary balancing device (3) is used for extending out and adjusting the levelness of the device when climbing stairs;

Two groups of first electric push rods (4) are arranged at the bottom of the front of the seat body, first sliding grooves (5) matched with the two first electric push rods (4) are formed in the two groups of step crawler devices, the first electric push rods (4) are fixed at the bottom of the seat body, and the push rod end parts of the first electric push rods (4) are in sliding connection with the first sliding grooves (5) through ball joints;

The control system comprises a controller, a manipulation module (6), an infrared ranging module (7) and a levelness sensor, wherein the controller and the levelness sensor are arranged at the bottom of the seat body, the manipulation module (6) is arranged at one side of the seat body, the infrared ranging module (7) is arranged at the front side of the seat body, the infrared ranging module (7) and the levelness sensor are electrically connected with the controller, the controller receives instructions and signals of the manipulation module (6), the infrared ranging module (7) and the levelness sensor, judges the received instructions and signals, and controls the moving wheel (11), the auxiliary crawling device (2), the auxiliary balancing device (3) and the first electric push rod to act according to the judging result;

Each group of ladder track devices comprises a track box (22), a flexible chain ring track (23) and a bearing seat (24) fixedly connected with the inner side of the rear of the track box (22), the track box (22) is fixedly connected with the supporting plate (21), three riding wheels (25) and one driven wheel (26) are uniformly arranged on the outer wall of the track box (22) from front to back, an inducer (27) higher than the driven wheel (26) is arranged behind the driven wheel (26), a driving shaft (28) higher than the inducer (27) and positioned in front of the inducer (27) is rotatably arranged on the outer wall of the bearing seat (24), and the flexible chain ring track (23) is arranged around the driving shaft (28), the inducer (27), the driven wheel (26) and the three riding wheels (25); the two sides of the seat body are respectively provided with a second motor (29), an output shaft of each second motor (29) rotates with a driving shaft (28) through a belt, and the first sliding groove (5) is formed in the crawler belt box (22);

The auxiliary balancing device (3) is arranged in the middle of the rear bottom of the seat body, the auxiliary balancing device (3) comprises a connecting plate (31), two balance auxiliary wheels (32) and two groups of second electric pushing rods (33), the two balance auxiliary wheels (32) are arranged on two sides of one end of the connecting plate (31) through rotating shafts respectively, the other end of the connecting plate (31) is in sliding connection with the bottom of the seat body, two second sliding grooves (34) matched with the second electric pushing rods (33) are formed in the connecting plate (31), the second electric pushing rods (33) are fixed at the bottom of the seat body, and the pushing rod ends of the second electric pushing rods (33) are in sliding connection with the second sliding grooves (34) through ball joints;

The seat body comprises a seat plate box (13), a backrest (14), a pedal (15), two groups of third electric push rods (16) and two groups of fourth electric push rods (17), wherein the two sides of the seat plate box (13) are respectively provided with a handrail box (18), the bottom of the backrest (14) is hinged with the top of a backboard of the seat plate box (13), the two groups of third electric push rods (16) are respectively fixed in the two handrail boxes (18), the two sides of the backrest (14) are provided with third sliding grooves (19) matched with the third electric push rods (16), and the push rod ends of the third electric push rods (16) are in sliding connection with the third sliding grooves (19) through ball joints; the two groups of fourth electric push rods (17) are respectively fixed at the bottom of the front of the seat plate box (13), a fourth sliding groove (110) matched with the fourth electric push rods (17) is formed in the bottom of the foot pedal (15), and the push rod end parts of the fourth electric push rods (17) are in sliding connection with the fourth sliding groove (110) through ball joints;

The two first motors are respectively fixed on the inner walls of the two sides of the seat plate box (13), a connecting block (111) is arranged behind the seat plate box (13), the connecting block (111) is rotationally connected with the two groups of bearing seats (24), and the controller controls the third electric push rod (16) and the fourth electric push rod (17) to act;

A heating massage module and a temperature detection module are arranged in the armrest box (18), the seat plate box (13) and the backrest (14), and a light-sensitive heart rate testing module is further arranged on one side of the armrest box (18);

Still including setting up the wheelchair APP in mobile device, be provided with the GPS locator in seat case (13), wheelchair APP pass through wireless communication module with controller and GPS locator communication connection.

2. The dual-form intelligent care wheelchair according to claim 1, wherein the control module (6) comprises an up button (63), a down button (64), a control lever (61) and five limit switches arranged in the armrest box (18) on one side, the control lever (61) is rotatably arranged in front of the armrest box (18) on one side, a control lever is arranged in the control lever (61), an operation head (62) is arranged at the top of the control lever, four limit switches are arranged around the control lever on the front, rear, left and right of the control lever (61), and the other limit switch is arranged below the control lever, and when the control lever (61) is sequentially pulled forward, backward, left and right, the control lever (61) sequentially touches the four limit switches on the front, rear, left and right; when the operating head (62) is pressed down, the bottom of the control rod touches the other limit switch;

The upper button (63), the lower button (64) and the five limit switches are electrically connected with the controller, the controller controls the descending or ascending of the ladder track device by receiving signals of the upper button (63) and the lower button (64), the controller controls the wheelchair to move forwards, backwards, leftwards and rightwards by receiving signals of the four limit switches arranged around the control rod, and the controller controls the flattening or retraction of the backrest (14) and the foot pedals (15) by receiving signals of the limit switches arranged below the control rod.

3. The dual-modality intelligent care wheelchair according to claim 1, wherein the front of the foot pedal (15) is further provided with a monitoring induction lamp (8).

4. A dual modality intelligent care wheelchair as claimed in claim 3, wherein the other side of the armrest box (18) is provided with video telephony equipment.

5. The dual-modality intelligent care wheelchair of claim 1, further comprising a power module disposed at the bottom of the seating box (13) for powering the entire wheelchair.