CN110711088B

CN110711088B - Intelligent wheelchair based on intelligent perception and medical service

Info

Publication number: CN110711088B
Application number: CN201911104699.5A
Authority: CN
Inventors: 季长清; 汪祖民
Original assignee: Dalian University
Current assignee: Dalian University
Priority date: 2019-11-13
Filing date: 2019-11-13
Publication date: 2024-08-27
Anticipated expiration: 2039-11-13
Also published as: CN110711088A

Abstract

The invention discloses an intelligent wheelchair based on intelligent perception and medical care services, which comprises a backrest and a cushion, wherein protection plates are arranged on two sides of the cushion, the bottom end of the cushion is connected with a support frame, a driving box is erected inside the support frame, a driving wheel is arranged at the bottom end of one side of the support frame, which is close to the backrest, a steering wheel is arranged at the bottom end of one side of the support frame, which is far away from the backrest, one side of the support frame is connected with an L-shaped foot rest, leg protection pads are transversely connected between the foot rest, foot pedals are arranged at the tail ends of the foot rest, and auxiliary wheels are arranged at the bottom ends of the foot pedals. The invention increases the contact area between the wheelchair and the ground through the auxiliary wheels, so that the wheelchair can move forward more stably, the wheelchair can be prevented from being directly tipped over on the ground, and the information of a user and the information of an external environment on the wheelchair can be detected through the sensing module, thereby being convenient for the wheelchair to judge a forward route by itself, preventing collision, being beneficial to the patients to get out of the heart or do rehabilitation exercise, and realizing medical and health combination.

Description

Intelligent wheelchair based on intelligent perception and medical service

Technical Field

The invention relates to the field of medical machinery, in particular to an intelligent wheelchair based on intelligent perception and medical service.

Background

At present, the world aging population is being aggravated, the empty nest old is increasing, simultaneously the disabled people caused by various factors are increasing year by year, and the physical therapy and rehabilitation problems of the huge disabled people and the old become a great hotspot of the society. Along with the development of science and technology, the weak groups are eager to leave home and are recombined into society, the intelligent wheelchair improves the freedom degree of activities of the people, and good travel is provided for the people. When the existing intelligent wheelchair runs on inclined ground, the situation that the intelligent wheelchair is turned over easily occurs when the inclination of the ground is larger than 10 degrees, so that the old or the patient on the wheelchair can be turned over to the ground, and the human body is injured.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provides an intelligent wheelchair based on intelligent perception and medical service, and can prevent the wheelchair from turning over due to the inclination of the ground in the using process.

In order to solve the technical problems, the invention provides the following technical scheme:

The invention relates to an intelligent wheelchair based on intelligent perception and medical care services, which comprises a backrest and a cushion, handles are fixedly arranged at the edges of two sides of the back of the backrest, armrests are arranged at two sides of the top of the cushion, one side of the bottom end of the backrest is connected with a rotating shaft, one side top end of one of the armrests is connected with a manipulator, protection plates are arranged at two sides of the cushion, the bottom end of the cushion is connected with a support frame, a driving box is erected inside the support frame, a driving wheel is arranged at the bottom end of one side, close to the backrest, of the support frame, a steering wheel is arranged at the bottom end of one side, far away from the backrest, of the support frame, an L-shaped foot stand is connected, leg protection pads are transversely connected between the foot stands, foot pedals are arranged at the tail ends of the foot pedals, and auxiliary wheels are arranged at the bottom ends of the foot pedals.

As a preferable technical scheme of the invention, sliding grooves are formed in two sides of the supporting frame, sliding blocks are sleeved in the sliding grooves, a supporting rod is connected to the bottom end of one side of each sliding block, a supporting disc is arranged on the bottom end surface of each supporting rod, a spring buckle is arranged at the top of each sliding groove, a supporting plate is clamped in each spring buckle, the top ends of the supporting plates are clamped in the supporting seat through supporting shafts, and springs are arranged on the inner surface of the supporting seat.

As a preferred technical scheme of the invention, the driving box is electrically connected with the controller, the driving box is connected with the steering wheel through the universal shaft, and the steering wheel is electrically connected with the controller.

As a preferable technical scheme of the invention, the outer side surface of the rotating shaft is provided with a rotating handle capable of adjusting the inclination of the backrest.

As a preferable technical scheme of the invention, a safety belt is arranged on one side of the backrest facing the cushion.

As a preferable technical scheme of the invention, the spring extends in the directions of two sides of the support frame, so that thrust is applied to the support plate, and the maximum opening angle of the support plate is 90 degrees.

As a preferable technical scheme of the invention, the horizontal and vertical distance between the support disc and the driving wheel is more than 5cm and less than 12cm.

As a preferred technical scheme of the invention, the controller is connected with a computer processing unit, the computer processing unit comprises a sensor module, a driving module and a man-machine interaction module, the sensor module comprises an internal state sensing module and an external environment state sensing module, the internal state sensing module determines the gesture information of a wheelchair user through a gesture sensor, and the external environment state sensing module obtains self-positioning information through the displacement speed and the distance of an encoder respectively; distance information of surrounding environment and obstacles is continuously obtained through the CCD camera, the ultrasonic sensor and the proximity switch.

Compared with the prior art, the invention has the following beneficial effects:

the invention increases the contact area between the wheelchair and the ground through the auxiliary wheels, so that the wheelchair can move forward more stably, and can support the wheelchair sideways when the wheelchair is tilted and overturned, thereby preventing the wheelchair from being directly overturned on the ground, causing injury to the old or patients, reducing the possibility of injury, and being convenient for the wheelchair to automatically judge the forward route by detecting the information of the user and the information of the external environment through the sensing module, preventing collision, facilitating the patient to get out of the heart or do rehabilitation exercise, and realizing medical and nutritional combination.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the structure of the invention with the brackets and the snap fasteners removed;

FIG. 3 is a side view of a partial structure of the present invention;

FIG. 4 is a schematic diagram of a smart module connection of the present invention;

In the figure: 1. a backrest; 2. a cushion; 3. a handle; 4. an armrest; 5. a controller; 6. a protection plate; 7. a support frame; 8. a drive box; 9. a driving wheel; 10. a steering wheel; 11. a foot rest; 12. leg protection pad; 13. a foot pedal; 14. an auxiliary wheel; 15. a chute; 16. a sliding block; 17. a support rod; 18. a support plate; 19. a spring buckle; 20. a support plate; 21. a support base; 22. a spring; 23. a rotating shaft; 24. a computer processing unit; 25. a wheelchair body; 26. a sensor module; 27. a driving module; 28. a man-machine interaction module; 29. an internal state sensing module; 30. an external environment state sensing module; 31. an attitude sensor; 32. an encoder; 33. a CCD camera; 34. an ultrasonic sensor; 35. and a proximity switch.

Detailed Description

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.

Wherein like reference numerals refer to like elements throughout.

Example 1

As shown in fig. 1-4, the invention provides an intelligent wheelchair based on intelligent sensing and medical service, which comprises a backrest 1 and a cushion 2, handles 3 are fixedly arranged at the edges of two sides of the back of the backrest 1, armrests 4 are arranged at two sides of the top of the cushion 2, a rotating shaft 23 is connected to one side of the bottom of the backrest 1 and one side of the cushion 2, a manipulator 5 is connected to one side top end of one of the armrests 4, protection plates 6 are arranged at two sides of the cushion 2, a support frame 7 is connected to the bottom of the cushion 2, a driving box 8 is erected inside the support frame 7, a driving wheel 9 is arranged at the bottom of one side of the support frame 7 close to the backrest 1, a steering wheel 10 is arranged at the bottom of one side of the support frame 7 far away from the backrest 1, an L-shaped foot rest 11 is connected to one side of the support frame 7, a leg protection pad 12 is transversely connected between the foot rest 11, a foot rest 13 is arranged at the tail end of the foot rest 11, and an auxiliary wheel 14 is arranged at the bottom of the foot rest 13.

Further, the spout 15 has all been seted up to the both sides of support frame 7, and slider 16 has been cup jointed to the inside of spout 15, and one side bottom of slider 16 is connected with branch 17, and the bottom surface mounting of branch 17 has a dish 18, and the top of spout 15 is provided with spring catch 19, and the inside joint of spring catch 19 has extension board 20, and the top of extension board 20 is through the fulcrum card embedding inside supporting seat 21, and the internal surface of supporting seat 21 is provided with spring 22.

The driving box 8 is electrically connected with the controller 5, the driving box 8 is connected with the steering wheel 10 through a universal shaft, the steering wheel 10 is electrically connected with the controller 5, and the wheelchair can be controlled to walk through the controller 5.

The outer side surface of the rotating shaft 23 is provided with a rotating handle capable of adjusting the inclination of the backrest 1, and a user can adjust the wheelchair backrest 1 according to own preference so as to achieve the most comfortable sitting posture.

A safety belt is arranged on one side of the backrest 1 facing the cushion 2, and is used for fixing a patient with unstable sitting and standing through the safety belt, so that the patient is prevented from sliding outwards.

The spring 22 is stretched in the direction of both sides of the support frame 7, so that thrust is applied to the support plate 20, the maximum opening angle of the support plate 20 is 90 degrees, and when the spring buckle 19 is released from the tail end of the support plate 20, the spring 22 pushes the support plate 20 out, so that the support plate 20 rotates outwards by taking the support seat 21 as a pivot.

When the wheelchair is inclined and overturned, the support plate 18 is firstly grounded, the sliding block 16 slides upwards in the sliding groove 15 to jack the spring buckle 19, so that the support plate 20 is outwards opened, and the wheelchair can be supported by grounding the support plate 20 when the wheelchair is overturned.

The controller 5 is connected with the computer processing unit 24, the computer processing unit 24 comprises a sensor module 26, a driving module 27 and a man-machine interaction module 28, the sensor module 26 comprises an internal state sensing module 29 and an external environment state sensing module 30, the internal state sensing module 29 determines the gesture information of a wheelchair user through a gesture sensor 31, and the external environment state sensing module 30 obtains self-positioning information through the displacement speed and the distance of an encoder 32 respectively; distance information of the surrounding environment and the obstacle is continuously obtained through the CCD camera 33, the ultrasonic sensor 34, and the proximity switch 35.

Specifically, patient or old man can adjust the gradient of wheelchair back 1 according to oneself hobby earlier in the use, also can tie the safety belt, in order to prevent to advance the in-process sudden brake and landing, the user can be by oneself through the selection of controller 5 and carry out manual control or computer self-control, realize basic man-machine interaction function, in the in-process of advancing, if force is exerted on footboard 13 suddenly, because of the bottom of footboard 13 is provided with auxiliary wheel 14, can prevent that the atress is stepped on the sky and lead to the wheelchair to roll over forward, the area of contact of wheelchair and ground has been increased simultaneously, make forward more steady, when the wheelchair takes place to roll over on the inclined road surface, the extension dish 18 will contact with ground, slider 16 upwards slides and opens spring holder 19 outside in spout 15, thereby support plate 20 is landed and is supported before the wheelchair rolls over, thereby avoid directly to roll over and cause great injury to the human body, simultaneously, can detect and judge through CCD camera 33 in the wheelchair forward in-process, ultrasonic sensor 34 and proximity switch 35 are to the environment of outside, in the meantime, can not take place in the time of promoting the motion of the wheelchair, the recovered can take place in the time of the life of the safety of the recovery of the old man or the recovery, and the rehabilitation can take place by oneself, and the rehabilitation performance is promoted.

In summary, the wheelchair can move forward more stably by increasing the contact area between the wheelchair and the ground through the auxiliary wheels, and can be supported by the wheelchair to lean over to prevent the wheelchair from being directly tipped over the ground to hurt the old or the patient and reduce the possibility of injury.

Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an intelligent wheelchair based on intelligence perception and medical care service, includes wheelchair body (25), wheelchair body (25) are including back (1), cushion (2) and computer processing unit (24), back both sides edge of back (1) is all fixed mounting has handle (3), handrail (4) are all installed to the top both sides of cushion (2), a serial communication port, bottom one side of back (1) is connected with pivot (23) with one side of cushion (2), one side top of one of them handrail (4) is connected with manipulator (5), the both sides of cushion (2) all are provided with guard plate (6), the bottom of cushion (2) is connected with support frame (7), the inside drive box (8) that has erect of support frame (7), one side bottom that support frame (7) are close to back (1) is provided with drive wheel (9), one side bottom that support frame (7) kept away from back (1) is provided with direction wheel (10), one side connection L type foot rest (11) of support frame (7), foot rest (11) are connected with between foot rest (11) and are provided with foot rest (13), an auxiliary wheel (14) is arranged at the bottom end of the foot pedal (13);

The sliding support comprises a supporting frame (7), wherein sliding grooves (15) are formed in two sides of the supporting frame (7), sliding blocks (16) are sleeved in the sliding grooves (15), supporting rods (17) are connected to the bottom end of one side of each sliding block (16), supporting plates (18) are mounted on the bottom end surfaces of the supporting rods (17), spring buckles (19) are arranged on the tops of the sliding grooves (15), supporting plates (20) are clamped in the inner portions of the spring buckles (19), and the top ends of the supporting plates (20) are clamped in supporting seats (21) through supporting shafts;

a safety belt is arranged on one side of the backrest (1) facing the cushion (2).

2. The intelligent wheelchair based on intelligent sensing and medical services according to claim 1, wherein the driving box (8) is electrically connected with the controller (5), the driving box (8) is connected with the steering wheel (10) through a universal shaft, and the steering wheel (10) is electrically connected with the controller (5).

3. An intelligent wheelchair based on intelligent sensing and medical services according to claim 1, characterized in that the outer side surface of the rotating shaft (23) is provided with a rotating handle capable of adjusting the inclination of the backrest (1).

4. The intelligent wheelchair based on intelligent sensing and medical services according to claim 1, wherein the spring (22) stretches in the directions of two sides of the supporting frame (7) so as to apply thrust to the supporting plate (20), and the maximum opening angle of the supporting plate (20) is 90 degrees.

5. An intelligent wheelchair based on intelligent sensing and medical services according to claim 1, characterized in that the horizontal and vertical distance between the support plate (18) and the driving wheel (9) is more than 5cm and less than 12cm.

6. The intelligent wheelchair based on intelligent sensing and medical services according to claim 1, wherein the manipulator (5) is connected with a computer processing unit (24), the computer processing unit (24) comprises a sensor module (26), a driving module (27) and a human-computer interaction module (28), the sensor module (26) comprises an internal state sensing module (29) and an external environment state sensing module (30), the internal state sensing module (29) determines gesture information of a wheelchair user through a gesture sensor (31), and the external environment state sensing module (30) obtains self-positioning information through displacement speed and distance of an encoder (32) respectively; distance information of surrounding environment and obstacles is continuously obtained through the CCD camera (33), the ultrasonic sensor (34) and the proximity switch (35).