WO2019047443A1 - Wheelchair, control method and computer readable storage medium - Google Patents

Abstract

A wheelchair (110) and a wheelchair (110) control method, wherein the wheelchair (110) may comprise: an intelligent interaction device (420) and a wheelchair control apparatus (410). The intelligent interaction device (420) may comprise an ARM processor, and the intelligent interaction device (420) is used for: receiving an infrared signal captured by an infrared sensor group (520); determining one or more falling signals on the basis of the infrared signal, a falling signal being a signal indicating that the wheelchair (110) is in an unsafe state; and generating a control signal on the basis of the one or more falling signals, the control signal comprising a deceleration or braking operation for the wheelchair (110). The wheelchair control apparatus (410) is in wired or wireless connection with the intelligent interaction device (420), and the wheelchair control apparatus (410) is used to acquire the control signal of the wheelchair (110), and to decelerate or brake the wheelchair (110) on the basis of the control signal so as to prevent a user from falling.

Description

Wheelchair, control method and computer readable storage medium

cross reference

This application claims the Chinese application numbered CN201710814529.0 filed on September 11, 2017, and the priority numbered CN201721158774.2 filed on September 11, 2017, the contents of which are incorporated by reference. Included here.

Technical field

The invention relates to a wheelchair. Specifically, it relates to a wheelchair and a method of controlling the movement of the wheelchair.

Background technique

In daily life, smart devices that can be moved, such as cleaning robots, smart balance wheels, smart wheelchairs, etc., are becoming more and more common. On the other hand, with the rapid expansion of demand for services, it is expected that wheelchairs can be controlled more conveniently and intelligently, especially wheelchairs that can achieve more operational functions.

The current intelligent wheelchair and even the intelligent hardware is controlled and operated by the 51 single chip microcomputer as the core. However, the processing speed of the 51 MCU is limited. In some cases, for example, when images collected by sensors in a wheelchair become larger and larger, the processing speed at a low speed is difficult to meet the demand. For example, when there are more sensors on a smart wheelchair, the processor's processing speed will not match the amount of data that needs to be processed.

Brief

To achieve the above objective, the technical solution provided by the present application is as follows:

In order to realize more complicated functions, make the wheelchair more intelligent, and improve the speed of data processing by the intelligent wheelchair, this application uses the arm processor as the core to calculate, data and control the intelligent wheelchair. The arm processor is located in the smart interaction device, and the smart interaction device establishes a connection with the wheelchair; and the user interaction window of the smart interaction device enables the user to control the movement of the wheelchair.

To achieve the above objective, the technical solution provided by the present application is as follows:

The present application discloses a wheelchair, including a smart interaction device and a wheelchair control device; the smart interaction device includes an arm processor; the smart interaction device is configured to: receive an infrared signal collected by the infrared sensor group; and determine the infrared signal based on the infrared signal One or more fall signals, the signals indicative of the wheelchair being in an unsafe state; generating a control signal based on the one or more fall signals, the control signals including decelerating or braking operations on the wheelchair; the wheelchair The control device is wired or wirelessly connected to the smart interaction device, and the wheelchair control device is configured to acquire a control signal of the wheelchair and decelerate or brake the wheelchair based on the control signal to prevent the user from falling.

Optionally, the smart interaction device further includes an interaction interface, the interaction interface is configured to: receive an operation signal generated by the user on the operation of the interaction interface; and control the wheelchair based on the operation signal.

Optionally, the wheelchair further includes a sensor assembly including a combination of one or more of a positioning sensor, an infrared sensor group, an ultrasonic sensor group, and a camera group, at least one of the sensor assemblies being configured In the smart interaction device.

Optionally, the ultrasonic sensor group includes a plurality of ultrasonic sensors disposed around a wheelchair, and the plurality of ultrasonic sensors located in front of the wheelchair are used to detect a distance of an obstacle in front of the wheelchair, the left and right sides of the wheelchair. A plurality of ultrasonic sensors on the side are used to detect the distance of the wheelchair from both sides of the road.

Optionally, the camera group includes a front camera for collecting image information of a user, the image information is used for determining a user identity, and the rear camera is used for collecting Pavement image information displayed on the smart interactive device.

Optionally, the signal detected by the sensor group is sent to a smart interaction device, and the smart interaction device processes the received signal to generate display information, where the display information includes location information, a distance value between the infrared sensor and the ground, and an ultrasonic sensor group. The distance and visual image of the obstacle.

Another aspect of the present application is directed to a wheelchair control method comprising: receiving an infrared signal obtained by an infrared sensor group; determining one or more drop signals based on the infrared signal; based on the one or more drops The signal generates a control signal, the control signal includes a deceleration or braking operation on the wheelchair, the control signal is generated by a smart interaction device, the smart interaction device includes an arm processor; and the wheelchair is slowed or braked based on the control signal, To prevent users from falling.

Optionally, the control signal is generated by the smart interaction device based on infrared signal processing, the wheelchair is controlled by the wheelchair control device based on the control signal, and the smart interaction device is connected to the wheelchair control device by wire or wirelessly. Data communication, the wireless communication uses a Bluetooth communication protocol and a message queue telemetry transmission communication protocol for dual channel information transmission.

Optionally, the method further includes: the user operating the smart interaction device to generate a user operation signal, and controlling the wheelchair based on the user operation signal; the user operating the smart interaction device includes the user establishing a connection with the smart interaction device, and the user scanning the smart device by using the user device The two-dimensional code generated on the interactive device establishes a connection, or the user device generates a two-dimensional code for the intelligent interactive device to scan and establish a connection.

Another aspect of the present application is directed to a wheelchair control method comprising: receiving one or more ultrasonic signals obtained by a plurality of ultrasonic sensors located around a wheelchair; determining an obstacle distance in front of the wheelchair based on the ultrasonic signals; The obstacle distance in front of the wheelchair determines the control signal; based on the control signal, the wheelchair is decelerated, turned or braked to avoid obstacles.

Additional features will be set forth in part in the description which follows. Features of the present application can be realized and obtained by the methods, means and combinations thereof set forth in the Detailed Description.

Description of the drawings

This application is further described in the manner of an exemplary embodiment. These exemplary embodiments are described in detail with reference to the accompanying drawings. These embodiments are non-limiting embodiments in which like reference numerals indicate similar structures in different views of the drawings, and wherein:

1 is a schematic diagram of a wheelchair service system shown in accordance with some embodiments of the present application;

2 is a schematic diagram of a configuration of a computer device according to some embodiments of the present application;

3 is a schematic diagram of a mobile device according to some embodiments of the present application;

4 is a schematic view of a wheelchair shown in accordance with some embodiments of the present application;

Figure 5 is a schematic illustration of a sensor assembly shown in accordance with some embodiments of the present application;

6 is a flow chart of a wheelchair control method, in accordance with some embodiments of the present application;

7 is a flow chart of a wheelchair control method, in accordance with some embodiments of the present application.

specific description

In the following detailed description, numerous specific details are set forth However, it will be apparent to those skilled in the art that the present invention may be practiced without these details. It will be understood that the terms "system," "device," "unit," and/or "module" are used in this application to distinguish one of the different components, components, parts, or components of the various levels in the sequential arrangement. method. However, if other expressions can achieve the same purpose, these terms can be replaced by other expressions.

It will be understood that when a device, unit or module is referred to as "on", "connected to" or "coupled" to another device, unit or module, it can be directly in another device, unit or module. On, connected or coupled to or in communication with other devices, units or modules, or intermediate devices, units or modules may be present, unless the context clearly indicates an exception. For example, the term "and/or" used in this application includes any and all combinations of one or more of the associated listed.

The terminology used herein is for the purpose of describing the particular embodiments, The words "a", "an", "the", "the" and "the" In general, the terms "comprises" and "comprising" are intended to include the features, the whole, the steps, the operations, the elements and/or the components that are specifically identified, and the expression does not constitute an exclusive list, other features, The whole, steps, operations, elements and/or components may also be included.

These and other features and features, methods of operation, functions of related elements of the structure, combinations of parts, and economics of manufacture can be better understood with reference to the following description and the accompanying drawings. Part of the manual. It is to be understood, however, that the drawings are not intended to It is understood that the drawings are not to scale.

Moreover, the present application describes only systems and methods related to wheelchairs, it being understood that the description in this application is only one embodiment. The wheelchair control system or method can also be applied to any type of smart device or car other than a wheelchair. For example, a wheelchair control system or method can be applied to different smart device systems, including one or a combination of any of a balance wheel, an unmanned ground vehicle (UGV), a wheelchair, and the like. The wheelchair control system can also be applied to any intelligent system including application management and/or distribution, such as systems for transmitting and/or receiving express delivery, as well as carrying people or cargo to certain locations.

The terms "wheelchair", "smart wheelchair", "smart device" as used herein are used interchangeably to refer to a device, device or tool that is movable and automatically operable. The term "user equipment" in this application may refer to a tool that may be used to request a service, subscribe to a service, or facilitate the provision of a service. The term "mobile terminal" in this application may refer to a tool or interface that can be used by a user to control a wheelchair.

The positioning techniques used in this application include Global Positioning System (GPS) technology, Global Navigation Satellite System (GLONASS) technology, Compass navigation system (COMPASS) technology, Galileo positioning system (Galileo) technology, and Quasi-Zenith satellite system (QZSS) technology. One or any combination of Beidou Satellite Positioning System (BDS) technology, Wireless Fidelity (WiFi) positioning technology, and the like. One or more of the above described positioning techniques can be used interchangeably in this application.

Various structural drawings are used in the present application to illustrate various modifications in accordance with the embodiments of the present application. It should be understood that the preceding or following structures are not intended to limit the application. The scope of protection of this application is subject to the claims.

This application describes a wheelchair service system 100 as an exemplary system. The method and system of the present application are directed to controlling the movement of a wheelchair based on, for example, information detected by a wheelchair. The information obtained can be collected by a sensor assembly located in a wheelchair.

In accordance with some embodiments of the present application, a schematic diagram of a wheelchair service system is shown in FIG. The wheelchair service system 100 can include a wheelchair 110, a network 120, a user device 130, and a server 140. The user can establish a connection between the user device 130 and the wheelchair via the network 120. The user device 130 and the wheelchair may be connected to identify the user. In some embodiments, the establishing a connection may be established by scanning a two-dimensional code. For example, user device 130 generates a two-dimensional code, and the smart interaction device on the wheelchair scans the two-dimensional code and identifies the two-dimensional code over network 120 to establish a connection. As another example, the smart interaction device on the wheelchair generates a two-dimensional code that the user device scans and identifies the two-dimensional code over the network 120 to establish a connection.

In some embodiments, to facilitate management, the wheelchair 110 and the user device 130 can establish communication to identify a user using the wheelchair. The communication between the wheelchair 110 and the user device 130 can be wired or wireless. In some embodiments, when the wheelchair 110 is wirelessly coupled to the user device 130, the user device 130 establishes a connection with the wheelchair 110 by scanning a two-dimensional code generated by the smart interaction device on the wheelchair, or the smart interaction device on the wheelchair 110 scans the user The two-dimensional code generated on device 130 establishes a connection. In some embodiments, the connection between the user device 130 and the wheelchair can be established by other means, such as graphical login or any other custom login method. In some embodiments, when the wheelchair 110 is wired to the user device 130, it can be connected through a serial port, such as a Universal Serial Bus (USB).

Network 120 can be a single network or a combination of different networks. For example, network 120 can be a local area network (LAN), a wide area network (WAN), a public network, a private network, a wireless local area network (WLAN), a virtual network, a metropolitan area network (MAN), a public switched telephone network (PSTN), or any combination thereof. For example, the wheelchair 110 can communicate with the user device 130 and the server 140 via Bluetooth. Network 120 may also include various network access points. For example, a wired or wireless access point such as a base station or the Internet may be included in the network 120. The wheelchair 110 can access information stored in the server 140 directly or via the network 120.

The user device 130 connectable to the network 120 may be one of the mobile device 130-1, the tablet 130-2, the notebook computer 130-3, the built-in device 130-4, or the like, or any combination thereof. In some embodiments, mobile device 130-1 can include one of a wearable device, a smart mobile device, a virtual reality device, an augmented reality device, etc., or any combination thereof. In some embodiments, the user may control the wheelchair 110 through a wearable device, which may include one of a smart bracelet, smart footwear, smart glasses, smart helmet, smart watch, smart clothing, smart backpack, smart accessory, and the like. Kind or any combination of them. In some embodiments, the smart mobile device can include one of a smart phone, a personal digital assistant (PDA), a gaming device, a navigation device, a point of sale (POS) device, or the like, or any combination thereof. In some embodiments, the virtual reality device and/or the augmented reality device may include one or any of a virtual reality helmet, virtual reality glasses, virtual reality patches, augmented reality helmets, augmented reality glasses, augmented reality patch eye masks, and the like. Several combinations. For example, the virtual reality device and/or augmented reality device may include Google Glass, Oculus Rift, HoloLens, Gear VR, and the like. In some embodiments, the built-in device 130-4 can include an onboard computer, a car television, and the like.

Server 140 can store data for users and wheelchairs. In some embodiments, there may be multiple user devices wirelessly connected to the server 140. The server 140 stores related data of the user 130 and the wheelchair 110. For example, driving distance, driving distance, frequent places, and the like. In some embodiments, a real-time map is stored in the server 140. The user can download the latest real-time map from the server 140 when using the wheelchair. In some embodiments, the user may navigate based on a map provided by the server 140 when using the wheelchair. For example, when outdoors, the location sensor on the wheelchair acquires user location information and navigates based on the map. For example, when indoors, ultra-widebandwidth (UWB) technology is applied to achieve indoor positioning and autonomous navigation.

In some embodiments, server 140 may obtain location information for a wheelchair that is not in use. The user can determine the available wheelchairs in the vicinity by the user device 130 based on the unused wheelchair position information provided by the server 140. In some embodiments, the wheelchair includes two Bluetooth modules, the distance of the two Bluetooth modules is known, and when the user needs to walk to a more recent available wheelchair, the Bluetooth module on the user device 130 and the two on the wheelchair can be used. The Bluetooth module implements three-point positioning and determines the distance between the user and the wheelchair based on the three-point positioning principle. In some embodiments, the calculation of the distance can be done by the server 140 or a smart interaction device on a wheelchair.

It should be noted that the wheelchair service system 100 described above is merely for describing a particular embodiment of the system and is not intended to limit the scope of the disclosure.

2 is a schematic diagram of a computer device configuration shown in accordance with some embodiments of the present application. Computer 200 can be used to implement the particular methods and apparatus disclosed in this application. For example, computer 200 can be a smart interaction device in wheelchair 110. The specific device in this embodiment uses a functional block diagram to show a hardware platform including a display module. In some embodiments, computer 200 can implement one or more modules and units of the smart interaction device in wheelchair 110 as described herein. In some embodiments, the smart interaction device can be implemented by computer 200 through its hardware devices, software programs, firmware, and combinations thereof. In some embodiments, computer 200 can be a general purpose computer or a computer with a particular purpose.

As shown in FIG. 2, the computer 200 can include an internal communication bus 210, a processor 220, a read only memory (ROM) 230, a random access memory (RAM) 240, a communication port 250, an input/output component 260, a hard disk 270, and Display interface 280. The internal communication bus 210 can implement data communication between components of the computer 200. The processor 220 can make a decision and issue a prompt. In some embodiments, processor 220 can be comprised of one or more processors. Communication port 250 may enable data communication between computer 200 and other components in wheelchair service system 100 (e.g., user device 130 and server 140). In some embodiments, computer 200 can transmit and receive information and data from network 120 via communication port 250. The input/output component 260 can receive an operation signal of the user or display data generated by computer processing to the user. Display interface 280 can enable interaction and information exchange between computer 200 and the user. The computer 200 may also include different forms of program storage units and data storage units, such as a hard disk 270, read only memory (ROM) 230, random access memory (RAM) 240, capable of storing various data used by the computer for processing and/or communication. Files, and possible program instructions executed by processor 220.

Data bus 210 can be used to transmit data information. In some embodiments, data can be transmitted between the various hardware within the smart interaction device of the wheelchair 110 via the data bus 210. For example, processor 220 can transmit data over the data bus 210 to other hardware, such as memory or input/output port 260. It should be noted that the data may be real data, or may be instruction code, status information or control information. In some embodiments, data bus 210 can be an industry standard (ISA) bus, an extended industry standard (EISA) bus, a video electronics standard (VESA) bus, an external component interconnect standard (PCI) bus, and the like.

Processor 220 can be used for logic operations, data processing, and instruction generation. In some embodiments, the processor 220 can obtain data/instructions from an internal memory, which can include read only memory (ROM), random access memory (RAM), cache (Cache) (not shown in the figure) Out) and so on. In some embodiments, processor 220 can include multiple sub-processors that can be used to implement different functions of the system.

In some embodiments, the read only memory can include a programmable read only memory (PROM), a programmable erasable read only memory (EPROM), and the like. The random access memory 240 is used to store an operating system, various applications, data, and the like. In some embodiments, random access memory 240 can include static random access memory (SRAM), dynamic random access memory (DRAM), and the like.

The communication port 250 is used to connect the operating system with an external network to implement communication between them. In some embodiments, communication port 250 can include an FTP port, an HTTP port, or a DNS port, and the like. The input/output port 260 is used for data, information exchange, and control between an external device or circuit and the processor 210. In some embodiments, input/output port 260 can include a USB port, a PCI port, an IDE port, and the like.

The hard disk 270 is used to store information and data generated by the server 140 or received from the server 140. In some embodiments, the hard disk 270 may include a mechanical hard disk (HDD), a solid state hard disk (SSD), or a hybrid hard disk (HHD). Display interface 280 is used to present information and data generated by wheelchair service system 100 to the user. In some embodiments, display interface 280 can include a physical display such as a display with speakers, an LCD display, an LED display, an OLED display, an electronic ink display (E-Ink), and the like. In some embodiments, the display interface 280 can be an interactive interface on a smart interaction device in the wheelchair 110. The interaction interface may be an interface that can receive a user operation signal in addition to the display, such as a touch screen. The interactive interface can also be a combination of a physical display and a physical button.

3 is a schematic diagram of a mobile device shown in accordance with some embodiments of the present application. In some embodiments, mobile device 300 can implement one or more modules and units of user equipment 130 as described herein. As shown in FIG. 3, the mobile device 300 can include a communication platform 310, a display 320, a graphics processing unit (GPU) 330, a central processing unit (CPU) 340, an input/output interface 350, a memory 360, and a memory 390. In some embodiments, operating system 370 (eg, iOS, Android, Windows Phone, etc.) and one or more applications 380 can be loaded from memory 390 into memory 360 for execution by CPU 340.

4 is a schematic view of a wheelchair shown in accordance with some embodiments of the present application. The wheelchair 110 includes a wheelchair control device 410 and a smart interaction device 420.

The wheelchair control device 410 can be a lower position machine of the wheelchair, and the smart interaction device 420 can be a host computer of the wheelchair, that is, the smart interaction device generates a control signal based on the operation of the user at the interaction interface or based on the collected environmental signals, and the wheelchair control device 410 performs the smart interaction. The control signal of device 420 controls the movement of the wheelchair, such as steering, forward, acceleration, deceleration, braking, and the like.

In some embodiments, the smart interaction device 420 and the wheelchair control device 410 can communicate with the wheelchair controller in a wired or wireless manner using Bluetooth communication protocol and Message Queuing Telemetry Transport (MQTT). The communication protocol performs dual channel information transmission. For example, the smart interaction device 420 processes the received user operation signal or external environmental signal to generate a control signal, and the smart interaction device 420 can transmit the control signal to the wheelchair control device 410 via at least one of Bluetooth and/or MQTT.

In some embodiments, smart interaction device 420 can be a tablet. For example, the smart interaction device 420 can be a tablet that employs an arm processor. More specifically, the smart interaction device 420 may be a tablet computer that employs a cortex-A core arm processor. A customized control program is installed on the operating system of the smart interaction device 420. In some embodiments, the control program can be an Android application (application, APP). After the user device 130 establishes a connection with the smart interaction device 420, the user can manipulate the wheelchair through the APP on the smart interaction device. In some embodiments, the smart interaction device 420 can also establish a connection with a sensor component on a wheelchair.

In some embodiments, the smart interaction device 420 includes an interactive interface. In some embodiments, the interactive interface is a touch screen. The control program installed on the smart interaction device can generate a virtual button on the interaction interface, and the virtual button can actively trigger an emergency call. In some embodiments, the smart interaction device 420 includes physical buttons that can also trigger an emergency call. In some embodiments, the emergency call can also be triggered when the server 140 detects a dangerous operation for certain particular users. In some embodiments, the interactive interface receives an operation of a user and generates an operational signal. The smart interaction device 420 can transmit an operational signal to the wheelchair control device 410 to perform the user's operation. In some embodiments, the user operation may be an operation before the user device 130 establishes a connection with the smart interaction device 420. For example, the user operates the smart interaction device 420 to generate a two-dimensional code for the user device 130 to scan. For another example, the user operates the camera that opens the smart interaction device 420 to scan the two-dimensional code generated by the user device 130, or scans the user's head or fingerprint information for face recognition or fingerprint recognition. In some embodiments, the user operation may be an operation after the user device 130 establishes a connection with the smart interaction device 420. For example, the user operates a wheelchair to control wheelchair steering, forward, acceleration, deceleration, braking, and the like.

FIG. 5 is a schematic illustration of a sensor assembly shown in accordance with some embodiments of the present application. Sensor components are used to detect environmental signals such as position information, distance, images, and the like. In some embodiments, the sensor component is coupled to the smart interaction device 420 by wire or wirelessly. The wireless communication uses the Bluetooth communication protocol and the MQTT communication protocol for dual channel information transmission. As shown, the sensor assembly includes a position sensor 510, an infrared sensor group 520, an ultrasonic sensor group 530, and a camera set 540. In some embodiments, at least one of the sensor components can be configured in the smart interaction device 420. For example, the location information can be detected by a location sensor in the smart interaction device 420. For another example, image information collection can be implemented using a camera in the smart interaction device 420.

The position sensor 510 is configured to acquire position information of the wheelchair. In some embodiments, the positioning sensor can be obtained based on any positioning technique. For example, Global Positioning System (GPS) technology, Global Navigation Satellite System (GLONASS) technology, Compass navigation system (COMPASS) technology, Galileo positioning system (Galileo) technology, Quasi-Zenith satellite system (QZSS) technology, Beidou satellite positioning system ( One or any combination of BDS) technology, Wireless Fidelity (WiFi) positioning technology, and the like.

The infrared sensor group 520 is disposed around the wheelchair, and the infrared sensor group 520 detects the distance of the infrared detector to the ground. The distance signal is read by the smart interaction device 420 using analog-digital or digital-to-analog (AD/DA). The smart interaction device processes the read distance signal and displays it on the smart interaction interface. The processed distance signal is a visualized infrared image. The smart interaction device 420 controls the wheelchair based on the infrared image detected in real time to prevent falling and achieve safe driving. In some embodiments, the infrared sensor group 520 includes two infrared sensors 520-1 and 520-2 (not shown in Figure 5). The first infrared sensor and the second infrared sensor may be disposed at the bottom of the wheelchair. In some embodiments, the bottom of the wheelchair can be the base of a wheelchair. The base is spaced a distance from the ground. Wherein, the first infrared sensor 520-1 transmits a signal perpendicular to the ground to measure the first infrared signal; the second infrared sensor 520-2 emits a signal to the front of the wheelchair to measure the second infrared signal. For example, the second infrared sensor emits an infrared signal in a direction that is 45 degrees below the front of the wheelchair. For another example, the infrared signal emission direction of the second infrared sensor is 30 degrees from the front, and 60 degrees from the bottom. The smart interaction device 420 generates a vertical drop signal based on the first infrared signal and generates a tilt drop signal based on the second infrared signal. The smart interaction device 420 generates a control signal based on the vertical drop signal or the tilt drop signal to prevent the user from falling from the wheelchair. In some embodiments, the control signal is deceleration or braking.

The ultrasonic sensor group 530 is configured to acquire an ultrasound signal around the wheelchair. In some embodiments, the ultrasonic sensor group 530 includes one or more ultrasonic sensors. In some embodiments, the ultrasonic sensor is a transceiver integrated sensor. In particular, the ultrasonic sensor group 530 includes twelve 40 kHz ultrasonic sensors. The 12 40 kHz ultrasonic sensors are placed around the wheelchair. For example, three ultrasonic sensors are respectively disposed in the front, rear, left, and right directions of the wheelchair (non-corner positions). For example, an ultrasonic sensor is disposed at each of the four front corners of the smart wheelchair, the front left, the front left, the left rear, and the rear right corner; two ultrasonic sensors are disposed between the front of the wheelchair, that is, the left front and the right front ultrasonic sensors, Two ultrasonic sensors are disposed between the rear of the wheelchair, that is, the left rear and the right rear ultrasonic sensors, and two ultrasonic sensors are disposed between the left side of the wheelchair, that is, the left front and the left rear ultrasonic sensors, in the wheelchair. On the right side, two ultrasonic sensors are disposed between the right front and right rear ultrasonic sensors. Also for example, four ultrasonic sensors are respectively disposed in the front, left, and right directions of the wheelchair (non-corner positions). In some embodiments, the ultrasonic sensor group 530 transmits the detected ultrasonic signals to the smart interaction device 420. The smart interaction device 420 visualizes the received ultrasound signals by processing and displays them on the interactive interface. In some embodiments, the plurality of ultrasonic sensors located in front of the wheelchair are used to detect obstacles in front. When a plurality of ultrasonic sensors located in front of the wheelchair sequentially detect signals and transmit them to the smart interaction device 420, the smart interaction device 420 can determine that an obstacle is traversing ahead. For example, a first ultrasonic sensor, a second ultrasonic sensor, a third ultrasonic sensor, and a fourth ultrasonic sensor are disposed in order from the left to the front of the wheelchair, and the order of receiving the ultrasonic signals is the first ultrasonic sensor, the second ultrasonic sensor, and the first When the ultrasonic sensor and the fourth ultrasonic sensor are used, the smart interaction device can determine that an obstacle in front passes through from left to right. For another example, when the order of receiving the ultrasonic signals is the fourth ultrasonic sensor, the third ultrasonic sensor, the second ultrasonic sensor, and the first ultrasonic sensor, the smart interaction device can determine that an obstacle in front passes through from right to left. Also for example, when the first ultrasonic sensor and the second ultrasonic sensor continuously receive the ultrasonic signal and the third ultrasonic sensor and the fourth ultrasonic sensor do not receive the signal, the smart interaction device can determine that there is an obstacle in front of the wheelchair. The smart interaction device 420 can determine the distance from the obstacle and the traverse speed of the obstacle based on the ultrasound signal. The smart interaction device 420 generates control signals based on the distance and the traverse speed, such as deceleration, avoidance, braking, and the like.

The camera set 540 includes a front camera and a rear camera that can capture road image information and transmit the road information to the smart interaction device 420. The smart interaction device 420 displays the received road surface information in real time. The rear camera can be used to scan a two-dimensional code generated on the user device 130 to identify the user. In some embodiments, the front camera can be used to capture user images for operations such as face recognition or gesture unlocking. In some embodiments, the front camera can enable a user to make a video call with others, and the like.

In some embodiments, the seat of the wheelchair 110 further includes a multi-point pressure sensor that can be used to detect and determine if a person is riding a wheelchair.

In some embodiments, the user can implement more functions through a control program on the smart interactive device. For example, the geofencing feature. Based on the user's current location information, a wheelchair activity area can be set on a map displayed on the interactive interface of the wheelchair. The wheelchair is free to move within the area, and the server 140 will prompt or alert through the interactive interface when the wheelchair reaches the fence boundary or crosses the fence boundary. Another example is the status management function. Based on the data collected by the connected sensors, the intelligent interactive device calculates information such as the remaining power of the wheelchair, the speed of movement, and the remaining mileage of the wheelchair through the control program, and displays them on the interactive interface. Also for example, navigation and path planning functions. When outdoor, the current position is determined based on the positioning sensor, the Hidden Markov Model (HMM) is used for map matching to determine the precise position of the wheelchair for precise navigation, and the UWB is used indoors. , UWB) positioning technology, based on the depth information collected by the camera, the captured depth image and the pre-recorded indoor map data are matched and integrated to achieve accurate indoor positioning navigation. Another example is the remote recall function. In some embodiments, when the user has used the wheelchair, the wheelchair is required to automatically return to the hottest area or designated area, and the smart interaction device 420 can plan the path based on the current location and the location of the designated area and send an instruction to the wheelchair control device 410, Return the wheelchair to the designated area. In some embodiments, the designated area comprises a charging post. When the smart interactive device detects that the remaining capacity of the wheelchair and the remaining mileage are insufficient, it returns to the charging post to charge itself. Also for example, a fixed point follow function. In some embodiments, the wheelchair needs to move following the forward target. Using the Angle Of Arrival (AOA) technology and the depth information collected by the camera, the RF arrival angle technology and the image depth information collected by the camera are complemented and filtered to achieve accurate positioning and follow-up targets.

6 is a flow chart of a wheelchair control method, in accordance with some embodiments of the present application. In some embodiments, the wheelchair control method is performed by a smart interaction device and a wheelchair control device in the wheelchair 110.

At 610, an infrared signal is received. In some embodiments, the infrared signal is detected by an infrared sensor group and transmitted to a smart interaction device in the wheelchair. In some embodiments, the set of infrared sensors includes one or more infrared sensors. For example, a first infrared sensor is placed at the bottom of the wheelchair, transmitting a signal perpendicular to the ground to measure the first infrared signal; and a second infrared sensor is placed at the bottom of the wheelchair to transmit a signal to the front of the wheelchair (or downward) To measure the second infrared signal. In some embodiments, the infrared signal is the distance of the infrared sensor from the ground. The distance is determined based on the time difference between the signal transmitted by the infrared sensor and the received signal.

At 620, one or more drop signals are determined based on the infrared signal. In some embodiments, the drop signal is a signal that characterizes the wheelchair in an unsafe state. In some embodiments, the first infrared signal is a vertical distance of the first infrared sensor relative to the road surface; and the second infrared signal is a tilt distance of the second infrared sensor relative to the road surface. In some embodiments, the first infrared signal comprises a plurality of vertical distances acquired in real time, and the second infrared signal comprises a plurality of oblique distances acquired in real time. In some embodiments, the one or more drop signals comprise a vertical drop signal and a forward tilt signal. The one or more drop signals are generated by a smart interaction device. For example, the smart interaction device determines a vertical drop signal based on the received plurality of real-time vertical distances. A vertical drop signal is generated when the difference between the vertical distances of two adjacent time points is greater than the first threshold. The vertical drop signal characterizes that the vertical descent speed of the user on the wheelchair exceeds a first threshold. As another example, the smart interaction device determines a tilt drop signal based on the received plurality of real-time tilt distances. When the difference between the inclination distances of two adjacent time points is greater than the second threshold, a tilt drop signal is generated. The tilt drop signal characterizes that the user's forward tilt speed on the wheelchair exceeds a second threshold.

At 630, a control signal is generated based on the one or more drop signals. In some embodiments, the control signal is an operational signal that causes the wheelchair to slow or brake. The control signal is generated by a smart interaction device.

At 640, the wheelchair is controlled based on the control signal to prevent the user from falling. In some embodiments, the wheelchair is controlled by a wheelchair control device. The control signal is sent by the smart interaction device to the wheelchair control device. The smart interaction device is limited or wirelessly connected to the wheelchair control device. The wireless connection uses a Bluetooth communication protocol and a message queue telemetry transmission communication protocol for dual channel information transmission.

7 is a flow chart of a wheelchair control method, in accordance with some embodiments of the present application. In some embodiments, the wheelchair control method is performed by a smart interaction device and a wheelchair control device in the wheelchair 110.

At 710, an ultrasonic signal is received. In some embodiments, the ultrasonic signal is detected by an ultrasonic sensor group and transmitted to a smart interaction device in the wheelchair. In some embodiments, the set of ultrasonic sensors includes one or more ultrasonic sensors. For example, the ultrasonic sensor group includes twelve 40 KHz ultrasonic sensors. The 12 ultrasonic sensors are placed around the wheelchair. In some embodiments, the ultrasonic signal is received by a smart interaction device. In some embodiments, the smart interaction device can generate an ultrasound image based on the ultrasound signal.

At 720, an obstacle distance in front of the wheelchair is determined based on the ultrasonic signal. In some embodiments, the distance of the wheelchair from the obstacle is determined based on a time difference between the ultrasonic sensor transmitting and receiving the ultrasonic signal. In particular, based on the time difference of the ultrasonic signals received by several ultrasonic sensors disposed in front of the wheelchair, it can be determined whether the front obstacle is in a moving state. For example, when several ultrasonic sensors disposed in front of the wheelchair sequentially (sequentially) receive ultrasonic signals, the smart interactive device determines that an object traverses the front of the wheelchair.

At 730, a control signal is determined based on the obstacle distance in front of the wheelchair. In some embodiments, the control signal is generated by a smart interaction device. The control signal is an operational signal that causes the wheelchair to turn or brake. In particular, the smart interaction device can determine the control signal based on the distance of the obstacle in front of the wheelchair and the current speed of the wheelchair. For example, when the smart interaction device determines that an object traverses the front of the wheelchair, when the distance between the wheelchair and the traversing object is greater than a third threshold and the traveling speed of the wheelchair is less than a fourth threshold, the smart interaction device determines that the current state is safe and does not generate An operational signal; the smart interaction device generates an operational signal when the distance of the wheelchair from the traversing object is less than a third threshold. In some embodiments, the operational signal is deceleration, steering, or braking.

At 740, the wheelchair is controlled based on the control signal to avoid obstacles. In some embodiments, the wheelchair is controlled by a wheelchair control device. The control operation is an operation to make the wheelchair avoid obstacles. For example, a specific obstacle avoidance operation is determined according to an obstacle avoidance algorithm. The specific obstacle avoidance operation may be deceleration, steering bypassing the obstacle, and returning to the original track to continue.

In some embodiments, the position of the wheelchair in the road can be controlled based on the ultrasonic signals. In particular, the wheelchair can be controlled to travel on the left, center or right side of the road. For example, one or more ultrasonic sensors on the left side of the wheelchair may determine the distance from the left side of the road based on the time difference between transmitting and receiving the ultrasonic signals, and one or more ultrasonic sensors on the right side of the wheelchair may be determined based on the time difference between transmitting and receiving the ultrasonic signals. The distance from the right side of the road. The smart interaction device can generate a control signal based on the distance from the left and right sides of the road, and the wheelchair control device can control the position of the wheelchair at the road based on the control signal. When the wheelchair needs to travel on the right side of the road, the distance between the left and right sides of the road can be determined based on the ultrasonic signals obtained by the ultrasonic sensors on the left and right sides of the wheelchair, thereby determining whether the position of the wheelchair on the road is the right side, if When the current position of the wheelchair is not on the right side of the road, a control signal is generated to adjust the position of the wheelchair in the road.

The wheelchair control method as described in Figures 6 and 7 can be stored in a computer readable storage medium in the form of instructions, code or programs. In some embodiments, the instructions, code or program may be presented in the form of an application (Application, APP) in a smart device such as a mobile phone.

The basic concept has been described above, and it is obvious to those skilled in the art that the above disclosure is merely an example and does not constitute a limitation of the present application. Various modifications, improvements and improvements may be made by the skilled person in the art, although not explicitly stated herein. Such modifications, improvements, and modifications are suggested in this application, and such modifications, improvements, and modifications are still within the spirit and scope of the exemplary embodiments of the present application.

Also, the present application uses specific words to describe embodiments of the present application. A "one embodiment," "an embodiment," and/or "some embodiments" means a feature, structure, or feature associated with at least one embodiment of the present application. Therefore, it should be emphasized and noted that “an embodiment” or “an embodiment” or “an alternative embodiment” that is referred to in this specification two or more times in different positions does not necessarily refer to the same embodiment. . Furthermore, some of the features, structures, or characteristics of one or more embodiments of the present application can be combined as appropriate.

Moreover, those skilled in the art will appreciate that aspects of the present application can be illustrated and described by a number of patentable categories or conditions, including any new and useful process, machine, product, or combination of materials, or Any new and useful improvements. Accordingly, various aspects of the present application can be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.) or by a combination of hardware and software. The above hardware or software may be referred to as a "data block," "module," "sub-module," "engine," "unit," "sub-unit," "component," or "system." Moreover, aspects of the present application may be embodied in a computer product located in one or more computer readable medium(s) including a computer readable program code.

A computer readable signal medium may contain a propagated data signal containing a computer program code, for example, on a baseband or as part of a carrier. The propagated signal may have a variety of manifestations, including electromagnetic forms, optical forms, and the like, or a suitable combination. The computer readable signal medium may be any computer readable medium other than a computer readable storage medium that can be communicated, propagated, or transmitted for use by connection to an instruction execution system, apparatus, or device. Program code located on a computer readable signal medium can be propagated through any suitable medium, including a radio, cable, fiber optic cable, radio frequency signal, or similar medium, or a combination of any of the above.

The computer program code required for the operation of various parts of the application can be written in any one or more programming languages, including object oriented programming languages such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python. Etc., regular programming languages such as C, Visual Basic, Fortran 2003, Perl, COBOL 2002, PHP, ABAP, dynamic programming languages such as Python, Ruby and Groovy, or other programming languages. The program code can be run entirely on the user's computer, or run as a stand-alone software package on the user's computer, or partially on the user's computer, partly on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer can be connected to the user's computer via any network, such as a local area network (LAN) or wide area network (WAN), or connected to an external computer (eg via the Internet), or in a cloud computing environment, or as a service. Use as software as a service (SaaS).

In addition, the order of processing elements and sequences, the use of alphanumerics, or other names used herein are not intended to limit the order of the processes and methods of the present application, unless explicitly stated in the claims. Although the above disclosure discusses some embodiments of the invention that are presently considered useful by way of various examples, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments. The requirements are intended to cover all modifications and equivalent combinations that come within the spirit and scope of the embodiments. For example, although the system components described above may be implemented by hardware devices, they may be implemented only by software solutions, such as installing the described systems on existing servers or mobile devices.

In the same way, it should be noted that in order to simplify the description of the disclosure of the present application, in order to facilitate the understanding of one or more embodiments of the present invention, in the foregoing description of the embodiments of the present application, various features are sometimes combined into one embodiment. The drawings or the description thereof. However, such a method of disclosure does not mean that the subject matter of the present application requires more features than those mentioned in the claims. In fact, the features of the embodiments are less than all of the features of the single embodiments disclosed above.

Claims (11)

A wheelchair that includes: Intelligent interactive device and wheelchair control device; The smart interaction device includes an arm processor; the smart interaction device is configured to: Receiving an infrared signal collected by the infrared sensor group; Determining one or more drop signals based on the infrared signal, the drop signal being a signal indicative of the wheelchair being in an unsafe state; Generating a control signal based on the one or more drop signals, the control signal including decelerating or braking the wheelchair; The wheelchair control device is wired or wirelessly connected to the smart interaction device, and the wheelchair control device is configured to acquire a control signal of the wheelchair and decelerate or brake the wheelchair based on the control signal to prevent the user from falling. The wheelchair of claim 1, the smart interaction device further comprising an interaction interface, the interaction interface is configured to: Receiving an operation signal generated by the user on the interactive interface; The wheelchair is controlled based on the operation signal. The wheelchair of claim 1 further comprising a sensor assembly comprising a combination of one or more of a position sensor, an infrared sensor group, an ultrasonic sensor group, and a camera set, wherein the sensor assembly At least one is configured in the smart interaction device. A wheelchair according to claim 3, said ultrasonic sensor group comprising a plurality of ultrasonic sensors disposed around a wheelchair, said plurality of ultrasonic sensors located in front of the wheelchair for detecting a distance of an obstacle in front of the wheelchair, said A plurality of ultrasonic sensors on the left and right sides of the wheelchair are used to detect the distance of the wheelchair from both sides of the road. A wheelchair according to claim 3, said camera set comprising a front camera and a rear camera, said front camera for collecting image information of a user, said image information being used for determining a user identity, said The camera is used to collect road image information, and the road image information is displayed on the smart interactive device. The wheelchair according to claim 3, wherein the signal detected by the sensor group is sent to a smart interaction device, and the smart interaction device processes the received signal to generate display information, where the display information includes position information, a distance value between the infrared sensor and the ground. , the distance between the ultrasonic sensor group and the obstacle and the visualized image. A wheelchair control method comprising: Receiving an infrared signal obtained by an infrared sensor group; Determining one or more drop signals based on the infrared signal; Generating a control signal based on the one or more drop signals, the control signal comprising decelerating or braking a wheelchair, the control signal being generated by a smart interaction device, the smart interaction device comprising an arm processor; Based on the control signal, the wheelchair is controlled to slow down or brake to prevent the user from falling. The wheelchair control method according to claim 7, wherein the control signal is generated by an intelligent interaction device based on infrared signal processing, the wheelchair is controlled by a wheelchair control device based on the control signal, and the smart interaction device is wired or wireless Data communication is performed with the wheelchair control device, and the wireless communication uses the Bluetooth communication protocol and the message queue telemetry transmission communication protocol to perform dual channel information transmission. The wheelchair control method according to claim 7, further comprising the user operating the smart interaction device to generate a user operation signal, controlling the wheelchair based on the user operation signal; the user operating the smart interaction device comprises the user establishing a connection with the smart interaction device The user establishes a connection by scanning the two-dimensional code generated on the smart interaction device by the user equipment, or the user equipment generates a two-dimensional code for the smart interaction device to scan and establish a connection. A wheelchair control method comprising: Receiving one or more ultrasonic signals obtained by a plurality of ultrasonic sensors located around the wheelchair; Determining the distance of obstacles in front of the wheelchair based on the ultrasonic signal; Determining a control signal based on the obstacle distance in front of the wheelchair; Control the wheelchair to slow down, turn or brake based on control signals to avoid obstacles. A computer readable storage medium storing computer instructions, the computer instructions being executed by at least one processor, the method comprising: Receiving an infrared signal obtained by an infrared sensor group; Determining one or more drop signals based on the infrared signal; Generating a control signal based on the one or more drop signals, the control signal comprising decelerating or braking a wheelchair, the control signal being generated by a smart interaction device, the smart interaction device comprising an arm processor; based on the controlling Signal to control the wheelchair to slow down or brake to prevent the user from falling.

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