WO2019047446A1 - Intelligent wheelchair with urgent danger prevention function - Google Patents

Abstract

A wheelchair (100), comprising a chair frame (101), and a cushion (102), a chair back (103), armrests (104) and rollers (105) mounted on the chair frame (101), characterized by further comprising a position sensor, a dangerous situation recognition apparatus (200), and an emergency processing apparatus. The position sensor is used for acquiring the current position of the wheelchair (100). The dangerous situation recognition apparatus (200) is used for recognizing whether the current position of the wheelchair (100) is safe. The emergency processing apparatus is used for performing emergency processing when it is determined that the current position of the wheelchair (100) is unsafe.

Description

Intelligent wheelchair with emergency hedging

cross reference

The priority of the Chinese application numbered CN201710814529.0, filed on Sep. 11, 2017, is hereby incorporated by reference.

Technical field

The present application relates to a wheelchair, and more particularly to an intelligent wheelchair containing emergency hedging.

Background technique

Wheelchairs are an important means of transportation for people with reduced mobility and physical disabilities. As the population ages, such aids are becoming more and more important. However, in the actual application process of the prior art, an emergency situation is prone to occur, and the wheelchair cannot operate and control the danger in time, and cannot protect the user who is in a dangerous situation, resulting in injury to the user or damage to the wheelchair body.

Brief

One aspect of the present application relates to a wheelchair. The wheelchair may include a seat frame, and a seat cushion, a seat back, an armrest, and a roller mounted on the seat frame. The wheelchair may further include a position sensor, a hazard identification device, and an emergency treatment device. The position sensor is configured to obtain a current position of the wheelchair; the danger identification device is configured to determine whether the current position of the user is safe; and the emergency processing device is configured to perform emergency treatment when the danger identification device determines that the current position of the wheelchair is unsafe.

According to some embodiments of the present application, the wheelchair further includes a camera for acquiring image data of the location of the wheelchair.

According to some embodiments of the present application, the wheelchair may further include a mounting bracket that may be mounted on the position sensor for mounting the camera.

According to some embodiments of the present application, the wheelchair may further include a motor that can be used to drive the camera and/or the mounting bracket to rotate.

According to some embodiments of the present application, the dangerous situation identifying apparatus may further include a pickup, a transmitting unit, the pickup may be used to acquire voice information of the wheelchair user, and the transmitting unit may be further configured to transmit the voice information of the wheelchair user.

According to some embodiments of the present application, the dangerous situation identifying apparatus may further include a receiving unit that is operative to receive wheelchair user information.

According to some embodiments of the present application, the dangerous situation identifying apparatus may further include a receiving unit, the sounding unit, and the receiving unit may be configured to receive user voice information, and the sound may be used to play the received user's voice information.

According to some embodiments of the present application, the wheelchair may further include an emergency treatment device that performs emergency treatment when the dangerous situation recognition device determines that the current position of the wheelchair is unsafe.

One aspect of the present application relates to a method for identifying a dangerous situation based on the above. The method may include: acquiring, by the position sensor, a current position of the wheelchair; performing a dangerous situation identification based on the current position data of the wheelchair; and based on the dangerous condition recognition result, the emergency processing device performs emergency treatment.

According to some embodiments of the present application, the method further includes acquiring data of ambient temperature, pressure, and the like; and performing dangerous situation identification based on the ambient pressure, pressure, and the like.

According to some embodiments of the present application, the method may further include comparing data based on ambient pressure, temperature, and the like with a set threshold; identifying the current wheelchair when the ambient pressure and temperature are greater than the set threshold The location is not secure.

According to some embodiments of the present application, the method may further include the emergency processing device activating the alarm device when identifying that the current position of the wheelchair is unsafe.

According to some embodiments of the present application, the method may further include the emergency treatment device activating the safety guard when identifying that the current position of the wheelchair is unsafe.

Some additional features of this application can be described in the following description. Some additional features of the present application will be apparent to those skilled in the art from a review of the following description and the accompanying drawings. The features of the present disclosure can be realized and attained by the practice or use of the methods, the <RTIgt;

Description of the drawings

The drawings described herein are intended to provide a further understanding of the present application, and are intended to be a part of this application. The same reference numerals in the respective drawings denote the same parts:

1A is a schematic view of a wheelchair including a camera, according to some embodiments of the present application;

1B is a schematic view of a wheelchair including a camera, according to some embodiments of the present application;

1C is a schematic view of a wheelchair including a camera, according to some embodiments of the present application;

1D is a schematic view of a wheelchair including a camera, according to some embodiments of the present application;

2 is a schematic diagram of a dangerous situation identification device according to some embodiments of the present application;

3 is an exemplary flow diagram of a hazardous situation process illustrated in accordance with some embodiments of the present application.

specific description

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below. Obviously, the drawings in the following description are only some examples or embodiments of the present application, and those skilled in the art can apply the present application according to the drawings without any creative work. Other similar scenarios. The same reference numerals in the drawings represent the same structures or operations, unless otherwise

The words "a", "an", "the" and "the" In general, the terms "comprising" and "comprising" are intended to include only the steps and elements that are specifically identified, and the steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

As indicated in this application and the claims, unless specifically indicated by the context, "installed on", "connected to" may mean directly connected, installed, or may refer to through one or more middleware and / or the connector is indirectly connected, indirectly installed. The terms "vertical", "horizontal", "left", "right", and the like, as used herein, are for the purpose of illustration and are not intended to be the only embodiment.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

Flowcharts are used in this application to illustrate the operations performed by systems in accordance with embodiments of the present application. It should be understood that the preceding or lower operations are not necessarily performed in the precise order. Instead, the various steps can be processed in reverse or simultaneously. Also, add or add other actions to these processes, or remove a step or step from those processes.

1A through 1D are schematic views of a wheelchair including a camera, according to some embodiments of the present application. The wheelchair 100 can include a chair frame 101, a seat cushion 102, a seat back 103, one or more armrests 104, a plurality of rollers 105, a camera 106, a mounting bracket 107, and a motor 108. The seat cushion 102, the seat back 103, the armrest 104, and the plurality of rollers 105 may be mounted on the seat frame 101.

The camera 106 can acquire the wheelchair current position data of the user of the wheelchair 100. The wheelchair current location data of the user includes at least surrounding environment map data. The environmental data of the location of the user refers to at least data such as the surrounding environment pressure, temperature, and the like. In some embodiments, the camera 106 can be activated automatically. For example, the camera 106 is automatically activated upon detecting that the wheelchair (eg, the roller 105) is starting to travel. For another example, the time at which the camera 106 is operating is set, and the camera 106 is activated at the set time. For another example, after receiving the start command, the camera 106 automatically starts. In some embodiments, after the camera 106 is activated, the camera 106 can continue to operate or can operate periodically. For example, the camera can operate for a period of time (eg, five minutes) at intervals (eg, ten minutes).

The mounting bracket 107 can be used to mount the camera 106. The mounting bracket 107 can be mounted on the seat frame 101. In some embodiments, the mounting bracket 107 can be deformed. For example, a wheelchair user can manually set the degree of curvature and angle of the mounting bracket 107.

As shown in FIG. 1A, the mounting bracket 107 can be mounted to the seat frame 101 by a motor 108. The motor 108 can be mounted on a chair frame 101 adjacent to the seat cushion 102. The motor 108 can be used to drive the mounting bracket 107 to rotate. In some embodiments, the motor 108 can drive the mounting bracket 107 to rotate 360 degrees in any plane. In some embodiments, the motor 108 can drive the mounting bracket 107 to rotate based on the result of the wheelchair current position data. For example, the motor 108 drives the mounting bracket 107 to rotate such that the camera 106 can obtain a panoramic map of the surroundings of the wheelchair user.

As shown in FIG. 1B, the mounting bracket 107 can be mounted on the seat frame 101 adjacent to the seat cushion 102. The camera 106 can be mounted to the mounting bracket 107 by a motor 108, for example, at the end of the mounting bracket 107. The motor 108 can be used to drive the camera 106. In some embodiments, the motor 108 can drive the camera 106 to rotate 360 degrees in any plane. In some embodiments, the motor 108 can drive the camera 106 to rotate based on ambient results.

As shown in FIG. 1C, the mounting bracket 107 can be mounted to the seat frame 101 by a motor 108. The motor 108 can be mounted on a chair frame 101 near the seat back 103. The motor 108 can be used to drive the mounting bracket 107 to rotate. In some embodiments, the motor 108 can drive the mounting bracket 107 to rotate 360 degrees in any plane. In some embodiments, the motor 108 can drive the mounting bracket 107 to rotate as a result of the surrounding environment.

As shown in FIG. 1D, the mounting bracket 107 can be mounted on the seat frame 101 near the seat back 103. The camera 106 can be mounted to the mounting bracket 107 by a motor 108, for example, at the end of the mounting bracket 107. The motor 108 can be used to drive the camera 106. In some embodiments, the motor 108 can drive the camera 106 to rotate 360 degrees in any plane. In some embodiments, the motor 108 can drive the camera 106 to rotate based on the results of ambient image data.

The wheelchair 100 can further include a danger condition identification device 200 (not shown). The dangerous situation identification device 200 can enable a user of the wheelchair 100 to communicate with the outside, for example, a mobile device, to exchange information (eg, a video call, a voice call). The mobile device may include a mobile phone, a notebook computer, a desktop computer, a tablet computer, a smart wearable device (eg, a smart watch), and the like. In some embodiments, the dangerous situation identification device 200 can transmit information acquired by the wheelchair 100 (eg, environmental information of the user acquired by the camera 106) to the outside. In some embodiments, the dangerous situation identification device 200 can receive information (eg, video information, voice information) from outside (eg, a mobile device).

In some embodiments, the danger condition identification device 200 can be mounted on any component of the wheelchair 100, such as the chair frame 101, the seat cushion 102, the seat back 103, the armrest 104, the roller 105, the camera 106, the mounting bracket 107, the motor 108 et al. At this time, the dangerous situation recognition device 200 can exchange information (for example, environment information of the user) with the camera 106 by means of wireless transmission. In some embodiments, the dangerous situation identification device 200 can be combined with the camera 106 into one component. The component can obtain information about the environment in which the user is located, and can also exchange information. For a further description of the dangerous situation identification device 200, see the description of FIG.

The wheelchair 100 can further include an alarm device (not shown). The alarm device can issue an alarm. The alarm can be an alarm call. In some embodiments the alarm device can emit an optical signal (eg, red light, green light, etc.). In some embodiments, the alerting device can make a call for help to someone or an organization, such as a loved one of the user, a nearby hospital, security of the community, and the like.

In some embodiments, the alarm device can be mounted on any component of the wheelchair 100, such as the chair frame 101, the cushion 102, the seat back 103, the armrest 104, the roller 105, the camera 106, the mounting bracket 107, the motor 108, and the like. In some embodiments, the alarm device can be combined with the camera 106 into one component. The component can obtain both the external environment data of the user and an alarm. In some embodiments, the alarm device can be combined with the danger condition identification device 200 into one component. The dangerous situation recognition device 200 can issue an alarm.

The wheelchair 100 can further include a processor (not shown). The processor can process external environmental data acquired by the camera 106. For example, the processor can perform dangerous situation identification based on the external environmental data. Further, the processor may perform a corresponding dangerous situation processing based on the result of the dangerous situation. For a further description of the hazardous situation handling, see the description of FIG.

The processor can control other components of the wheelchair 100, such as the roller 105, the camera 106, the motor 108, the alarm device, the hazard identification device 200, and the like. In some embodiments, the processor can control the rotational speed of the roller 105 based on the processing result of the hazard identification to control the travel speed of the wheelchair 100. In some embodiments, the processor can control the startup of the camera 106 and the duty cycle of the camera 106. In some embodiments, the processor can control the operating speed and operating angle of the motor 108 to control the angle of rotation of the camera 106 and/or the mounting bracket 107 such that the camera 106 can acquire panoramic map data of the location of the user. In some embodiments, the processor can control the alarm device such that the alarm device issues an alarm. In some embodiments, the processor can control the duty cycle of the hazardous situation identification device 200, for example, to transmit image data of the location of the user every ten minutes.

In some embodiments, the processor may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), and an application-specific instruction-set processor (ASIP). , Graphics Processing Unit (GPU), Physics Processing Unit (PPU), Digital Signal Processor (DSP), Field Programmable Gate Array (FPGA) , Programmable Logic Device (PLD), Controller (Controller), Microcontroller Unit, Processor, Microprocessor, Advanced RISC Machines, etc. , or a combination of several.

In some embodiments, the wireless transmission may be via a wireless network (Bluetooth, wireless local area network (WLAN, Wi-Fi, WiMax, etc.), mobile network (2G, 3G, 4G signals, etc.), or other connection method (virtual dedicated Realization of virtual private network (VPN), shared network, near field communication (NFC), ZigBee, etc.

It is to be noted that the above description of the wheelchair 100 is merely for convenience of description and is not intended to limit the scope of the embodiments. It will be understood by those skilled in the art that after understanding the principle of each module, it is possible to arbitrarily combine the modules without deviating from the principle, or to form a subsystem to be connected with other modules. The configuration is subject to various corrections and changes. However, these modifications and changes are still within the scope of the above description. In some embodiments, the wheelchair 100 can include two motors 108 at the same time, one motor 108 for driving the camera 106 to rotate, and the other motor 108 for driving the mounting bracket 107 to rotate. In some embodiments, the mounting bracket 107 can be mounted at other locations of the wheelchair 100 (other than the seat frame 101), such as the armrest 104, the seat back 103, and the like. In some embodiments, the wheelchair 100 can further include a memory for storing environmental map data of the user and other data acquired by the wheelchair.

2 is a schematic diagram of a hazardous situation identification device, in accordance with some embodiments of the present application. As shown, the dangerous situation recognition apparatus 200 may include an acquisition unit 210, a reception unit 220, a pickup 230, a transmission unit 240, and an audio 250.

The acquiring unit 210 may acquire information of a surrounding environment (for example, moving map data). The information may include map data of the location of the user acquired by the camera 106, pressure, temperature data, voice data of the user acquired by the pickup 230, or other information. The acquiring unit 210 may acquire the surrounding environment information by means of wireless transmission. In some embodiments, the acquisition unit 210 can acquire the wheelchair current location data in real time or periodically. For example, the acquisition unit 210 can acquire temperature data at the time of fire occurrence in real time.

The receiving unit 220 may receive information acquired by the acquiring unit. The receiving unit may receive the information by means of wireless transmission. In some embodiments, receiving unit 220 can receive the information in real time or periodically. For example, the receiving unit 220 can receive the information every ten minutes.

The pickup 230 can acquire voice information of a wheelchair user or others. In some embodiments, the pickup may include a microphone, an audio amplification circuit, and the like. The pickups can be classified into an active pickup and a passive pickup.

The sending unit 240 can be configured to send the information. The transmitting unit may transmit the information to the sound by means of wireless transmission.

The audio 250 can be used to play voice information, such as voice information of a user, voice information acquired from outside, and the like. In some embodiments, the sound 250 can include a power amplifier, a speaker, and the like.

Information can be exchanged between the various components described above (e.g., acquisition unit 210, receiving unit 220, pickup 230, transmitting unit 240, audio 250). For example, the receiving unit 220 can transmit the data information received from 210 to the pickup 230. For another example, the receiving unit 220 may transmit voice information received from the outside to the audio 250.

In order to more fully explain the dangerous situation recognition device 200, an example is as follows. When the camera 106 acquires the map data of the environment where the user is located, the sending unit 240 transmits the external environment data of the user and/or the voice information of the user to an external mobile device by means of wireless transmission; meanwhile, the receiving unit 220 Video information and/or voice information is received from the mobile device and the video information and/or voice information is transmitted to the audio 250, respectively. The voice information is sent to the external mobile device through the receiving unit 220 and/or the audio 250, so that the wheelchair user can avoid the risk and protect himself in time when encountering a dangerous situation.

It should be noted that the above description of the dangerous situation identification device 200 is merely for convenience of description, and the present application is not limited to the scope of the embodiments. It will be understood by those skilled in the art that after understanding the principle of each module, it is possible to arbitrarily combine the modules without deviating from the principle, or to form a subsystem to be connected with other modules. The configuration is subject to various corrections and changes. However, these modifications and changes are still within the scope of the above description. For example, the dangerous situation identifying apparatus 200 may further include an encoding unit and a decoding unit, the encoding unit may transmit the information of the transmitting unit 210 to the external, and the decoding unit may receive the encoded information from the external receiving unit 220. decoding.

3 is an exemplary flow diagram of a hazardous situation process illustrated in accordance with some embodiments of the present application. The process 300 can be implemented by a processor in the wheelchair 100. Process 300 can include:

Step 310: The processor acquires current position data of the wheelchair of the user. The user's wheelchair current location data may be obtained by the camera 106 and/or sensor. The user external environment data includes one or more panoramic maps. In some embodiments, the processor may acquire the panoramic map data continuously or periodically. For example, the processor may acquire panoramic map data of the environment in which the user is located every ten minutes.

Step 320, the processor may perform dangerous situation identification based on the current location data of the wheelchair. For example only, for example, when the ambient pressure acquired by the sensor is greater than a predetermined threshold (eg, 1.03 x 10 ⁵ Pa), the processor identifies that the environment is at risk of fire. As an example, when the ambient pressure described above is less than 1.03 x 10 ⁵ Pa, the processor can recognize that there is no fire hazard in the environment. For another example, when the distance of the wheelchair user acquired by the sensor from the obstacle is less than a set threshold (for example, 1 m), the processor recognizes that the wheelchair has a collision risk.

Step 330, based on the result of the dangerous situation identification, the processor may implement one or more functions. In some embodiments, the processor can issue an alarm based on the results of the hazard identification. For example, when the ambient pressure acquired by the sensor is greater than a predetermined threshold (eg, 1.03 x 10 ⁵ Pa), the processor can identify a fire hazard in the environment. As an example, when the ambient pressure is less than 1.03×10 ⁵ Pa, the processor may identify that the environment does not have a fire hazard; further, when the processor identifies that the environment has a dangerous situation such as a fire, the processor may control The alarm device issues an alarm.

In some embodiments, the processor can identify a dangerous condition based on the results of the hazard identification (eg, characteristics at the time of the fire). When the pressure and temperature changes of the environment are within a preset threshold range, the processor can automatically make a hedging action, for example, reducing the driving speed.

It is to be noted that the above description of the process 300 is merely exemplary and is not intended to limit the scope of the embodiments. It will be understood that those skilled in the art, after understanding the steps performed by the process 300, may perform any combination of the steps and perform various modifications and changes to the steps of the process. However, these modifications and changes are still within the scope of the above description. For example, in some embodiments, the process 300 can further include controlling the safety barrier protection action of the wheelchair 100 based on the results of the hazard identification. For example, the wheelchair 100 automatically provides safety barrier protection when the processor is unable to determine the dangerous condition. Modifications such as these are within the scope of the present application.

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 the present 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," "engine," "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, RF, 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, and Python. Etc., regular programming languages such as C, Visual Basic, Fortran 2003, Perl, COBOL 2002, PHP, and ABAP, dynamic programming languages such as Python, Ruby, and Groovy, or other programming languages. The program code can 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.

Numbers describing the number of components, attributes, are used in some embodiments, it being understood that such numbers are used in the examples, and in some examples the modifiers "about," "approximately," or "substantially" are used. Modification. Unless otherwise stated, "about", "approximately" or "substantially" indicates that the number is allowed to vary by ±20%. Accordingly, in some embodiments, numerical parameters used in the specification and claims are approximations that may vary depending upon the desired characteristics of the particular embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and employ a method of general digit retention. Although numerical fields and parameters used to confirm the breadth of its range in some embodiments of the present application are approximations, in certain embodiments, the setting of such values is as accurate as possible within the feasible range.

Each of the patents, patent applications, patent applications, and other materials, such as articles, books, specifications, publications, documents, or articles, which are hereby incorporated by reference herein in their entireties, in Except for the application history documents that are inconsistent or conflicting with the content of this application, the documents that have the broadest scope of the claims of the present application (currently or later appended to this application) are also excluded. It should be noted that where the use of the description, definitions, and/or terms in the subject matter of the present application is inconsistent or conflicting with the content described herein, the use of the description, definition, and/or terminology of the present application controls.

Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments of the present application. Other variations are also possible within the scope of the present application. Thus, by way of example, and not limitation,,, FIG. Accordingly, the embodiments of the present application are not limited to the embodiments that are specifically described and described herein.

Claims (13)

Emergency evacuation device containing wheelchair, the wheelchair includes a position sensor, means hazard identification and emergency processing means; The position sensor is used to obtain a current position of the wheelchair; The danger identification device is configured to determine whether the current position of the wheelchair is safe; When the danger identification device determines that the current position of the wheelchair is unsafe, the emergency treatment device performs emergency treatment. The wheelchair of claim 1, the wheelchair comprising a mounting bracket mounted on the position sensor for mounting a camera. The wheelchair of claim 2, the wheelchair comprising a motor for driving the camera and/or the mounting bracket to rotate. The wheelchair according to claim 1, wherein the danger recognition device comprises a pickup, a transmitting unit; The pickup is configured to acquire voice information of a user, The sending unit is configured to transmit voice information of the user. The wheelchair according to claim 1, wherein the danger recognition device further comprises a receiving unit, an audio system, The receiving unit is configured to receive voice information of a user, The sound is used to play the user's voice information. The wheelchair according to claim 1, wherein said danger recognition device comprises a receiving unit and an audio; The receiving unit is configured to receive voice information from the outside; The sound is used to play the voice information received from the outside. A wheelchair according to claim 1, said emergency treatment device comprising an alarm device and a safety guard device, The alarm device is used to make an alarm call; The safety guard is used to create a safety protection barrier that protects the user. The wheelchair of claim 7, the alarm device comprising an alarm phone, the safety guard comprising a fall buffer and a breathing mask. A method for identifying a dangerous situation of a wheelchair according to claim 4, comprising: Obtaining a current position of the wheelchair by the position sensor; Performing current location hazard identification based on the current location data. The method for identifying a dangerous situation according to claim 9, wherein the method further comprises: Obtain the temperature and pressure data of the current position of the wheelchair; The current position hazard identification is performed based on the current position pressure and pressure data. The method for identifying a dangerous situation according to claim 9, wherein the method further comprises: Comparing data such as current position pressure and temperature with a set threshold; When the current position pressure and temperature are greater than the set threshold, it is determined that the current position is unsafe. The method for identifying a dangerous situation according to claim 9, wherein the method further comprises: The emergency treatment device activates the alarm device when it is determined that the current position of the wheelchair is unsafe. The method of claim 9 wherein the method further comprises: The emergency treatment device simultaneously activates the safety guard when it is determined that the current position of the wheelchair is unsafe.

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