CN110711088A - An intelligent wheelchair based on intelligent perception and medical care services - Google Patents

Abstract

The invention discloses an intelligent wheelchair based on intelligent perception and medical care services, which includes a backrest and a seat cushion, protective plates are arranged on both sides of the seat cushion, a support frame is connected to the bottom end of the seat cushion, and a drive box is arranged inside the support frame to support The bottom end of one side of the frame close to the backrest is provided with a driving wheel, the bottom end of the side of the support frame away from the backrest is provided with a direction wheel, one side of the support frame is connected with an L-shaped tripod, and a leg pad is laterally connected between the legs. A foot pedal is arranged at the end of the foot pedal, and an auxiliary wheel is installed at the bottom end of the foot pedal. The invention increases the contact area between the wheelchair and the ground through the auxiliary wheel, makes the wheelchair move more smoothly, prevents the wheelchair from directly overturning to the ground, and can detect the information of the user on the wheelchair and the information of the external environment through the sensing module, thereby facilitating the The wheelchair can determine the forward route by itself to prevent collisions, which is helpful for patients to relax or do rehabilitation exercises, so as to achieve the combination of medical care and health care.

Description

An intelligent wheelchair based on intelligent perception and medical care services

technical field

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

Background technique

At present, the world's aging population is increasing, the number of empty nesters is increasing, and the number of disabled people caused by various factors is increasing year by year. The physical therapy and rehabilitation of such a large number of disabled and elderly people has become a major hot spot in the society. With the development of technology, these disadvantaged groups are eager to get out of their homes and reintegrate into society. The emergence of intelligent wheelchairs has improved their freedom of movement and provided them with good travel. When the current smart wheelchair is running on an inclined ground, it is prone to roll over when the ground inclination is greater than 10°, causing the elderly or patient in the wheelchair to fall over, causing harm to the human body.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to overcome the defects of the prior art, and provide an intelligent wheelchair based on intelligent perception and medical care services, which can prevent the wheelchair from rolling over due to the inclination of the ground during use.

In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions:

The present invention is an intelligent wheelchair based on intelligent perception and medical care services, comprising a backrest and a seat cushion, handles are fixedly installed on both edges of the back of the backrest, armrests are installed on both sides of the top of the seat cushion, and the backrest is One side of the bottom end is connected with one side of the seat cushion, a rotating shaft is connected, a top end of one side of one of the armrests is connected with a controller, both sides of the seat cushion are provided with protective plates, and the bottom end of the seat cushion is connected with a support frame, A drive box is set up inside the support frame, a drive wheel is set at the bottom end of one side of the support frame close to the backrest, a direction wheel is set at the bottom end of the side of the support frame away from the backrest, and one side of the support frame is connected L-shaped tripods, leg pads are laterally connected between the tripods, footrests are arranged at the ends of the tripods, and auxiliary wheels are installed at the bottom ends of the footrests.

As a preferred technical solution of the present invention, sliding grooves are provided on both sides of the support frame, a sliding block is sleeved inside the sliding groove, and a support rod is connected to the bottom end of one side of the sliding block, so A support plate is installed on the bottom surface of the support rod, a spring buckle is arranged on the top of the chute, a support plate is clamped inside the spring buckle, and the top end of the support plate is inserted into the support seat through the support shaft. , the inner surface of the support seat is provided with a spring.

As a preferred technical solution of the present invention, the drive box is electrically connected to the controller, the drive box is connected to a steering wheel through a universal shaft, and the steering wheel is electrically connected to the controller.

As a preferred technical solution of the present invention, the outer surface of the rotating shaft is provided with a turning handle that can adjust the inclination of the backrest.

As a preferred technical solution of the present invention, the side of the backrest facing the seat cushion is provided with a safety belt.

As a preferred technical solution of the present invention, the elastic direction of the spring is on both sides of the support frame, so as to exert a thrust on the support plate, and the maximum opening angle of the support plate is 90°.

As a preferred technical solution of the present invention, the horizontal and vertical distance between the support plate and the driving wheel is greater than 5 cm and less than 12 cm.

As a preferred technical solution of the present invention, the controller is connected to a computer processing unit, the computer processing unit includes a sensor module, a driving module and a human-computer interaction module, and the sensor module includes an internal state sensing module and an external environment The state perception module, the internal state perception module determines the posture information of the wheelchair user through the attitude sensor, and the external environment state perception module obtains the self-positioning information through the displacement speed and distance of the encoder respectively; through the CCD camera, the ultrasonic sensor and the proximity sensor The switch continuously obtains distance information of the surrounding environment and obstacles.

Compared with the prior art, the beneficial effects of the present invention are as follows:

The invention increases the contact area between the wheelchair and the ground through the auxiliary wheel, so that the wheelchair can move forward more stably, and at the same time, the wheelchair can be supported sideways when the wheelchair is tilted and overturned, so as to prevent the wheelchair from directly overturning on the ground and causing injury to the elderly or patients, Reduce the possibility of injury, and the information of the user on the wheelchair and the information of the external environment can be detected through the perception module, so as to facilitate the wheelchair to judge the forward route by itself, prevent collision, and help the patient to relax or do rehabilitation exercises. Combination of medical care.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification, and are used to explain the present invention together with the embodiments of the present invention, and do not constitute a limitation to the present invention. In the attached image:

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the structure schematic diagram after removing the support plate and the spring buckle of the present invention;

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

4 is a schematic diagram of the connection of an intelligent module of the present invention;

In the picture: 1. Backrest; 2. Seat cushion; 3. Handle; 4. Armrest; 5. Controller; 6. Protective plate; 7. Support frame; 8. Drive box; 9. Drive wheel; 10, Steering wheel; 11 , tripod; 12, leg pad; 13, foot pedal; 14, auxiliary wheel; 15, chute; 16, sliding block; 17, support rod; 18, support plate; 19, spring buckle; 20, support plate; 21, support seat; 22, spring; 23, shaft; 24, computer processing unit; 25, wheelchair body; 26, sensor module; 27, drive module; 28, human-computer interaction module; 29, internal state perception module; 30, External environment state perception module; 31, attitude sensor; 32, encoder; 33, CCD camera; 34, ultrasonic sensor; 35, proximity switch.

Detailed ways

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, but not to limit the present invention.

Wherein the same reference numbers in the drawings refer to the same parts throughout.

Example 1

As shown in Figures 1-4, the present invention provides an intelligent wheelchair based on intelligent perception and medical care services, including a backrest 1 and a seat cushion 2, handles 3 are fixedly installed on both edges of the back of the backrest 1, and the top two sides of the seat cushion 2 are fixedly installed. Armrests 4 are installed on the sides, and a rotating shaft 23 is connected to one side of the bottom end of the backrest 1 and one side of the seat cushion 2. One of the top ends of one armrest 4 is connected to a controller 5, and both sides of the seat cushion 2 are provided with protective plates 6. , the bottom end of the seat cushion 2 is connected with a support frame 7, a drive box 8 is set up inside the support frame 7, a drive wheel 9 is set at the bottom end of the side of the support frame 7 close to the backrest 1, and the bottom end of the side of the support frame 7 away from the backrest 1 is provided A steering wheel 10 is provided, one side of the support frame 7 is connected to an L-shaped foot frame 11, and a leg pad 12 is laterally connected between the foot frames 11. The end of the foot frame 11 is provided with a footrest 13, and the bottom end of the footrest 13 is provided. Auxiliary wheels 14 are installed.

Further, the two sides of the support frame 7 are provided with sliding grooves 15, the sliding block 16 is sleeved inside the sliding groove 15, the bottom end of one side of the sliding block 16 is connected with a support rod 17, and the bottom end of the support rod 17 is mounted on the surface. There is a support plate 18, a spring buckle 19 is arranged on the top of the chute 15, and a support plate 20 is clamped inside the spring buckle 19. A spring 22 is provided.

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

The outer surface of the rotating shaft 23 is provided with a turning handle that can adjust the inclination of the backrest 1 , and the user can adjust the wheelchair backrest 1 according to their own preferences to achieve the most comfortable sitting posture.

The side of the backrest 1 facing the seat cushion 2 is provided with a safety tether, and for a patient who is unstable in sitting and standing, the patient is fixed by the safety tether to prevent the patient from sliding to the outside.

The direction of the spring 22 is on both sides of the support frame 7, so as to exert a thrust on the support plate 20. The maximum angle of the support plate 20 is 90°. When the spring buckle 19 is released from the end of the support plate 20, the spring 22 will The support plate 20 is pushed out, so that the support plate 20 rotates outward with the support base 21 as a fulcrum.

The horizontal and vertical distance between the support plate 18 and the drive wheel 9 is greater than 5cm and less than 12cm. When the wheelchair tilts and falls over, the support plate 18 touches the ground first, so that the sliding block 16 slides upwards in the chute 15 to push the spring buckle 19 open, thereby supporting. The plate 20 is opened to the outside, and can be supported by the support plate 20 when the wheelchair rolls over.

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

Specifically, the patient or the elderly can first adjust the inclination of the wheelchair back 1 according to their own preferences during use, and can also fasten the safety belt to prevent the sudden braking and slipping during the forward process. Manual control or computer self-control is selected by the controller 5 to realize the basic human-computer interaction function. In the process of moving forward, if force is suddenly applied to the foot pedal 13, because the bottom end of the foot pedal 13 is provided with an auxiliary wheel 14. It can prevent the wheelchair from falling forward due to the force stepping on the air, and at the same time, the contact area between the wheelchair and the ground is increased, so that the forward movement is more stable. In contact, the sliding block 16 slides up inside the chute 15 to push the spring buckle 19 open, so that the support plate 20 opens to the outside, and can be supported by the support plate 20 before the wheelchair falls over, so as to prevent the wheelchair from directly overturning. It will cause great harm to the human body, and at the same time, the CCD camera 33, the ultrasonic sensor 34 and the proximity switch 35 can be used to detect and judge the external environment when the wheelchair moves forward, which can ensure that the wheelchair will not collide when the wheelchair moves forward automatically. , thereby improving the safety performance, and can also relax or perform rehabilitation training during the period of inconvenience, thereby promoting the physical recovery of the elderly or patients.

To sum up, the present invention increases the contact area between the wheelchair and the ground through the auxiliary wheel, so that the wheelchair can move forward more smoothly, and at the same time, when the wheelchair is tilted and overturned, it can support the side of the wheelchair, preventing the wheelchair from directly overturning on the ground, which is harmful to the elderly. Or the patient causes injury to reduce the possibility of injury, and the perception module can detect the information of the user on the wheelchair and the information of the external environment, so as to facilitate the wheelchair to judge the forward route by itself, prevent collision, and help the patient to relax or do more work. Rehabilitation exercise, to achieve the combination of medical care.

Finally, it should be noted that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the The technical solutions described in the foregoing embodiments may be modified, or some technical features thereof may be equivalently replaced. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (8)

1. The utility model provides an intelligence wheelchair based on intelligence perception and medical care service, includes wheelchair body (25), wheelchair body (25) includes back (1), cushion (2) and computer processing unit (24), the equal fixed mounting in back both sides edge of back (1) has handle (3), handrail (4) are all installed to the top both sides of cushion (2), its characterized in that, one side of the bottom of back (1) and one side of cushion (2) are connected with pivot (23), one side top of one of them handrail (4) is connected with controller (5), the both sides of cushion (2) all are provided with guard plate (6), the bottom of cushion (2) is connected with support frame (7), drive case (8) have been erect to support frame (7) inside, one side bottom that support frame (7) are close to back (1) is provided with drive wheel (9), the backrest is characterized in that direction wheels (10) are arranged at the bottom end of one side, away from the backrest (1), of the support frame (7), an L-shaped foot rest (11) is connected to one side of the support frame (7), leg protection pads (12) are transversely connected between the foot rests (11), a foot pedal (13) is arranged at the tail end of the foot rest (11), and auxiliary wheels (14) are mounted at the bottom end of the foot pedal (13).

2. The intelligent wheelchair based on intelligent sensing and medical services is characterized in that sliding grooves (15) are formed in two sides of the supporting frame (7), sliding blocks (16) are sleeved inside the sliding grooves (15), supporting rods (17) are connected to the bottom ends of one sides of the sliding blocks (16), supporting discs (18) are installed on the bottom ends of the supporting rods (17), spring buckles (19) are arranged on the tops of the sliding grooves (15), supporting plates (20) are clamped inside the spring buckles (19), the top ends of the supporting plates (20) are embedded inside supporting seats (21) through supporting shafts in a clamping mode, and springs (22) are arranged on the inner surfaces of the supporting seats (21).

3. The intelligent wheelchair based on intelligent sensing and medical services is characterized in that the driving box (8) is electrically connected with the manipulator (5), the driving box (8) is connected with the steering wheel (10) through a universal shaft, and the steering wheel (10) is electrically connected with the manipulator (5).

4. The intelligent wheelchair based on intelligent sensing and medical services as claimed in claim 1, wherein the outer side surface of the rotating shaft (23) is provided with a rotating handle capable of adjusting the inclination of the backrest (1).

5. Intelligent wheelchair based on intelligent sensing and medical services, according to claim 1, characterized in that the backrest (1) is provided with a safety harness on the side facing the seat (2).

6. The intelligent wheelchair based on intelligent sensing and medical services of claim 1, wherein the springs (22) are extended from two sides of the support frame (7) so as to apply thrust to the support plates (20), and the maximum opening angle of the support plates (20) is 90 degrees.

7. Intelligent wheelchair based on smart sensing and medical services, according to claim 1, characterized in that the horizontal vertical distance of the supporting disk (18) from the driving wheel (9) is more than 5cm and less than 12 cm.

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

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