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Stair-climbing wheelchair angular position detection method and system and readable storage medium

A stair-climbing wheelchair and angle position technology, applied in the field of sensor detection, can solve the problems of poor detection accuracy, complex detection methods, difficulty in adapting to precise automatic control, etc., and achieve the effect of accurate detection and scientific setting of judgment conditions

Pending Publication Date: 2019-12-27
INNER MONGOLIA TECHNICAL COLLEGE OF MECHANICS & ELECTRICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, there are many kinds of stair climbing wheelchairs, including: crawler type, Y-shaped wheel type, five-blade wheel type and other traditional stair climbing wheelchairs. The state switching and state control of going upstairs and downstairs mainly rely on human operation. With the development of science and technology and the arrival of the intelligent age, the climbing wheelchair based on automatic control has become a new demand of people. The core of the automatic control of the wheelchair is the state detection of the wheelchair. The existing detection method is complicated, the detection accuracy is poor, and it is difficult to adapt to accurate automatic control. Control requirements, how to accurately judge the angle and position of the wheelchair, and judge whether the wheelchair is in danger of tipping over, so as to better control the state of the wheelchair and provide a more comfortable riding experience are problems that need to be solved urgently

Method used

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  • Stair-climbing wheelchair angular position detection method and system and readable storage medium
  • Stair-climbing wheelchair angular position detection method and system and readable storage medium
  • Stair-climbing wheelchair angular position detection method and system and readable storage medium

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Experimental program
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Effect test

Embodiment 1

[0088] Figure 4 A schematic diagram of Embodiment 1 of the present invention is shown.

[0089] Such as Figure 4As shown in , the stair-climbing wheelchair changes from a horizontal state to a downward state. First, obtain the state value of the angular acceleration sensor of the stair-climbing wheelchair when it is traveling horizontally, and calculate the current state value of the angular acceleration sensor within a preset time Variation, that is, to obtain the angle change of the angular acceleration sensor, as shown in the figure, the O point is the origin of the preset coordinate system, and the angle α between the displacement and the horizontal direction can be obtained by using the coordinate system. As can be seen from the figure, this When α is less than -35 degrees, the current stair climbing wheelchair is in a dangerous state of downward tilt, and further comparison can be obtained that the included angle is less than the lower angle threshold α l It can be c...

Embodiment 2

[0091] Figure 5 A schematic diagram of Embodiment 2 of the present invention is shown.

[0092] Such as Figure 5 As shown in , the stair-climbing wheelchair changes from the horizontal traveling state to the upward-inclining state. First, the state value of the angular acceleration sensor of the stair-climbing wheelchair is obtained when it is traveling horizontally, and the current angular acceleration sensor state value of the angular acceleration sensor is calculated within a preset time Variation, that is, to obtain the angle change of the angular acceleration sensor, as shown in the figure, the O point is the origin of the preset coordinate system, and the angle α between the displacement and the horizontal direction can be obtained by using the coordinate system. As can be seen from the figure, this When α is greater than +35 degrees, the current stair-climbing wheelchair is in a dangerous state of upward tilt, and further comparison can be obtained that the included ...

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Abstract

The invention discloses a stair-climbing wheelchair angular position detection method and system and a readable storage medium. The method comprises the steps that a current state value of an angularacceleration sensor of a stair-climbing wheelchair is acquired; current angular acceleration sensor state value variation of the angular acceleration sensor is calculated, and an angle change of the angular acceleration sensor is collected; whether the included angle between the state value variation of the angular acceleration sensor and the horizontal direction is equal to preset angle thresholds or not is judged; and if the included angle exceeds a certain preset angle threshold, the stair-climbing wheelchair is in an abnormal angular position state, and the moving state of the wheelchair is changed. According to the method, the state of the wheelchair is detected by judging the angular position variation of the wheelchair, discrimination condition setting is more scientific, and detection is more accurate according to a preset upper angle threshold and lower angle threshold.

Description

technical field [0001] The invention relates to the field of sensor detection, and more specifically, to a method, system and readable storage medium for detecting the angular position of a fully automatic stair-climbing wheelchair. Background technique [0002] With the arrival of an aging society and the increase in the number of disabled people, as well as more and more overpasses, steps in parks, and upstairs and downstairs in residential areas, the demand for auxiliary means of transportation for the elderly and disabled is increasing. People with disabilities play an increasingly important role in their lives, with wheelchairs becoming their only means of mobility. The stair-climbing wheelchair is a kind of service machine. It is an indispensable rehabilitation and transportation tool for the elderly or physically disabled. With the help of wheelchairs, the elderly and disabled can travel conveniently and perform physical exercises. [0003] At present, there are many...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B21/22G01M17/007A61G5/10A61G5/06
CPCA61G5/061A61G2203/30A61G2203/40A61G2203/70A61G5/1051A61G5/1089G01B21/22G01M17/007
Inventor 雷彪关海英刘玲王晓奇范哲超吴莅芳关玉琴张秀玲
Owner INNER MONGOLIA TECHNICAL COLLEGE OF MECHANICS & ELECTRICS