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Method and system for detecting stair climbing state of stair climbing wheelchair and readable storage medium

A stair-climbing wheelchair and state detection technology, which is applied in the field of sensor detection, can solve the problems of complex detection methods, poor detection accuracy, and difficulty in adapting to precise automatic control, etc., and achieves the effect of scientific setting of discriminant conditions and accurate detection.

Inactive Publication Date: 2020-01-03
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 state of the wheelchair going up and down stairs, so as to better control the state of the wheelchair and provide a more comfortable riding experience is an urgent problem to be solved

Method used

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  • Method and system for detecting stair climbing state of stair climbing wheelchair and readable storage medium
  • Method and system for detecting stair climbing state of stair climbing wheelchair and readable storage medium
  • Method and system for detecting stair climbing state of stair climbing wheelchair and readable storage medium

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Embodiment 1

[0091] Figure 4 A schematic diagram of Embodiment 1 of the present invention is shown.

[0092] Such as Figure 4 As shown, the stair-climbing wheelchair changes from the state of horizontal travel to the state of going downstairs. First, the position of the center of gravity of the stair-climbing wheelchair is obtained, and then the change in the position of the center of gravity is calculated, that is, the current displacement of the center of gravity is obtained. Due to the displacement vector, it can be Obtain the direction of the displacement, as shown in the figure, point O is the origin of the preset coordinate system, and the coordinate system can be used to obtain the angle α between the displacement and the vertical direction. According to the figure, α is not equal to 90 at this time. degree, the current stair-climbing wheelchair is in a non-level state, and further comparison can be obtained that the included angle is less than the lower angle threshold α l It c...

Embodiment 2

[0094] Figure 5 A schematic diagram of Embodiment 2 of the present invention is shown.

[0095] The stair-climbing wheelchair changes from the state of horizontal travel to the state of going upstairs. First, the position of the center of gravity of the stair-climbing wheelchair is obtained, and then the change in the position of the center of gravity is calculated, that is, the displacement of the current center of gravity is obtained. Due to the displacement vector, the above can be obtained The direction of displacement, as shown in the figure, point O is the origin of the preset coordinate system, which can be obtained by using the coordinate system, the angle α between the displacement and the vertical direction, as can be seen from the figure, at this time α is not equal to 90 degrees, then The current stair-climbing wheelchair is in a non-level state, and further comparison shows that the included angle is greater than the upper angle threshold α h It can be concluded...

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Abstract

The invention discloses a method and a system for detecting the stair climbing state of a stair climbing wheelchair and a readable storage medium. The method comprises the following steps: acquiring the current state value of the stair climbing wheelchair; calculating the variable quantity of the current state value; and judging whether the included angles between the variable quantity of the state value and the vertical direction are equal to preset angle threshold values or not; and if not, setting the stair climbing wheelchair to be in a non-horizontal operating state. By judging the variable quantity of the operating state value of the wheelchair, the state of the wheelchair is detected, the settlement of judgment conditions is more scientific, and the detection is more accurate according to the preset upper angle threshold value and the preset lower angle threshold value.

Description

technical field [0001] The present invention relates to the field of sensor detection, and more specifically, to a method, system and readable storage medium for detecting the climbing state of a 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 kinds of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M17/007G01B21/22A61G5/10A61G5/06
CPCA61G5/061A61G5/1051A61G5/1089A61G2203/30A61G2203/40A61G2203/70G01B21/22G01M17/007
Inventor 陈启渊张秀娟刘玲刘月琴蔚刚李桂锌孟超平
Owner INNER MONGOLIA TECHNICAL COLLEGE OF MECHANICS & ELECTRICS