Intelligent obstacle-avoiding self-balancing wheelchair and control system thereof

A technology of intelligent obstacle avoidance and control system, which can be used in patient chairs or special transportation tools, vehicle rescue, medical transportation, etc., and can solve problems such as collision, misjudgment, rollover, etc.

Inactive Publication Date: 2021-04-02
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that when the elderly and the disabled use electric wheelchairs, due to physical reasons or blind areas of vision, it is easy to cause misjudgment, which in turn easily leads to scratches, rollovers, collisions and other accidents.

Method used

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  • Intelligent obstacle-avoiding self-balancing wheelchair and control system thereof
  • Intelligent obstacle-avoiding self-balancing wheelchair and control system thereof
  • Intelligent obstacle-avoiding self-balancing wheelchair and control system thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] see Figure 1-2 , an intelligent obstacle avoidance self-balancing wheelchair, comprising an installation chassis 1, a storage battery and a transformer are fixedly installed inside the installation chassis 1, a servo motor 2 is fixedly connected to the four corners of the bottom surface of the installation chassis 1, the servo motor 2 is electrically connected to the storage battery and the transformer connection, the output shaft of the servo motor 2 is fixedly connected with a walking wheel 3, the upper surface of the installation chassis 1 is fixedly connected with a self-balancing mechanism 4, the self-balancing mechanism 4 is connected with a seat 5, and the seat 5 is fixedly connected with an armrest 6 , the upper surface of the installation chassis 1 is also provided with an integrated control device 7 .

[0035] The self-balancing mechanism 4 includes a vertical axis steering gear 401. The vertical axis steering gear 401 is fixedly connected to the upper surfac...

Embodiment 2

[0040] see Figure 3-4 , the difference in the basis of Embodiment 1 is that an intelligent obstacle-avoiding self-balancing wheelchair control system is applied to an intelligent obstacle-avoiding self-balancing wheelchair in claims 1-5, and is characterized in that: it includes a single-chip microcomputer Main control system, the single-chip main control system is linked with wheelchair self-balancing control system, wheelchair obstacle avoidance control system and wheelchair safety positioning system;

[0041] The wheelchair self-balancing control system is linked with an angle change detection module, an angle motion digital processing module and a steering gear adjustment control module;

[0042] The wheelchair obstacle avoidance control system is linked with an automatic obstacle detection module, an active obstacle avoidance control module and an automatic shock absorber control module;

[0043] The wheelchair safety positioning system is linked with a wheelchair statu...

Embodiment 3

[0047] see Figure 5-7 , based on Embodiment 1-2 but different in that the automatic obstacle detection module matches the HC-SR04 ultrasonic ranging module, and the automatic obstacle detection module includes an ultrasonic transmitting unit, an ultrasonic receiving unit and a distance judging unit.

[0048] The present invention adopts the HC-SR04 ultrasonic sensor which can meet the functional requirements and has a lower price as the perception module of the surrounding environment, and inputs a high-level square wave with a length of 20 microseconds to the pulse trigger pin through a single-chip microcomputer, and the ultrasonic ranging sensor automatically Transmit eight 40KHz ultrasonic waves to the surrounding environment, and then measure the time when the ultrasonic waves are bounced back through the interrupt system in the microcontroller, and finally calculate the distance of surrounding obstacles through the transmission speed of ultrasonic waves, so as to realize ...

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PUM

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Abstract

The invention discloses an intelligent obstacle-avoiding self-balancing wheelchair and a control system thereof, and belongs to the technical field of electric wheelchairs. An intelligent obstacle-avoiding self-balancing wheelchair comprises an installation chassis; servo motors are fixedly connected to the four corners of the bottom face of the installation chassis; walking wheels are fixedly connected to output shafts of the servo motors; a self-balancing mechanism is fixedly connected to the upper surface of the installation chassis; a seat is connected to the self-balancing mechanism; armrests are fixedly connected to the seat; and an integrated control device is further arranged on the upper surface of the mounting chassis. The invention further provides an intelligent obstacle-avoiding self-balancing wheelchair control system, which comprises a single-chip microcomputer main control system; and the single-chip microcomputer main control system is connected with a wheelchair self-balancing control system, a wheelchair obstacle-avoiding control system and a wheelchair safety positioning system. The intelligent obstacle-avoiding self-balancing wheelchair disclosed by the invention effectively solves the problems that: when old people and disabled people use electric wheelchairs, due to body reasons or visual field blind areas, judgment errors are likely to be caused; and then scratching, rollover, collision and other accidents are likely to be caused.

Description

technical field [0001] The invention relates to the technical field of electric wheelchairs, in particular to an intelligent obstacle-avoiding self-balancing wheelchair and a control system thereof. Background technique [0002] In recent years, with the continuous improvement of people's living standards, the demand for electric wheelchairs in my country has grown. By the end of 2018, the national electric wheelchair market had reached 9.82 billion yuan. However, due to the complexity of road conditions, the increase in the number of electric wheelchairs has also brought more and more traffic accidents, and the demand for intelligent functions of wheelchairs by the elderly and the disabled continues to increase. At the same time, the safety-based protection of electric wheelchairs produced at home and abroad is still largely passive. At present, the common electric wheelchairs are still controlled by subjective control joysticks or rockers. [0003] However, due to the phy...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61G5/06A61G5/10
CPCA61G5/06A61G5/1051A61G5/1089A61G2203/70A61G2203/42A61G2203/30A61G2203/40A61G2203/10
Inventor 祝安定刘索轶博葛星雨王坤余平安张文捷
Owner HEFEI UNIV OF TECH
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