Multifunctional intelligent wheelchair control method and multifunctional wheelchair

Abstract

The invention discloses a multifunctional intelligent wheelchair control method and a multifunctional wheelchair, and belongs to the field of intelligent control. The back movement module and the hip movement module are matched to execute a turning-over action; the back movement module rotates to a preset back lifting angle to execute a back lifting action; the back movement module, the hip movement module and the leg and foot movement module cooperatively execute sitting-up actions; the back movement module, the hip movement module and the leg and foot movement module cooperatively execute the lying action; when the defecation system applies the defecation function, all the mechanisms cooperatively execute the defecation action. The electric wheelchair solves the technical problems that an existing electric wheelchair is single in function, low in intelligent degree and incapable of meeting the diversified requirements of people with lower limb mobility difficulties in daily life, and the technical effects that the multiple functions of turning over, back lifting, sitting up, lying and intelligent defecation are achieved, and the daily life requirements of people with lower limb mobility difficulties are met are achieved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control, and in particular to a multifunctional intelligent wheelchair control method and a multifunctional wheelchair. Background Art

[0002] Wheelchairs are important auxiliary tools used by people with lower limb mobility difficulties and play an indispensable role in daily life. With the development of science and technology, electric wheelchairs have gradually replaced traditional manual wheelchairs, providing more convenience for users. However, the electric wheelchairs currently on the market still have some limitations and cannot fully meet the diverse needs of users. Most of the existing electric wheelchairs have a single function and can usually only achieve two postures: sitting up and lying flat. Such limited functions make it difficult to meet the various needs of people with lower limb mobility difficulties in daily life, such as turning over, lifting the back, etc. In addition, the existing electric wheelchairs have a low degree of intelligence, and most of them can only execute simple movement commands, and lack the ability to respond to more complex needs of users. Therefore, the existing electric wheelchairs have technical problems such as single function, low degree of intelligence, and inability to meet the diverse needs of people with lower limb mobility difficulties in daily life. Summary of the invention

[0003] The present application provides a multifunctional intelligent wheelchair control method and a multifunctional wheelchair, aiming to solve the technical problems that existing electric wheelchairs have single functions, low intelligence, and cannot meet the diverse daily life needs of people with lower limb mobility disabilities.

[0004] In view of the above problems, the present application provides a multifunctional intelligent wheelchair control method and a multifunctional wheelchair.

[0005] The first aspect disclosed in the present application provides a multifunctional intelligent wheelchair control method, including: obtaining a multifunctional electric wheelchair, the multifunctional electric wheelchair consists of a back movement module, a hip movement module, a leg and foot movement module and a toilet system; when the turning over function is applied, the turning over action is performed by the back movement module and the hip movement module in cooperation; when the back lifting function is applied, the back movement module is rotated to a preset back lifting angle to perform the back lifting action; when the sitting up function is applied, the back movement module, the hip movement module, the leg and foot movement module cooperate to perform the sitting up action; when the lying flat function is applied, the back movement module, the hip movement module, the leg and foot movement module cooperate to perform the lying flat action; the toilet system consists of a nursing bag lifting mechanism, a hip pad rotating mechanism and a hip pad lifting mechanism, wherein the hip pad lifting mechanism is used to control the lifting of the hip pad, and when the toilet function is applied, the nursing bag lifting mechanism moves downward, and the hip pad rotating mechanism flips the hip pad to a vertical position to perform the toilet action.

[0006] Another aspect disclosed in the present application provides a multifunctional wheelchair, including: a back movement module, the back movement module includes a back upper structure and a back lower structure, wherein the back upper structure is composed of a first back plate, a second back plate, a third back plate and a fourth back plate, each back plate is hinged by a rotatable mechanism, and the back upper structure is connected to a linear motion actuator, and the back lower structure is a back reference plate; a hip movement module, the hip movement module and the back movement module are hinged by a rotatable mechanism, including a hip upper structure and a hip lower structure, wherein the hip upper structure is composed of a first hip plate, a second hip plate, a third hip plate and a fourth hip plate, each hip plate is hinged by a rotatable mechanism, and the hip upper structure is connected to a linear motion actuator, and the hip lower structure is a hip reference plate; a leg and foot movement module, the leg and foot movement module is hinged to the hip movement module by a rotatable mechanism, and is composed of a calf plate and a foot plate, and the calf plate and the foot plate are connected to the linear motion actuator; a toilet system, the toilet system is built into the multifunctional electric wheelchair.

[0007] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0008] The multifunctional electric wheelchair is composed of a back movement module, a hip movement module, a leg and foot movement module, and a toilet system, which lays the foundation for realizing multiple functions; when the turning over function is needed, the turning over action is performed by the back movement module and the hip movement module in coordination, simulating the natural turning over process of the human body and improving comfort; when the back needs to be raised, the back movement module is rotated to the preset back-lifting angle to perform the back-lifting action, and the adjustable back-lifting function meets the needs of users in different scenarios; when the user needs to sit up, the back movement module, the hip movement module, the leg and foot movement module cooperate to perform the sitting-up action, ensuring the smoothness and safety of the sitting-up process; when it is necessary to lie flat, the back movement module, the hip movement module, the leg and foot movement modules also perform the sitting-up action. The back movement module, hip movement module, leg and foot movement modules cooperate to perform the lying flat action; the toilet system is composed of a nursing bag lifting mechanism, a hip pad rotating mechanism and a hip pad lifting mechanism, among which the hip pad lifting mechanism is used to control the lifting of the hip pad. When going to the toilet, the nursing bag lifting mechanism moves downward, and the hip pad rotating mechanism flips the hip pad to a vertical position to perform the toilet action. This technical solution improves the self-care ability of people with lower limb mobility difficulties, solves the technical problems that the existing electric wheelchairs have single functions, low intelligence, and cannot meet the diverse daily life needs of people with lower limb mobility difficulties, and achieves the technical effect of realizing multiple functions such as turning over, lifting the back, sitting up, lying flat and intelligent toileting to meet the daily life needs of people with lower limb mobility difficulties.

[0009] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 A schematic diagram of a flow chart of a multifunctional intelligent wheelchair control method provided in an embodiment of the present application;

[0011] Figure 2 A schematic diagram of the structure of a multifunctional wheelchair provided in an embodiment of the present application;

[0012] Figure 3 A schematic diagram of a toilet system provided in an embodiment of the present application;

[0013] Explanation of the reference numerals: back movement module 110 , hip movement module 120 , leg and foot movement module 130 , toilet system 140 , nursing bag lifting mechanism 141 , hip pad lifting mechanism 142 , hip pad rotating mechanism 143 . DETAILED DESCRIPTION

[0014] The overall idea of ​​the technical solution provided by this application is as follows:

[0015] The embodiment of the present application provides a multifunctional intelligent wheelchair control method and a multifunctional wheelchair, which realizes the multifunctionality and intelligence of the wheelchair through modular design and intelligent control. Specifically, firstly, a basic structure of a multifunctional electric wheelchair consisting of a back movement module, a hip movement module, and a leg and foot movement module is provided, which lays the foundation for realizing various posture adjustments; secondly, through the coordinated work of these modules, various functions such as turning over, lifting the back, sitting up and lying down are realized, and the movements are natural and comfortable; thirdly, a toilet system including a nursing bag lifting mechanism, a hip pad rotating mechanism and a hip pad lifting mechanism is designed to improve the user's self-care ability; then, the various functional modules are integrated to realize the intelligent operation of the wheelchair, solve the technical problems of the existing electric wheelchair with single function, low intelligence and inability to meet the diversified daily life needs of people with lower limb mobility difficulties, and achieve the technical effect of realizing multiple functions such as turning over, lifting the back, sitting up, lying flat and intelligent toileting, and meeting the daily life needs of people with lower limb mobility difficulties.

[0016] After introducing the basic principles of the present application, various non-limiting implementation methods of the present application will be specifically described below in conjunction with the drawings in the specification.

[0017] Embodiment 1, as Figure 1 As shown, the embodiment of the present application provides a multifunctional intelligent wheelchair control method, the method comprising:

[0018] S1: Obtain a multifunctional electric wheelchair, which is composed of a back movement module 110, a hip movement module 120, a leg and foot movement module 130 and a toilet system 140.

[0019] Specifically, first, a multifunctional electric wheelchair with a specific structure is obtained. Figure 2 As shown, the wheelchair is composed of four modules, namely, a back movement module 110, a hip movement module 120, a leg and foot movement module 130, and a toilet system 140. Among them, the back movement module 110 is arranged at the upper part of the wheelchair, used to support and adjust the user's upper body posture, and can achieve multi-angle adjustment to provide necessary power support for various subsequent functions; the hip movement module 120 is located in the seat part of the wheelchair, used to support the user's hips, and can adjust the angle and height. The hip movement module 120 cooperates with the back movement module 110 to achieve more precise posture control; the leg and foot movement module 130 is arranged at the front of the wheelchair, used to support and adjust the user's leg and foot positions, so that the wheelchair can adapt to different sitting and lying posture requirements; the toilet system 140 is integrated in the wheelchair structure to provide users with a convenient toilet solution.

[0020] The modular design enables the multifunctional electric wheelchair to realize complex movements and diversified functions. Each module can work together to meet the user's various posture adjustments and functional needs in daily life.

[0021] S2: When the turning over function is applied, the turning over action is performed by the back movement module 110 and the hip movement module 120 in cooperation with each other.

[0022] Specifically, when performing the turning over function, it is achieved through the coordinated work of the back movement module 110 and the hip movement module 120 to ensure the smoothness and comfort of the movement.

[0023] When it is necessary to perform a turning over action, the back motion module 110 begins to adjust its structure, gradually changing the shape and angle of the back support surface. At the same time, the hip motion module 120 also makes corresponding adjustments to change the position and angle of the hip support surface. The movements of these two modules are synchronized and coordinated, and together create a gradual turning over process. During the turning over process, the various parts of the back motion module 110 and the hip motion module 120 will move in a preset order and angle to ensure the smoothness of the entire turning over action, while also preventing the user from experiencing discomfort or danger during the turning over process.

[0024] Through the precise coordination of the back movement module 110 and the hip movement module 120, the multifunctional electric wheelchair can achieve a safe and comfortable turning over function, which not only improves the autonomous mobility of people with lower limb mobility impairment, but also effectively reduces the risk of complications that may be caused by long-term bed rest, such as bedsores, thereby significantly improving the user's quality of life.

[0025] S3: When the back lifting function is applied, the back movement module 110 is rotated to a preset back lifting angle to perform the back lifting action.

[0026] Specifically, when the back lifting function is performed, the back movement module 110 is relied upon to meet the user's needs for different sitting postures in daily life, such as reading, watching TV, or eating.

[0027] When it is necessary to perform a back-lifting action, first determine the preset back-lifting angle according to pre-set parameters or real-time instructions from the user. Among them, the preset back-lifting angle is adjusted according to personal preferences or specific usage scenarios to provide the best user experience. During the execution process, the back motion module 110 will begin to rotate slowly and smoothly. This rotation is gradual to ensure the comfort and safety of the user. The back motion module 110 gradually lifts the upper body of the user through the coordinated movement of its internal structure until the preset back-lifting angle is reached. During the back-lifting process, the various parts of the back motion module 110 will perform precise coordinated movements to ensure the smoothness of the back-lifting action, and provide appropriate support for the user's spine and back muscles, avoiding the discomfort that may occur when maintaining a certain posture for a long time.

[0028] The back lifting function of the back movement module 110 can provide a more comfortable and user-friendly experience for users with limited lower limb mobility, improve the user's independent mobility, and can be flexibly adjusted according to different usage needs.

[0029] S4: When the sit-up function is applied, the back movement module 110, the hip movement module 120, and the leg and foot movement module 130 cooperate to perform the sit-up action.

[0030] Specifically, when performing the sitting up function, the back movement module 110, the hip movement module 120 and the leg and foot movement module 130 work in a coordinated manner to ensure the stability, comfort and safety of the entire movement.

[0031] When it is necessary to perform the sitting-up action, the back motion module 110, the buttocks motion module 120 and the leg and foot motion module 130 are started and coordinated at the same time. First, the back motion module 110 begins to gradually adjust its angle to simulate the natural lifting action of the upper body of the human body. At the same time, the buttocks motion module 120 is also adjusted accordingly to provide necessary support and balance for the sitting-up process. The leg and foot motion module 130 coordinates the action of the back and buttocks to adjust the position of the legs and feet to ensure the coordination of the overall posture. During the sitting-up process, the movements of these three modules are synchronous and coordinated. The back motion module 110 is responsible for the lifting of the upper body, the buttocks motion module 120 ensures the stability and support of the pelvis, and the leg and foot motion module 130 adjusts the position of the lower limbs to adapt to the new sitting posture, ensuring the fluency and naturalness of the entire sitting-up process, and effectively preventing the user from the discomfort or imbalance that may occur during the sitting-up process.

[0032] Through the precise coordination of the back movement module 110, the hip movement module 120 and the leg and foot movement module 130, a safe and comfortable sitting function can be achieved, and the autonomous movement ability of people with lower limb mobility impairment can be improved. At the same time, personalized adjustments can be made according to the physical conditions and needs of different users, such as adjusting the sitting speed and the final sitting angle.

[0033] S5: When the lying flat function is applied, the back exercise module 110, the hip exercise module 120, and the leg and foot exercise module 130 cooperate to perform the lying flat action.

[0034] Specifically, when performing the lying flat function, the back movement module 110, the hip movement module 120 and the leg and foot movement module 130 work in a coordinated manner to ensure the stability, comfort and safety of the entire movement.

[0035] When it is necessary to perform the lying flat action, the back motion module 110, the buttocks motion module 120, and the leg and foot motion module 130 are started and coordinated at the same time. The back motion module 110 begins to gradually reduce its angle to simulate the natural backward movement of the upper body of the human body. At the same time, the buttocks motion module 120 is also adjusted accordingly to provide necessary support and balance for the lying flat process. The leg and foot motion module 130 cooperates with the movement of the back and buttocks to adjust the position of the legs and feet to ensure the coordination of the overall posture. In the lying flat process, the movement of these three modules is synchronous and coordinated. The back motion module 110 is responsible for the slow descent of the upper body, the buttocks motion module 120 ensures the stability and support of the pelvis, and the leg and foot motion module 130 adjusts the position of the lower limbs to adapt to the new lying flat posture, ensuring the fluency and naturalness of the entire lying flat process, and effectively preventing the user from the discomfort or pressure concentration that may occur during the lying flat process.

[0036] Through the precise coordination of the back movement module 110, the hip movement module 120 and the leg and foot movement module 130, a safe and comfortable lying flat function can be achieved, which not only improves the autonomous movement ability of people with lower limb mobility impairment, but also enables personalized adjustments according to the physical conditions and needs of different users, such as adjusting the lying flat speed and the final lying flat angle.

[0037] S6: The toilet system 140 is composed of a nursing bag lifting mechanism 141, a hip pad rotating mechanism 143 and a hip pad lifting mechanism 142, wherein the hip pad lifting mechanism 142 is used to control the lifting of the hip pad. When the toilet function is applied, the nursing bag lifting mechanism 141 moves downward, and the hip pad rotating mechanism 143 flips the hip pad to a vertical position to perform the toilet action.

[0038] Specifically, the toilet system 140 is composed of three mechanisms, namely, a nursing bag lifting mechanism 141, a hip pad rotating mechanism 143 and a hip pad lifting mechanism 142. These three mechanisms work together to achieve a convenient and hygienic toilet function. Among them, the nursing bag lifting mechanism 141 is responsible for the longitudinal movement of the nursing bag. When the toilet function is activated, the mechanism controls the downward movement of the nursing bag and moves it to an appropriate position to collect excrement; the hip pad rotating mechanism 143 is used to control the rotation of the hip pad. During the toilet process, it is responsible for flipping the hip pad from a horizontal position to a vertical position, creating the necessary space for the user, and also ensuring the smooth progress of the toilet process; the hip pad lifting mechanism 142 is used to control the height adjustment of the hip pad, adjusting the height of the hip pad according to the needs of the user to improve the overall comfort and applicability.

[0039] When the user needs to go to the toilet, the actions of the nursing bag lifting mechanism 141, the hip pad rotating mechanism 143 and the hip pad lifting mechanism 142 are coordinated: first, the nursing bag lifting mechanism 141 starts to move downward to move the nursing bag to a suitable position. At the same time, the hip pad rotating mechanism 143 is started to flip the hip pad from a horizontal position to a vertical position. The coordination of these two actions creates a safe and hygienic toilet environment for the user.

[0040] Furthermore, the embodiment of the present application also includes:

[0041] The back motion module 110 includes a back upper structure and a back lower structure, wherein the back upper structure is composed of a first back plate, a second back plate, a third back plate and a fourth back plate, each back plate is hinged by a rotatable mechanism, and the back upper structure is connected to a linear motion actuator, and the back lower structure is a back reference plate;

[0042] The hip motion module 120 and the back motion module 110 are hinged by a rotatable mechanism, and include a hip upper structure and a hip lower structure, wherein the hip upper structure is composed of a first hip plate, a second hip plate, a third hip plate and a fourth hip plate, each hip plate is hinged by a rotatable mechanism, and the hip upper structure is connected to a linear motion actuator, and the hip lower structure is a hip reference plate;

[0043] When the turning over function is applied, the first hip plate, the second hip plate and the third hip plate move upward to the preset turning over angle, and the fourth hip plate is fixed by the limiting device. At the same time, the first back plate, the second back plate and the third back plate move upward to the preset turning over angle, and the fourth back plate is fixed by the limiting device. The turning over action is completed by the cooperation of the back plate of the back movement module 110 and the hip plate of the hip movement module 120.

[0044] In a feasible embodiment, the back motion module 110 adopts an innovative double-layer structure design, including an upper back structure and a lower back structure. Among them, the upper back structure is composed of four carefully designed back plates, namely the first back plate, the second back plate, the third back plate and the fourth back plate. These back plates are hinged by a rotatable mechanism to achieve flexible relative movement between the back plates. At the same time, the upper back structure is connected to the linear motion actuator, which not only provides precise power control, but also ensures the smoothness and stability of the movement. The lower back structure is an integrated back reference plate, which provides a solid and reliable support foundation for the entire back motion system. The hip motion module 120 echoes the back motion module 110 and also adopts an upper and lower double-layer structure, including a hip upper structure and a hip lower structure. The hip upper structure is composed of four hip plates with different functions, namely the first hip plate, the second hip plate, the third hip plate and the fourth hip plate. These hip plates are also hinged by a rotatable mechanism to ensure the accuracy and coordination of the movement. The hip upper structure is connected to the linear motion actuator to achieve precise control of the hip posture. The buttocks lower structure is an integrated buttocks reference plate, which provides a stable support for the entire buttocks motion system. The buttocks motion module 120 and the back motion module 110 are hinged by a rotatable mechanism, which not only allows highly coordinated movements between the two modules, but also improves the naturalness and comfort of the overall turning function.

[0045] When performing the turning function, the first hip plate, the second hip plate and the third hip plate in the hip motion module 120 move upwards smoothly to the turning angle according to the preset motion trajectory, and the fourth hip plate is kept fixed by a special limit device, providing a key stable support point for the entire turning process. At the same time, the first back plate, the second back plate and the third back plate in the back motion module 110 also move upwards synchronously to the preset turning angle, and the fourth back plate is also kept fixed by the limit device, ensuring the stability and safety of the turning process.

[0046] Through the coordination and precise cooperation of the back movement module 110 and the hip movement module 120, a safe and comfortable turning over action is achieved. It can also be precisely adjusted according to the physical characteristics and personalized needs of different users, thereby providing the best use experience for each user.

[0047] Furthermore, the embodiment of the present application also includes:

[0048] A sensor is built into the multifunctional electric wheelchair, and the posture information and weight distribution information of the target user are monitored and acquired by the sensor;

[0049] Performing a turning angle analysis based on the posture information and weight distribution information of the target user to obtain an initial turning angle;

[0050] The initial turning angle is adjusted according to the preference requirements of the target user to determine the preset turning angle.

[0051] In a preferred embodiment of the present invention, in order to determine the preset turning angle, first, sensors are built into the multifunctional electric wheelchair, including pressure sensors, angle sensors, and position sensors. The pressure sensors are distributed in the seat and backrest of the wheelchair to monitor the weight distribution of the user in real time; the angle sensors are installed in the joints of the wheelchair to obtain the inclination angles of the user's trunk and limbs; and the position sensors are used to determine the relative positions of various parts of the user's body. The posture information and weight distribution information of the target user are monitored and obtained in real time through these sensors. Among them, the posture information includes the inclination angle of the user's trunk, the position of the limbs, etc., and the weight distribution information reflects the pressure distribution of the user on the wheelchair. When analyzing the turning angle, first, the acquired posture information and weight distribution information are matched with a pre-established database. This database contains a large number of users' turning data, covering the best turning angles of users of different body shapes and different physical conditions in various postures. By comparing the posture information and weight distribution information of the target user with the records in the database, the most similar cases are found, and the corresponding turning angles are extracted as the initial turning angles. Afterwards, the initial turning angle is fine-tuned and optimized according to the specific needs and preferences of the target user. The user or their caregiver can input personalized angle preferences through the control interface on the wheelchair, such as a preference for a larger or smaller turning angle. These subjective needs are combined with the initial turning angle obtained from the database query to determine the preset turning angle that best suits the target user.

[0052] Furthermore, the embodiment of the present application also includes:

[0053] The back plate in the back upper structure is lifted to the preset back lifting angle by the linear motion actuator, and at the same time, the back reference plate is rotated to the preset back lifting angle together with the back plate in the back upper structure under the action of the suction structure to complete the back lifting action, wherein the suction structure includes but is not limited to an electromagnet.

[0054] In a preferred embodiment, when the back lifting function is applied, first, the backboard in the back superstructure starts to move. These backboards are gradually lifted upward under the precise control of the linear motion actuator connected thereto. The linear motion actuator can provide stable and controllable force to ensure smooth and precise movement of the backboard. The lifting process of the backboard continues until the preset back lifting angle is reached. At the same time, the back reference plate also participates in the back lifting action. The back reference plate is tightly connected to the backboard in the back superstructure through a specially designed suction structure. This suction structure can be an electromagnet or other device that can achieve similar functions. During the backboard lifting process, the suction structure ensures that the back reference plate moves synchronously with the backboard and rotates together to the preset back lifting angle.

[0055] The entire back lifting action is completed by lifting the back plate in the back upper structure and synchronously rotating the back reference plate. This coordinated movement ensures the smoothness and comfort of the back lifting process, while also ensuring that the user can obtain comprehensive and stable support after the back is lifted.

[0056] Furthermore, the embodiment of the present application also includes:

[0057] The leg and foot motion module 130 is composed of a calf plate and a foot plate, and the calf plate and the foot plate are connected to a linear motion actuator;

[0058] The back plate of the back motion module 110 is driven to a preset back position, the hip plate of the hip motion module 120 is driven to a preset hip position, and the calf plate and foot plate are driven to a preset sitting angle by linear motion actuators to coordinately perform the sitting action.

[0059] In a preferred embodiment, when performing the sit-up function, the back motion module 110, the hip motion module 120, and the leg and foot motion module 130 work in coordination. The leg and foot motion module 130 is composed of two main components, the calf plate and the foot plate. In order to achieve precise control, the calf plate and the foot plate are directly connected to the linear motion actuator, ensuring the precise adjustment of the leg and foot positions, and providing the necessary lower limb support for the sit-up action.

[0060] When performing the sitting-up action, the movement of different modules is driven simultaneously by controlling multiple linear motion actuators. Specifically, the back plate of the back motion module 110 is gradually adjusted to a preset back position under the action of the linear motion actuator. This position is usually a slightly inclined sitting angle to provide comfortable back support. At the same time, the hip plate of the hip motion module 120 is also adjusted to a preset hip position under the drive of the linear motion actuator. At the same time, the calf plate and foot plate in the leg and foot motion module 130 are also gradually adjusted to a preset sitting angle under the action of their respective connected linear motion actuators, providing the user with the most comfortable sitting experience.

[0061] Furthermore, the embodiment of the present application also includes:

[0062] The back plate of the back movement module 110, the hip plate of the hip movement module 120, and the calf plate and foot plate of the leg and foot movement module 130 are driven by linear motion actuators to coordinately lie flat to a preset lying angle, and coordinately execute the lying flat action.

[0063] In a preferred embodiment, when performing the lying flat action, the back plate of the back motion module 110 is gradually adjusted from a vertical or inclined state to a horizontal state under the action of a linear motion actuator. This process is slow and smooth to ensure the comfort of the user. At the same time, the hip plate of the hip motion module 120 is also adjusted accordingly under the drive of the linear motion actuator. The movement of the hip plate is coordinated with the movement of the back plate to form a flat lying surface. At the same time, the calf plate and foot plate in the leg and foot motion module 130 are also gradually adjusted to the same horizontal plane as the back plate and hip plate under the action of the linear motion actuators connected to each other to ensure the flatness of the entire body support surface. This coordinated execution method not only ensures the smoothness and comfort of the entire lying flat process, but also greatly reduces the discomfort or pressure concentration that the user may encounter during the lying flat process. By precisely controlling the position and angle of each component, a smooth transition from a sitting position to a lying flat position can be achieved.

[0064] In summary, the multifunctional intelligent wheelchair control method provided in the embodiment of the present application has the following technical effects:

[0065] A multifunctional electric wheelchair is obtained. The multifunctional electric wheelchair is composed of a back motion module 110, a hip motion module 120, a leg and foot motion module 130, and a toilet system 140, which provides hardware support for the realization of various subsequent functions. When the turning over function is applied, the turning over action is performed by the back motion module 110 and the hip motion module 120 to realize the turning over action. When the back lifting function is applied, the back motion module 110 is rotated to the preset back lifting angle to perform the back lifting action, and the user can adjust to a suitable sitting position or semi-recumbent position. When the sitting up function is applied, the back motion module 110, the hip motion module 120, the leg and foot motion module 130 cooperate to perform the sitting up action, helping the user to change from a lying position to a sitting position and realize the sitting up function. When the lying flat function is applied, the back motion module 110, the hip motion module 120, the leg and foot motion module 130 cooperate to perform the lying flat action, so that the wheelchair is transformed into a lying state, so that the wheelchair can be used as a temporary bed, increasing the practicality of the equipment. The toilet system 140 is composed of a nursing bag lifting mechanism 141, a hip pad rotating mechanism 143 and a hip pad lifting mechanism 142, wherein the hip pad lifting mechanism 142 is used to control the lifting of the hip pad. When the toilet function is applied, the nursing bag lifting mechanism 141 moves downward, and the hip pad rotating mechanism 143 flips the hip pad to a vertical position to perform toileting, thereby improving the user's self-care ability and quality of life. By realizing multiple functions such as turning over, lifting the back, sitting up, lying flat and intelligent toileting, the daily life needs of people with lower limb mobility difficulties are met.

[0066] Embodiment 2 is based on the same inventive concept as the multifunctional intelligent wheelchair control method in the above embodiment. Figure 2 As shown, the embodiment of the present application provides a multifunctional wheelchair for implementing a multifunctional intelligent wheelchair control method, and the multifunctional wheelchair includes:

[0067] A back motion module 110, wherein the back motion module 110 comprises a back upper structure and a back lower structure, wherein the back upper structure is composed of a first back plate, a second back plate, a third back plate and a fourth back plate, each back plate is hinged by a rotatable mechanism, and the back upper structure is connected to a linear motion actuator, and the back lower structure is a back reference plate;

[0068] A hip motion module 120, wherein the hip motion module 120 and the back motion module 110 are hingedly connected by a rotatable mechanism, and comprises a hip upper structure and a hip lower structure, wherein the hip upper structure is composed of a first hip plate, a second hip plate, a third hip plate and a fourth hip plate, each hip plate is hingedly connected by a rotatable mechanism, and the hip upper structure is connected to a linear motion actuator, and the hip lower structure is a hip reference plate;

[0069] A leg and foot motion module 130, wherein the leg and foot motion module 130 is hinged to the hip motion module 120 via a rotatable mechanism, and is composed of a calf plate and a foot plate, and the calf plate and the foot plate are connected to a linear motion actuator;

[0070] A toilet system 140 is built into the multifunctional electric wheelchair.

[0071] Specifically, the back motion module 110 adopts an innovative double-layer structure design, including a back upper structure and a back lower structure. The back upper structure is composed of four carefully designed back panels, namely the first back panel, the second back panel, the third back panel and the fourth back panel. These back panels are hinged by a rotatable mechanism to achieve flexible relative movement between the back panels. The back upper structure is connected to the linear motion actuator to provide precise power control. The back lower structure is an integrated back reference plate, which provides a solid and reliable support foundation for the entire back motion system.

[0072] The hip motion module 120 is hinged to the back motion module 110 through a rotatable mechanism, and also adopts an upper and lower double-layer structure. The hip upper structure is composed of four hip plates with different functions, namely the first hip plate, the second hip plate, the third hip plate and the fourth hip plate. These hip plates are hinged through a rotatable mechanism to ensure the accuracy and coordination of the movement. The hip upper structure is connected to the linear motion actuator to achieve precise control of the hip posture. The hip lower structure is an integrated hip reference plate, which provides stable support for the entire hip motion system.

[0073] The leg and foot motion module 130 is hinged with the hip motion module 120 through a rotatable mechanism and consists of a calf plate and a foot plate. Both the calf plate and the foot plate are connected to a linear motion actuator. This design ensures precise adjustment of the leg and foot positions and provides necessary lower limb support for various posture changes.

[0074] The toilet system 140 is built into the multifunctional electric wheelchair and is designed to provide the user with a convenient toilet solution, thereby improving the practicality of the wheelchair and the user's quality of life.

[0075] Through modular and multifunctional design, the multifunctional wheelchair can achieve a variety of posture adjustments and function switching, such as turning over, lifting the back, sitting up, lying flat and going to the toilet, etc. The collaborative work between the various modules ensures the smoothness and precision of the overall movement.

[0076] Further, such as Figure 3 As shown, the toilet system also includes:

[0077] A nursing bag lifting mechanism 141, the nursing bag lifting mechanism 141 is composed of a power source, a linear motion mechanism, a guide shaft and a nursing bag hanging mechanism, wherein the power source includes but is not limited to a DC motor, and the linear motion mechanism includes but is not limited to a screw module;

[0078] A hip pad lifting mechanism 142, wherein the hip pad lifting mechanism 142 is composed of the power source, the linear motion mechanism and a guide shaft;

[0079] The hip pad rotating mechanism 143 is mainly composed of the power source, the rotating mechanism and the hip pad mounting mechanism, wherein the rotating mechanism includes but is not limited to a synchronous pulley transmission mechanism.

[0080] Specifically, the toilet system 140 is composed of three core mechanisms, namely a nursing bag lifting mechanism 141, a hip pad lifting mechanism 142 and a hip pad rotating mechanism 143. The structure of the nursing bag lifting mechanism 141 includes a power source, a linear motion mechanism, a guide shaft and a nursing bag hanging mechanism. Among them, the power source can be a DC motor, but is not limited to this type; the linear motion mechanism uses a screw module or other similar mechanism, which can convert rotational motion into precise linear motion; the guide shaft ensures the stability of the lifting process, and the nursing bag hanging mechanism is used to safely and reliably fix the nursing bag. This design enables the nursing bag to move up and down smoothly when needed, which is convenient for use and cleaning.

[0081] The structure of the hip pad lifting mechanism 142 is similar to that of the nursing bag lifting mechanism 141, and is also composed of a power source, a linear motion mechanism and a guide shaft. This design allows the hip pad to be precisely adjusted in the vertical direction to adapt to the physical characteristics and comfort needs of different users.

[0082] The hip pad rotating mechanism 143 is composed of a power source, a rotating mechanism and a hip pad mounting mechanism. The rotating mechanism can adopt a synchronous pulley transmission mechanism, but is not limited to this type. This design enables the hip pad to rotate in a horizontal plane, providing the necessary space for the toilet process. The hip pad mounting mechanism ensures the stability and safety of the hip pad during the rotation process.

[0083] The collaborative working process of these three mechanisms is as follows: when it is necessary to use the toilet, the hip pad lifting mechanism 142 first adjusts the hip pad to an appropriate height. Then, the hip pad rotating mechanism 143 rotates the hip pad to a suitable position. After that, the nursing bag lifting mechanism 141 moves the nursing bag to the correct position. This carefully designed process ensures the safety, hygiene and convenience of the toilet function.

[0084] Any step of the method described above can be stored as a computer instruction or program in an unlimited computer memory, and can be called and recognized by an unlimited computer processor to implement any method in the embodiments of the present application, without any unnecessary restrictions.

[0085] Furthermore, the first or second mentioned above may not only represent an order relationship, but may also represent a specific concept, and / or refer to multiple elements that can be selected individually or in full. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application intends to include these changes and variations.

Claims

1. A multifunctional intelligent wheelchair control method, characterized in that: The method comprises: Obtain a multifunctional electric wheelchair, wherein the multifunctional electric wheelchair is composed of a back motion module, a hip motion module, a leg and foot motion module, and a toilet system; When the turning over function is applied, the turning over action is performed by the cooperation of the back movement module and the hip movement module; When the back lifting function is applied, the back movement module is rotated to a preset back lifting angle to perform the back lifting action; When the sit-up function is applied, the back movement module, the hip movement module, the leg and foot movement modules cooperate to perform the sit-up action; When the lying flat function is applied, the back movement module, the hip movement module, the leg and foot movement modules cooperate to perform the lying flat action; The toilet system consists of a nursing bag lifting mechanism, a hip pad rotating mechanism and a hip pad lifting mechanism, wherein the hip pad lifting mechanism is used to control the lifting of the hip pad. When the toilet function is applied, the nursing bag lifting mechanism moves downward, and the hip pad rotating mechanism flips the hip pad to a vertical position to perform the toilet action.

2. A multifunctional intelligent wheelchair control method as claimed in claim 1, characterized in that: When the turning over function is applied, it includes: The back motion module comprises a back upper structure and a back lower structure, wherein the back upper structure is composed of a first back plate, a second back plate, a third back plate and a fourth back plate, each back plate is hinged by a rotatable mechanism, and the back upper structure is connected to a linear motion actuator, and the back lower structure is a back reference plate; The hip motion module and the back motion module are hinged by a rotatable mechanism, and include a hip upper structure and a hip lower structure, wherein the hip upper structure is composed of a first hip plate, a second hip plate, a third hip plate and a fourth hip plate, each hip plate is hinged by a rotatable mechanism, and the hip upper structure is connected to a linear motion actuator, and the hip lower structure is a hip reference plate; When the turning over function is applied, the first hip plate, the second hip plate and the third hip plate move upward to the preset turning over angle, and the fourth hip plate is fixed by the limiting device. At the same time, the first back plate, the second back plate and the third back plate move upward to the preset turning over angle, and the fourth back plate is fixed by the limiting device. The turning over action is completed by the cooperation of the back plate of the back movement module and the hip plate of the hip movement module.

3. A multifunctional intelligent wheelchair control method as claimed in claim 2, characterized in that: The method comprises: A sensor is built into the multifunctional electric wheelchair, and the posture information and weight distribution information of the target user are monitored and acquired by the sensor; Performing a turning angle analysis based on the posture information and weight distribution information of the target user to obtain an initial turning angle; The initial turning angle is adjusted according to the preference requirements of the target user to determine the preset turning angle.

4. A multifunctional intelligent wheelchair control method as claimed in claim 2, characterized in that: When the back lifting function is applied, it includes: The back plate in the back upper structure is lifted to the preset back lifting angle by the linear motion actuator, and at the same time, the back reference plate is rotated to the preset back lifting angle together with the back plate in the back upper structure under the action of the suction structure to complete the back lifting action, wherein the suction structure includes but is not limited to an electromagnet.

5. A multifunctional intelligent wheelchair control method as claimed in claim 2, characterized in that: When the sit-up function is applied, it includes: The leg and foot motion module is composed of a calf plate and a foot plate, and the calf plate and the foot plate are connected to a linear motion actuator; The back plate of the back movement module is driven to a preset back position, the hip plate of the hip movement module is driven to a preset hip position, and the calf plate and foot plate are driven to a preset sitting angle by linear motion actuators, and the sitting-up action is completed in coordination.

6. A multifunctional intelligent wheelchair control method as claimed in claim 5, characterized in that: When the lying flat function is applied, it includes: The back plate of the back movement module, the hip plate of the hip movement module, and the calf plate and foot plate are driven respectively by linear motion actuators to coordinately lie flat to a preset lying angle, and coordinately execute the lying flat action.

7. A multifunctional wheelchair, characterized in that: A multifunctional intelligent wheelchair control method for implementing any one of claims 1 to 6, the multifunctional wheelchair comprising: A back motion module, the back motion module comprises a back upper structure and a back lower structure, wherein the back upper structure is composed of a first back plate, a second back plate, a third back plate and a fourth back plate, each back plate is hinged by a rotatable mechanism, and the back upper structure is connected to a linear motion actuator, and the back lower structure is a back reference plate; A hip motion module, wherein the hip motion module and the back motion module are hingedly connected by a rotatable mechanism, and comprises a hip upper structure and a hip lower structure, wherein the hip upper structure is composed of a first hip plate, a second hip plate, a third hip plate and a fourth hip plate, each hip plate is hingedly connected by a rotatable mechanism, and the hip upper structure is connected to a linear motion actuator, and the hip lower structure is a hip reference plate; A leg and foot motion module, which is hinged to the hip motion module via a rotatable mechanism and consists of a calf plate and a foot plate, and the calf plate and the foot plate are connected to a linear motion actuator; A toilet system is built into the multifunctional electric wheelchair.

8. A multifunctional wheelchair as claimed in claim 7, characterized in that: The toilet system also includes: A nursing bag lifting mechanism, the nursing bag lifting mechanism is composed of a power source, a linear motion mechanism, a guide shaft and a nursing bag hanging mechanism, wherein the power source includes but is not limited to a DC motor, and the linear motion mechanism includes but is not limited to a screw module; A hip pad lifting mechanism, the hip pad lifting mechanism is composed of the power source, the linear motion mechanism and a guide shaft; The hip pad rotating mechanism is mainly composed of the power source, the rotating mechanism and the hip pad mounting mechanism, wherein the rotating mechanism includes but is not limited to a synchronous pulley transmission mechanism.

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