Wheelchair automatic following control method, system and terminal

Abstract

The invention relates to a wheelchair automatic following control method, system and terminal, and relates to the technical field of wheelchairs, and the method comprises the following steps: obtaining patient personnel information and riding detection information on a wheelchair; determining a current state according to the riding detection information and the patient personnel information; if the current state is the preset leaving state, acquiring image detection information; determining a patient position point according to the image detection information and the patient personnel information; and determining movement control information according to the position point of the patient, and outputting the movement control information to the wheelchair for movement. The wheelchair has the effect that the wheelchair can be conveniently used by a patient in daily life.

Description

Technical Field

[0001] The present invention relates to the technical field of wheelchairs, and in particular to a method, system and terminal for automatic following control of a wheelchair. Background Art

[0002] A wheelchair is a seat with wheels, designed for people with limited mobility to help them move and perform daily activities. Depending on the driving method, wheelchairs mainly include manual wheelchair types and electric wheelchair types.

[0003] Electric wheelchairs are generally powered by batteries, and users control the movement of the electric wheelchair using a joystick. They are suitable for patients with insufficient upper limb strength or who are unable to operate manually.

[0004] When the patient needs to take a walk, pick up something, etc., the patient needs to leave the wheelchair and move a short distance. At this time, the patient cannot control the electric wheelchair to move, and the patient needs to return to the placement of the wheelchair after taking a walk, picking up something, etc., which is inconvenient for the patient to use in daily life. Summary of the invention

[0005] In order to facilitate patients to use wheelchairs in daily life, the present invention provides a wheelchair automatic following control method, system and terminal.

[0006] In a first aspect, the present invention provides a wheelchair automatic following control method, which adopts the following technical solution: A wheelchair automatic following control method, comprising: Obtain patient personnel information and wheelchair riding detection information; Determine the current status based on the riding test information and patient personnel information; If the current state is the preset leaving state, obtain image detection information; Determine the patient's location point based on image detection information and patient personnel information; The movement control information is determined according to the patient's position point, and the movement control information is output to the wheelchair for movement.

[0007] Optionally, the current state may be determined by: Retrieve the patient's weight reference interval based on the patient's personnel information; Retrieve weight detection value and temperature detection value based on riding detection information; Calculate the difference between the weight test value and the patient's weight reference interval and use it as the weight deviation value; According to the corresponding relationship between the weight deviation value and the preset weight deviation influence value, the weight deviation influence value corresponding to the weight deviation value is determined; Calculate the difference between the temperature detection value and the preset temperature reference interval and use it as the temperature deviation value; According to the corresponding relationship between the temperature deviation value and the preset temperature deviation influence value, the temperature deviation influence value corresponding to the temperature deviation value is determined; Calculate the sum of the weight deviation impact value and the temperature deviation impact value and use it as the comprehensive state impact value; Determine whether the comprehensive impact value of the state is greater than the preset riding benchmark impact value; If yes, the preset riding state is used as the current state; If not, the preset leave state is used as the current state.

[0008] Optionally, the method for determining the patient location point includes: Retrieving patient personnel characteristics based on patient personnel information; Recognize the image detection information based on the patient's personal characteristics to determine characteristic image information; Retrieving feature type information, feature image area value and feature image position point based on feature image information; According to the correspondence between the feature type information and the preset feature type reference area value, the feature type reference area value corresponding to the feature type information is determined; Calculate the quotient between the characteristic type reference area value and the characteristic image area value and use it as the image ratio value; Determine the actual position point of the feature according to the feature image position point and the image ratio value; According to the correspondence between the feature type information and the preset feature position relative distance value, the feature position relative distance value corresponding to the feature type information is determined; The actual position point of the patient is determined according to the relative distance value of the feature position and the actual position point of the feature, and the actual position point of the patient is used as the patient position point.

[0009] Optionally, the method for determining the mobility control information includes: Get the real-time location of the wheelchair; Calculate the distance vector between the patient's position point and the real-time position point of the wheelchair and use it as the patient's distance vector information; Retrieving patient distance value and patient direction information based on patient distance vector information; According to the correspondence between the patient's direction information and the preset rotation angle value, a rotation angle value corresponding to the patient's direction information is determined; Calculate the difference between the patient's distance value and a preset distance reference value and use it as the moving distance value; Comprehensive control information is determined according to the moving distance value and the rotation angle value, and the comprehensive control information is used as the moving control information.

[0010] Optionally, the method for determining the comprehensive control information includes: According to the correspondence between the rotation angle value and the preset angle rotation control information, the angle rotation control information corresponding to the rotation angle value is determined; Determine whether the moving distance value is positive; If yes, then determine the obstacle impact value based on the patient’s actual location point; Calculate the product of the obstacle impact value and the moving distance value and use it as the distance adjustment value; According to the correspondence between the distance adjustment value and the preset distance adjustment control information, the distance adjustment control information corresponding to the distance adjustment value is determined, and the angle rotation control information is combined with the distance adjustment control information to serve as the comprehensive control information; If not, the moving distance control information corresponding to the moving distance value is determined according to the corresponding relationship between the moving distance value and the preset moving distance control information, and the angle rotation control information is combined with the moving distance control information to serve as the comprehensive control information.

[0011] Optionally, the method for determining the barrier impact value includes: Determine the patient image position point according to the patient's actual position point and the image ratio value; Retrieving image detection information based on patient image position points and using it as patient image information; Performing contour recognition based on the patient image information to form image contour information; Based on the image contour information, the category recognition is performed and used as the contour category information; According to the correspondence between the contour type information and the preset contour type reference area value, the contour type reference area value corresponding to the contour type information is determined; Retrieve contour area value based on image contour information; Calculate the quotient between the contour type base area value and the contour area value and use it as the contour ratio value; According to the corresponding relationship between the contour ratio value and the preset contour distance estimation value, a contour distance estimation value corresponding to the contour ratio value is determined; The quotient between the estimated contour distance and the moving distance value is calculated and used as the obstacle impact value.

[0012] Optionally, the following steps are included after determining the current state: If the current state is the preset riding state, output the preset follow-up query information to the control terminal held by the nursing staff; Determining whether the follow-up output information sent by the control terminal held by the nursing staff is received; If yes, then obtain the real-time position of the wheelchair; Retrieve the follow output position point based on the follow output information; Calculate the distance vector between the follow-up output position point and the real-time position point of the wheelchair and use it as the follow-up output distance vector information; Determining following control information according to the following output distance vector information, and outputting the following control information to the wheelchair for movement; If not, continue to obtain riding detection information.

[0013] Optionally, the method further includes the following steps after outputting the following control information to the wheelchair for movement: Retrieving the following output distance value based on the following output distance vector information; According to the corresponding relationship between the following output distance value and the preset output distance reference strength value, an output distance reference strength value corresponding to the following output distance value is determined; Retrieving the signal reception strength value based on the follow-up output information; Determine whether the signal reception strength value is less than the output distance reference strength value; If yes, the difference between the signal receiving strength value and the output distance reference strength value is calculated and used as the strength deviation value; According to the correspondence between the intensity deviation value and the preset movement distance adjustment information, the movement distance adjustment information corresponding to the intensity deviation value is determined, and the movement distance adjustment information is added to the following control information to update the following control information; If not, continue to output the following control information to the wheelchair to move.

[0014] In a second aspect, the present invention provides a wheelchair automatic following control system, which adopts the following technical solution: A wheelchair automatic following control system, comprising: An acquisition module is used to obtain riding detection information, image detection information and real-time wheelchair location points; A memory, used to store a program of the automatic following control method for a wheelchair as described in any one of the first aspects; The processor loads and executes the program in the memory.

[0015] In a third aspect, the present invention provides an intelligent terminal, which adopts the following technical solution: An intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the automatic following control method for a wheelchair as described in any one of the first aspects.

[0016] In summary, the present invention includes at least one of the following beneficial technical effects: 1. The patient's personal information and riding detection information are obtained and the current state is determined. If the current state is the preset leaving state, the image detection information is obtained and the patient's position point is determined. The movement control information is determined by the patient's position point, and the movement control information is output to the wheelchair for movement, so that the wheelchair automatically follows the patient when the patient leaves the wheelchair, making it convenient for the patient to use the wheelchair in daily life; 2. Retrieve the patient's weight reference interval through the patient's personnel information, retrieve the weight detection value and temperature detection value through the riding detection information, calculate the weight deviation value and query to determine the weight deviation impact value, then calculate the temperature deviation value and query to determine the temperature deviation impact value, calculate the state comprehensive impact value and determine whether it is greater than the preset riding reference impact value. If it is greater than, use the preset riding state as the current state, and if it is not greater than, use the preset leaving state as the current state, thereby improving the accuracy of the current state obtained; 3. If the current state is the preset riding state, output the following query information to the control terminal held by the caregiver, and judge whether the following output information sent by the control terminal held by the caregiver is received. If and only if it is received, obtain the real-time position point of the wheelchair, and call the following output position point through the following output information to calculate the following output distance vector information, determine the following control information through the following output distance vector information, and output the following control information to the wheelchair for movement, so as to facilitate the patient to sit in the wheelchair and follow the caregiver to move, thereby facilitating the patient to use the wheelchair in daily life and reducing the care energy of the caregiver. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flow chart of a method for automatic following control of a wheelchair according to an embodiment of the present application; Figure 2 is a flow chart of a method for determining a current state of an embodiment of the present application; Figure 3 is a flow chart of a method for determining a patient position point according to an embodiment of the present application; Figure 4 is a flow chart of a method for determining mobile control information in an embodiment of the present application; Figure 5 is a flow chart of a method for determining comprehensive control information according to an embodiment of the present application; Figure 6 is a flow chart of a method for determining an obstacle impact value in an embodiment of the present application; Figure 7 is a method flow chart of the step after determining the current state of an embodiment of the present application; Figure 8 It is a method flow chart of the step after outputting follow-up control information to the wheelchair for movement according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0019] A method for automatic following control of a wheelchair obtains patient information and riding detection information on the wheelchair and determines the current state. If the current state is a preset leaving state, movement control information is determined through image detection information, and the movement control information is output to the wheelchair for movement. If the current state is a preset riding state and following output information is received from a control terminal held by a nursing staff, following control information is determined and output to the wheelchair for movement, thereby enabling the wheelchair to follow the patient or the nursing staff for movement, making it convenient for the patient to use the wheelchair in daily life.

[0020] Reference Figure 1 The embodiment of the present invention discloses a wheelchair automatic following control method, which includes: Step S100: Obtain patient information and wheelchair riding detection information.

[0021] Among them, the patient's personal information refers to the personal weight, characteristics and other parameter information corresponding to the patient using the wheelchair at the current time. The riding detection information refers to the detection information of the weight and temperature of the passenger on the wheelchair. The riding detection information is formed after detection by the weight sensor and temperature sensor preset on the wheelchair.

[0022] Step S101: Determine the current status based on the riding detection information and the patient personnel information.

[0023] The current state refers to the state of the patient using the wheelchair at the current time, and the current state is determined by analyzing the riding detection information and the patient's personnel information. The specific steps for determining the current state refer to steps S200 to S209.

[0024] Step S102: If the current state is the preset leaving state, image detection information is obtained.

[0025] The leaving state refers to the state in which the patient leaves the wheelchair at the current time, and the leaving state is obtained after pre-input. The image detection information refers to the image information corresponding to the front of the moving direction of the wheelchair, and the image detection information is detected and obtained by a camera preset on the wheelchair.

[0026] Step S103: Determine the patient's location point according to the image detection information and the patient's personal information.

[0027] The patient position point refers to the position point where the patient is located after leaving the wheelchair. The patient position point is determined by analyzing the image detection information and the patient's personal information, which is convenient for subsequent use. The specific steps for determining the patient position point refer to steps S300 to S307.

[0028] Step S104: determining movement control information according to the patient's position point, and outputting the movement control information to the wheelchair for movement.

[0029] The movement control information refers to the control information for controlling the movement of the wheelchair. The movement control information is determined by analyzing the patient's position point. The specific steps for determining the movement control information refer to steps S400 to S405. By outputting the movement control information to the wheelchair for movement, the wheelchair can move with the patient, making it convenient for the patient to use the wheelchair in daily life.

[0030] exist Figure 1 In step S101, in order to further ensure the rationality of the current state, it is necessary to further analyze and calculate the current state. Figure 2 The steps shown are explained in detail.

[0031] Reference Figure 2 , the method for determining the current state includes the following steps: Step S200: Retrieve the patient's weight reference interval based on the patient's personal information.

[0032] Among them, the patient's personal information includes the patient's weight reference range, which refers to the reference range corresponding to the patient's weight under normal circumstances. The patient's weight reference range is retrieved through the patient's personal information to facilitate subsequent use.

[0033] Step S201: Retrieve weight detection value and temperature detection value based on riding detection information.

[0034] Among them, the weight detection value refers to the weight value detected on the wheelchair, and the temperature detection value refers to the temperature value detected on the wheelchair. The weight detection value and the temperature detection value are retrieved through the riding detection information to facilitate subsequent use.

[0035] Step S202: Calculate the difference between the weight detection value and the patient's weight reference interval and use it as the weight deviation value.

[0036] Among them, the weight deviation value refers to the deviation value when there is a deviation in weight. The difference between the weight detection value and the patient's weight reference range is calculated and used as the weight deviation value for subsequent use.

[0037] Step S203: determining a weight deviation influence value corresponding to the weight deviation value according to a correspondence between the weight deviation value and a preset weight deviation influence value.

[0038] Among them, the weight deviation impact value refers to the influence degree of weight deviation on the state. Different weight deviation values ​​correspond to different weight deviation impact values. The weight deviation impact value is obtained by querying from a database storing different weight deviation values ​​and corresponding weight deviation impact values. The database is obtained after pre-input. The weight deviation impact value is determined by querying the weight deviation value to facilitate subsequent use.

[0039] Step S204: Calculate the difference between the temperature detection value and the preset temperature reference interval and use it as the temperature deviation value.

[0040] The temperature reference interval refers to the reference interval of the human body temperature, and the temperature reference interval is obtained by pre-input. The temperature deviation value refers to the deviation value when the temperature is deviated. The difference between the temperature detection value and the preset temperature reference interval is calculated and used as the temperature deviation value for subsequent use.

[0041] Step S205: determining the temperature deviation influence value corresponding to the temperature deviation value according to the corresponding relationship between the temperature deviation value and the preset temperature deviation influence value.

[0042] The temperature deviation impact value refers to the influence degree of the temperature deviation on the state. Different temperature deviation values ​​correspond to different temperature deviation impact values. The temperature deviation impact value is obtained by querying from a database storing different temperature deviation values ​​and corresponding temperature deviation impact values. The database is obtained after pre-input. The temperature deviation impact value is determined by querying the temperature deviation value to facilitate subsequent use.

[0043] Step S206: Calculate the sum of the weight deviation impact value and the temperature deviation impact value and use it as the state comprehensive impact value.

[0044] Among them, the comprehensive influence value of the state refers to the comprehensive influence degree value of temperature and weight on the state. The sum of the weight deviation influence value and the temperature deviation influence value is calculated and used as the comprehensive influence value of the state for convenience in subsequent use.

[0045] Step S207: Determine whether the comprehensive state impact value is greater than the preset riding reference impact value. If yes, execute step S208; if no, execute step S209.

[0046] The riding reference impact value refers to the minimum impact value corresponding to when the patient is sitting in a wheelchair, and the riding reference impact value is obtained after pre-input. By judging whether the state comprehensive impact value is greater than the preset riding reference impact value, it is judged whether the patient is sitting in a wheelchair.

[0047] Step S208: taking the preset riding state as the current state.

[0048] Among them, the sitting state refers to the state corresponding to the patient sitting in a wheelchair. When the comprehensive state impact value is greater than the preset sitting benchmark impact value, it means that the patient is sitting in a wheelchair at this time, so the preset sitting state is used as the current state, thereby improving the accuracy of the current state obtained.

[0049] Step S209: taking the preset leaving state as the current state.

[0050] Among them, the leaving state refers to the state corresponding to when the patient leaves the wheelchair. When the comprehensive impact value of the state is not greater than the preset riding benchmark impact value, it means that the patient is not sitting in the wheelchair at this time, so the preset leaving state is used as the current state, thereby improving the accuracy of the current state obtained.

[0051] exist Figure 1 In step S103, in order to further ensure the rationality of the patient's position point, it is necessary to further analyze and calculate the patient's position point separately, specifically by Figure 3 The steps shown are explained in detail.

[0052] Reference Figure 3 , the method for determining the patient position point includes the following steps: Step S300: Retrieve patient personnel characteristics based on patient personnel information.

[0053] Among them, the patient's personal information includes the patient's personal characteristics. The patient's personal characteristics refer to the characteristics of different parts of the patient's face, body height, waist circumference, chest circumference, etc. The patient's personal characteristics are retrieved through the patient's personal information to facilitate subsequent use.

[0054] Step S301: Identify image detection information based on patient characteristics to determine characteristic image information.

[0055] Among them, the characteristic image information refers to the image information corresponding to the patient, the image detection information is identified through the patient's personal characteristics, and the identified image is used as the characteristic image information, so as to be used later.

[0056] Step S302: Retrieving feature type information, feature image area value and feature image position point based on the feature image information.

[0057] Among them, the feature type information refers to the type information of the patient's part where the feature corresponding to the identified image is located, and the feature type information includes face type, waist type, chest type, leg type and other types. The feature image area value refers to the area value corresponding to the identified image, and the feature image position point refers to the relative position point of the identified feature image in the overall detection image. The type to which the feature of the identified image belongs is retrieved through the feature image information and used as the feature type information, and the area of ​​the feature image information in the overall detection image is used as the feature image area value, and the relative position of the feature image information in the overall detection image is used as the feature image position point, so as to facilitate subsequent use.

[0058] Step S303: determining the feature type reference area value corresponding to the feature type information according to the correspondence between the feature type information and the preset feature type reference area value.

[0059] The feature type reference area value refers to the actual area value corresponding to the type of feature under normal circumstances. Different feature type information corresponds to different feature type reference area values. The feature type reference area value is obtained by querying from a database storing feature type information and corresponding feature type reference area values. The database is obtained after pre-input. The feature type reference area value is determined by querying the feature type information to facilitate subsequent use.

[0060] Step S304: Calculate the quotient between the characteristic type reference area value and the characteristic image area value and use it as the image ratio value.

[0061] The image ratio value refers to the ratio between the currently collected image and the actual image. The quotient between the feature type reference area value and the feature image area value is calculated and used as the image ratio value for subsequent use.

[0062] Step S305: determining the actual position point of the feature according to the feature image position point and the image ratio value.

[0063] The actual position point of the feature refers to the actual position point of the identified feature. The shooting distance is determined by the image ratio value, and then the shooting distance and the feature image position point are analyzed and calculated to determine the actual position point of the feature for subsequent use.

[0064] Step S306: determining the feature position relative distance value corresponding to the feature type information according to the correspondence between the feature type information and the preset feature position relative distance value.

[0065] The feature position relative distance value refers to the relative distance value corresponding to the reference position of the patient's body of the feature type. Different feature type information corresponds to different feature position relative distance values. The feature position relative distance value is obtained by querying from a database storing different feature type information and corresponding feature position relative distance values. The database is obtained after pre-input. The feature position relative distance value is determined by querying the feature type information to facilitate subsequent use.

[0066] Step S307: determining the actual position point of the patient according to the relative distance value of the characteristic position and the actual position point of the characteristic, and using the actual position point of the patient as the patient position point.

[0067] Among them, the actual position point of the patient refers to the actual position point of the patient's body's reference position. The accuracy of the acquired patient position points is improved by calculating the offset of the relative distance value of the feature position of the feature actual position point, and taking the position point corresponding to the offset as the actual position point of the patient, and then taking the actual position point of the patient as the patient position point.

[0068] exist Figure 1 In step S104, in order to further ensure the rationality of the mobile control information, it is necessary to further analyze and calculate the mobile control information. Figure 4 The steps shown are explained in detail.

[0069] Reference Figure 4 , the method for determining the mobile control information comprises the following steps: Step S400: Obtain the real-time position of the wheelchair.

[0070] The real-time position of the wheelchair refers to the position of the wheelchair at the current time, and the real-time position of the wheelchair is detected and acquired by a position sensor preset on the wheelchair.

[0071] Step S401: Calculate the distance vector between the patient's position point and the real-time position point of the wheelchair and use it as the patient's distance vector information.

[0072] Among them, the patient distance vector information refers to the distance and direction information between the patient and the wheelchair. By calculating the distance vector between the patient's position point and the real-time position point of the wheelchair and using it as the patient's distance vector information, it is convenient for subsequent use.

[0073] Step S402: Retrieve the patient distance value and the patient direction information based on the patient distance vector information.

[0074] Among them, the patient distance vector information includes the patient distance value and the patient direction information. The patient distance value refers to the distance value between the patient and the wheelchair, and the patient direction information refers to the direction information between the patient and the wheelchair. The patient distance value and the patient direction information are retrieved through the patient distance vector information to facilitate subsequent use.

[0075] Step S403: determining a rotation angle value corresponding to the patient's direction information according to a correspondence between the patient's direction information and a preset rotation angle value.

[0076] The rotation angle value refers to the angle value that needs to be rotated when the front of the wheelchair faces the patient. Different patient direction information corresponds to different rotation angle values. The rotation angle value is obtained by querying from a database storing different patient direction information and corresponding rotation angle values. The database is obtained after pre-input. The rotation angle value is determined by querying the patient direction information to facilitate subsequent use.

[0077] Step S404: Calculate the difference between the patient's distance value and a preset distance reference value and use it as the moving distance value.

[0078] The distance reference value refers to the maximum distance between the wheelchair and the patient, and the distance reference value is obtained after pre-input. The moving distance value refers to the distance value corresponding to the wheelchair needs to move. The difference between the patient distance value and the preset distance reference value is calculated and used as the moving distance value for subsequent use.

[0079] Step S405: Determine comprehensive control information according to the moving distance value and the rotation angle value, and use the comprehensive control information as the moving control information.

[0080] Among them, the comprehensive control information refers to the comprehensive information for controlling the movement and turning of the wheelchair. The comprehensive control information is determined by analyzing the moving distance value and the turning angle value, and the comprehensive control information is used as the moving control information, thereby improving the accuracy of the obtained moving control information.

[0081] exist Figure 4 In step S405, in order to further ensure the rationality of the comprehensive control information, it is necessary to further analyze and calculate the comprehensive control information. Figure 5 The steps shown are explained in detail.

[0082] Reference Figure 5 , the method for determining the comprehensive control information comprises the following steps: Step S500: determining angle rotation control information corresponding to the rotation angle value according to the correspondence between the rotation angle value and the preset angle rotation control information.

[0083] The angle rotation control information refers to the control information used to control the steering of the wheelchair. Different rotation angle values ​​correspond to different angle rotation control information. The angle rotation control information is obtained by querying from a database storing different rotation angle values ​​and corresponding angle rotation control information. The database is obtained after pre-input. The angle rotation control information is determined by querying the rotation angle value, which is convenient for subsequent use.

[0084] Step S501: Determine whether the moving distance value is a positive value. If yes, execute step S502; if no, execute step S505.

[0085] Whether the moving distance value is a positive value is judged, thereby judging whether the wheelchair needs to move ahead.

[0086] Step S502: Determine the obstacle impact value according to the actual position point of the patient.

[0087] Among them, the obstacle impact value refers to the degree of influence of the obstacle on the moving distance when the wheelchair moves. When the moving distance value is a positive value, it means that the wheelchair needs to move ahead at this time. Therefore, the obstacle impact value is determined by analyzing the patient's actual position point to facilitate subsequent use.

[0088] Step S503: Calculate the product of the obstacle impact value and the moving distance value and use it as the distance adjustment value.

[0089] The distance adjustment value refers to the distance value after the distance is adjusted. The product of the obstacle impact value and the moving distance value is calculated and used as the distance adjustment value for subsequent use.

[0090] Step S504: determining the distance adjustment control information corresponding to the distance adjustment value according to the correspondence between the distance adjustment value and the preset distance adjustment control information, and combining the angle rotation control information with the distance adjustment control information as comprehensive control information.

[0091] The adjustment distance control information refers to the control information for controlling the movement of the wheelchair according to the adjusted distance, and different distance adjustment values ​​correspond to different adjustment distance control information. The adjustment distance control information is obtained by querying from a database storing different distance adjustment values ​​and corresponding adjustment distance control information, and the database is obtained after pre-input. The adjustment distance control information is determined by querying the distance adjustment value, and the angle rotation control information is combined with the adjustment distance control information as comprehensive control information, thereby improving the accuracy of the obtained comprehensive control information.

[0092] Step S505: Determine the moving distance control information corresponding to the moving distance value according to the corresponding relationship between the moving distance value and the preset moving distance control information, and combine the angle rotation control information with the moving distance control information to serve as comprehensive control information.

[0093] The moving distance control information refers to the control information for controlling the movement of the wheelchair according to the moving distance value. Different moving distance values ​​correspond to different moving distance control information. The moving distance control information is obtained by querying from a database storing different moving distance values ​​and corresponding moving distance control information. The database is obtained after pre-input. The moving distance control information is determined by querying the moving distance value, and the angle rotation control information is combined with the moving distance control information as comprehensive control information, thereby improving the accuracy of the obtained comprehensive control information.

[0094] exist Figure 5 In step S502, in order to further ensure the rationality of the obstacle impact value, it is necessary to further analyze and calculate the obstacle impact value. Figure 6 The steps shown are explained in detail.

[0095] Reference Figure 6 , the method for determining the obstacle impact value includes the following steps: Step S600: determining the patient image position point according to the patient's actual position point and the image ratio value.

[0096] Among them, the patient image position point refers to the position point of the patient's body's reference position in the image. The shooting distance is determined by the image ratio value, and the patient image position point is determined based on the shooting distance and the patient's actual position point, which is convenient for subsequent use.

[0097] Step S601: Retrieve image detection information based on the patient image position point and use it as the patient image information.

[0098] Among them, the patient image information refers to the image information corresponding to the reference position of the patient's body. By retrieving the image near the patient's image position point in the image detection information and using it as the patient's image information, it is convenient for subsequent use.

[0099] Step S602: Perform contour recognition based on the patient image information to form image contour information.

[0100] The image contour information refers to the contour information corresponding to the image of the reference position of the patient's body. The contour is recognized on the patient's image information, and the recognized contour is used as the image contour information for convenience in subsequent use.

[0101] Step S603: Perform category recognition based on the image contour information and use it as contour category information.

[0102] The contour category information refers to the category information to which the contour belongs, and the category is identified by inputting the image contour information into a preset contour category database, and the identified category is used as the contour category information. The contour category database pre-stores different contour category information and corresponding image contour information.

[0103] Step S604: determining the contour type reference area value corresponding to the contour type information according to the correspondence between the contour type information and the preset contour type reference area value.

[0104] The contour type reference area value refers to the reference area value corresponding to the type of contour. Different contour type information corresponds to different contour type reference area values. The contour type reference area value is obtained by querying from a database storing contour type information and corresponding contour type reference area values. The database is obtained after pre-input. The contour type reference area value is determined by querying the contour type information to facilitate subsequent use.

[0105] Step S605: Retrieve the contour area value based on the image contour information.

[0106] The contour area value refers to the area value covered by the identified contour. By retrieving the area covered by the image contour information and using it as the contour area value, it is convenient for subsequent use.

[0107] Step S606: Calculate the quotient between the contour type reference area value and the contour area value and use it as the contour ratio value.

[0108] Among them, the contour ratio value refers to the ratio between the actual coverage area of ​​the contour and the reference area of ​​the type to which the contour belongs. The quotient between the reference area value of the contour type and the contour area value is calculated and used as the contour ratio value to facilitate subsequent use.

[0109] Step S607: determining a contour distance estimation value corresponding to the contour ratio value according to the corresponding relationship between the contour ratio value and the preset contour distance estimation value.

[0110] The estimated contour distance value refers to the distance value corresponding to the estimated distance between the contour and the wheelchair. Different contour ratio values ​​correspond to different estimated contour distance values. The estimated contour distance value is obtained by querying from a database storing different contour ratio values ​​and corresponding estimated contour distance values. The database is obtained after pre-input. The estimated contour distance value is determined by querying the contour ratio value to facilitate subsequent use.

[0111] Step S608: Calculate the quotient between the estimated contour distance and the moving distance value and use it as the obstacle impact value.

[0112] Among them, the obstacle impact value refers to the impact degree value corresponding to the obstacle caused by the object at the contour position on the movement of the wheelchair. The quotient between the contour distance estimate and the movement distance value is calculated and used as the obstacle impact value, thereby improving the accuracy of the obtained obstacle impact value.

[0113] exist Figure 1 After step S101, in order to further ensure the rationality of the current state, further separate analysis and calculation is required after the current state is determined. Figure 7 The steps shown are explained in detail.

[0114] Reference Figure 7 , the steps after determining the current state include the following steps: Step S700: If the current state is the preset riding state, output the preset follow-up query information to the control terminal held by the nursing staff.

[0115] Among them, the following query information refers to information used to query whether the nursing staff needs to be followed, and the following query information is obtained after pre-input. The control terminal held by the nursing staff refers to a terminal that can receive the following query information and control the wheelchair to follow. The control terminal held by the nursing staff can be a mobile phone, or a dedicated sensor device. If the current state is the preset riding state, it means that the patient is sitting in a wheelchair at this time. Therefore, at this time, the preset following query information is output to the control terminal held by the nursing staff, so as to facilitate the subsequent judgment of whether the wheelchair needs to be followed.

[0116] Step S701: Determine whether the follow-up output information sent by the control terminal held by the nursing staff is received. If yes, execute step S702; if no, execute step S706.

[0117] The following output information refers to the information used to control the wheelchair to follow the caregiver, and the following output information is sent by the caregiver through the control terminal held by the caregiver after the caregiver presses a physical button or presses a touch screen. By judging whether the following output information sent by the control terminal held by the caregiver is received, it is judged whether the wheelchair needs to follow the caregiver.

[0118] Step S702: Obtain the real-time position of the wheelchair.

[0119] Among them, when the follow output information sent by the control terminal held by the nursing staff is received, it means that the wheelchair needs to follow the nursing staff at this time, so the real-time position point of the wheelchair is obtained for subsequent use.

[0120] Step S703: Retrieve the follow-up output position point based on the follow-up output information.

[0121] Among them, the follow output position point refers to the position point of the control terminal held by the nursing staff. The position of the control terminal held by the nursing staff is queried and retrieved by following the output information, and the queried position is used as the follow output position point for subsequent use.

[0122] Step S704: Calculate the distance vector between the follow-up output position point and the real-time position point of the wheelchair and use it as the follow-up output distance vector information.

[0123] Among them, the following output distance vector information refers to the distance and direction information between the caregiver and the wheelchair. By calculating the distance vector between the following output position point and the real-time position point of the wheelchair and using it as the following output distance vector information, it is convenient for subsequent operations.

[0124] Step S705: Determine the following control information according to the following output distance vector information, and output the following control information to the wheelchair for movement.

[0125] The following control information refers to the control information used to control the wheelchair to follow the caregiver to move. The following control information is determined by analyzing the following output distance vector information, and the following control information is output to the wheelchair for movement, so as to facilitate the wheelchair for patients to use in daily life. The following control information can be calculated with reference to the method corresponding to step S402 to step S405, that is, the angle and distance value corresponding to the caregiver and the wheelchair are retrieved by following the output distance vector information, so as to determine the angle that the wheelchair needs to rotate and the distance that needs to be moved, and finally form the following control information.

[0126] Step S706: Continue to obtain riding detection information.

[0127] When the following output information sent by the control terminal held by the caregiver is not received, it means that the wheelchair does not need to follow the caregiver at this time, so the riding detection information continues to be obtained.

[0128] exist Figure 7 After step S705, in order to further ensure the rationality of outputting the follow-up control information to the wheelchair for movement, it is necessary to perform further separate analysis and calculation on the output of the follow-up control information to the wheelchair for movement. Figure 8 The steps shown are explained in detail.

[0129] Reference Figure 8 The steps after outputting the follow-up control information to the wheelchair for movement include the following steps: Step S800: Retrieve the following output distance value based on the following output distance vector information.

[0130] Among them, the following output distance vector information includes the following output distance value, and the following output distance value refers to the distance value between the caregiver and the wheelchair. The following output distance value is retrieved through the following output distance vector information to facilitate subsequent use.

[0131] Step S801: determining an output distance reference strength value corresponding to the following output distance value according to a corresponding relationship between the following output distance value and a preset output distance reference strength value.

[0132] The output distance reference strength value refers to the reference strength value at which the signal can be received according to the distance between the caregiver and the wheelchair. Different follow-up output distance values ​​correspond to different output distance reference strength values. The output distance reference strength value is obtained by querying from a database storing different follow-up output distance values ​​and corresponding output distance reference strength values. The database is obtained after pre-input. The output distance reference strength value is determined by querying the follow-up output distance value to facilitate subsequent use.

[0133] Step S802: Retrieve the signal reception strength value based on the follow-up output information.

[0134] Among them, the signal reception strength value refers to the signal strength value corresponding to the currently received follow-up output information. The signal strength corresponding to the current wheelchair receiving the signal is retrieved by following the output information and used as the signal reception strength value for subsequent use.

[0135] Step S803: Determine whether the signal receiving strength value is less than the output distance reference strength value. If yes, execute step S804; if no, execute step S806.

[0136] Wherein, whether the signal is interfered is determined by judging whether the signal reception strength value is less than the output distance reference strength value.

[0137] Step S804: Calculate the difference between the signal receiving strength value and the output distance reference strength value and use it as the strength deviation value.

[0138] Among them, the intensity deviation value refers to the deviation value corresponding to the existence of intensity deviation. When the signal reception intensity value is less than the output distance reference intensity value, it means that there is an object between the caregiver and the wheelchair causing the signal to be interfered with. Therefore, the difference between the signal reception intensity value and the output distance reference intensity value is calculated and used as the intensity deviation value for subsequent use.

[0139] Step S805: determining the moving distance adjustment information corresponding to the intensity deviation value according to the corresponding relationship between the intensity deviation value and the preset moving distance adjustment information, and adding the moving distance adjustment information to the following control information to update the following control information.

[0140] The moving distance adjustment information refers to the adjustment information for adjusting the moving distance of the wheelchair. Different strength deviation values ​​correspond to different moving distance adjustment information. The moving distance adjustment information is obtained by querying from a database storing different strength deviation values ​​and corresponding moving distance adjustment information. The database is obtained after pre-input. The moving distance adjustment information is determined by querying the strength deviation value, and the moving distance adjustment information is added to the following control information to update the following control information, thereby improving the accuracy of the obtained following control information.

[0141] Step S806: Continue to output the following control information to the wheelchair to move.

[0142] Among them, when the signal receiving strength value is not less than the output distance reference strength value, it means that the signal is not interfered at this time, so the following control information continues to be output to the wheelchair for movement.

[0143] Based on the same inventive concept, an embodiment of the present invention provides a wheelchair automatic following control system, comprising: An acquisition module is used to obtain riding detection information, image detection information and real-time wheelchair location points; A memory for storing a program of the above-mentioned wheelchair automatic following control method; The processor loads and executes the program in the memory.

[0144] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the above-mentioned wheelchair automatic following control method.

[0145] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0146] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A wheelchair automatic following control method, characterized in that: include: Obtain patient personnel information and wheelchair riding detection information; Determine the current status based on the riding test information and patient personnel information; If the current state is the preset leaving state, obtain image detection information; Determine the patient's location point based on image detection information and patient personnel information; The movement control information is determined according to the patient's position point, and the movement control information is output to the wheelchair for movement.

2. The automatic following control method for a wheelchair according to claim 1, characterized in that: The current state is determined by: Retrieve the patient's weight reference interval based on the patient's personnel information; Retrieve weight detection value and temperature detection value based on riding detection information; Calculate the difference between the weight test value and the patient's weight reference interval and use it as the weight deviation value; According to the corresponding relationship between the weight deviation value and the preset weight deviation influence value, the weight deviation influence value corresponding to the weight deviation value is determined; Calculate the difference between the temperature detection value and the preset temperature reference interval and use it as the temperature deviation value; According to the corresponding relationship between the temperature deviation value and the preset temperature deviation influence value, the temperature deviation influence value corresponding to the temperature deviation value is determined; Calculate the sum of the weight deviation impact value and the temperature deviation impact value and use it as the comprehensive state impact value; Determine whether the comprehensive impact value of the state is greater than the preset riding benchmark impact value; If yes, the preset riding state is used as the current state; If not, the preset leave state is used as the current state.

3. The automatic following control method for a wheelchair according to claim 1, characterized in that: Methods for determining the patient location point include: Retrieving patient personnel characteristics based on patient personnel information; Recognize the image detection information based on the patient's personal characteristics to determine characteristic image information; Retrieving feature type information, feature image area value and feature image position point based on feature image information; According to the correspondence between the feature type information and the preset feature type reference area value, the feature type reference area value corresponding to the feature type information is determined; Calculate the quotient between the characteristic type reference area value and the characteristic image area value and use it as the image ratio value; Determine the actual position point of the feature according to the feature image position point and the image ratio value; According to the correspondence between the feature type information and the preset feature position relative distance value, the feature position relative distance value corresponding to the feature type information is determined; The actual position point of the patient is determined according to the relative distance value of the feature position and the actual position point of the feature, and the actual position point of the patient is used as the patient position point.

4. The automatic following control method for a wheelchair according to claim 3, characterized in that: The method for determining the mobile control information includes: Get the real-time location of the wheelchair; Calculate the distance vector between the patient's position point and the real-time position point of the wheelchair and use it as the patient's distance vector information; Retrieving patient distance value and patient direction information based on patient distance vector information; According to the correspondence between the patient's direction information and the preset rotation angle value, a rotation angle value corresponding to the patient's direction information is determined; Calculate the difference between the patient's distance value and a preset distance reference value and use it as the moving distance value; Comprehensive control information is determined according to the moving distance value and the rotation angle value, and the comprehensive control information is used as the moving control information.

5. The automatic following control method for a wheelchair according to claim 4, characterized in that: The method for determining the comprehensive control information includes: According to the correspondence between the rotation angle value and the preset angle rotation control information, the angle rotation control information corresponding to the rotation angle value is determined; Determine whether the moving distance value is positive; If yes, then determine the obstacle impact value based on the patient’s actual location point; Calculate the product of the obstacle impact value and the moving distance value and use it as the distance adjustment value; According to the correspondence between the distance adjustment value and the preset distance adjustment control information, the distance adjustment control information corresponding to the distance adjustment value is determined, and the angle rotation control information is combined with the distance adjustment control information to serve as the comprehensive control information; If not, the moving distance control information corresponding to the moving distance value is determined according to the corresponding relationship between the moving distance value and the preset moving distance control information, and the angle rotation control information is combined with the moving distance control information to serve as the comprehensive control information.

6. The automatic following control method for a wheelchair according to claim 5, characterized in that: Methods for determining the barrier impact value include: Determine the patient image position point according to the patient's actual position point and the image ratio value; Retrieving image detection information based on patient image position points and using it as patient image information; Performing contour recognition based on the patient image information to form image contour information; Based on the image contour information, the category recognition is performed and used as the contour category information; According to the correspondence between the contour type information and the preset contour type reference area value, the contour type reference area value corresponding to the contour type information is determined; Retrieve contour area value based on image contour information; Calculate the quotient between the contour type base area value and the contour area value and use it as the contour ratio value; According to the corresponding relationship between the contour ratio value and the preset contour distance estimation value, a contour distance estimation value corresponding to the contour ratio value is determined; The quotient between the estimated contour distance and the moving distance value is calculated and used as the obstacle impact value.

7. The automatic following control method for a wheelchair according to claim 1, characterized in that: Also included are the steps that follow after determining the current state: If the current state is the preset riding state, output the preset follow-up query information to the control terminal held by the nursing staff; Determining whether the follow-up output information sent by the control terminal held by the nursing staff is received; If yes, then obtain the real-time position of the wheelchair; Retrieve the follow output position point based on the follow output information; Calculate the distance vector between the follow-up output position point and the real-time position point of the wheelchair and use it as the follow-up output distance vector information; Determining following control information according to the following output distance vector information, and outputting the following control information to the wheelchair for movement; If not, continue to obtain riding detection information.

8. The automatic following control method for a wheelchair according to claim 7, characterized in that: Also included is the step of: after outputting the follow control information to the wheelchair for movement: Retrieving the following output distance value based on the following output distance vector information; According to the corresponding relationship between the following output distance value and the preset output distance reference strength value, an output distance reference strength value corresponding to the following output distance value is determined; Retrieving the signal reception strength value based on the follow-up output information; Determine whether the signal reception strength value is less than the output distance reference strength value; If yes, the difference between the signal receiving strength value and the output distance reference strength value is calculated and used as the strength deviation value; According to the correspondence between the intensity deviation value and the preset movement distance adjustment information, the movement distance adjustment information corresponding to the intensity deviation value is determined, and the movement distance adjustment information is added to the following control information to update the following control information; If not, continue to output the following control information to the wheelchair to move.

9. A wheelchair automatic following control system, characterized in that: include: An acquisition module is used to obtain riding detection information, image detection information and real-time wheelchair location points; A memory, used to store a program of the automatic following control method for a wheelchair according to any one of claims 1 to 8; The processor loads and executes the program in the memory.

10. An intelligent terminal, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes the automatic following control method for a wheelchair as claimed in any one of claims 1 to 8.

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