Electric wheelchair armrest linkage control method and system

Abstract

The present application relates to electric wheelchair control technology, specifically, to a method and system for controlling armrest linkage in an electric wheelchair. The method comprises: detecting armrest position change information of the electric wheelchair; triggering a travel mode switch and obtaining a corresponding target mode when the armrest position change information satisfies a preset switching condition; obtaining armrest motion rate information associated with the armrest position change information; initiating a control parameter transition process based on the armrest motion rate information, causing at least one control parameter associated with the travel mode to smoothly transition from a source mode parameter value to a target mode parameter value; and controlling the travel of the electric wheelchair in response to a user's joystick command based on the transitioned control parameter. This method improves the ride comfort and operating smoothness of the electric wheelchair during mode switching, while reducing safety hazards.

Description

Technical Field

[0001] The present application relates to control technology for electric wheelchairs, and more specifically, to a method and system for controlling armrest linkage of an electric wheelchair. Background Art

[0002] Electric wheelchairs typically offer multiple driving modes to suit different environments, such as indoor and outdoor modes. These modes are distinguished by setting different control parameters (such as maximum speed, acceleration, and steering sensitivity). To simplify operation, existing technologies have adopted a method that links driving mode selection to armrest position, triggering mode switching by detecting the armrest angle. However, when the user triggers a mode switch by adjusting the armrest position during operation, if the joystick is not in a neutral state at this time, the control parameters (such as the maximum speed limit) between the old and new modes will change stepwise. The current joystick command may exceed the allowable range in the new mode. This can cause unexpected sudden changes in the actual motion state of the electric wheelchair (such as speed and acceleration), such as a sudden drop in speed that causes a sense of jerkiness, or sudden acceleration or sharp turns. This discontinuous change in motion state significantly affects the user's ride comfort and operational smoothness during scene transitions (such as entering or exiting a narrow doorway) and may introduce safety hazards by interfering with user operation.

[0003] In view of the above problems, the existing technology is in urgent need of improvement. Summary of the Invention

[0004] The purpose of this application is to provide an electric wheelchair armrest linkage control method and system, which has the advantages of initiating a smooth transition of control parameters according to armrest movement rate information, avoiding step changes in control parameters during mode switching, thereby improving the riding comfort and operating smoothness of the electric wheelchair during mode switching and reducing safety hazards.

[0005] In the first aspect, the present application provides a method for controlling the armrest linkage of an electric wheelchair, the technical solution of which is as follows:

[0006] include:

[0007] Detecting the position change information of the electric wheelchair's armrests;

[0008] When the armrest position change information meets the preset switching conditions, the driving mode switch is triggered and the corresponding target mode is obtained;

[0009] Obtaining handrail movement rate information associated with handrail position change information;

[0010] Initiate a control parameter transition process based on the handrail movement rate information, so that at least one control parameter related to the driving mode smoothly transitions from a source mode parameter value to a target mode parameter value;

[0011] According to the transformed control parameters, the driving of the electric wheelchair is controlled in response to the user's joystick command.

[0012] Through the above scheme, by initiating a smooth transition of the control parameters according to the armrest movement rate information, a step change of the control parameters during mode switching is avoided, thereby improving the riding comfort and operating smoothness of the electric wheelchair during the mode switching process and reducing safety hazards.

[0013] Optionally, according to the electric wheelchair armrest linkage control method, starting a control parameter transition process based on the armrest movement rate information so that at least one control parameter related to the driving mode smoothly transitions from a source mode parameter value to a target mode parameter value includes:

[0014] According to the handrail movement rate information, the transition process of the control parameters is started;

[0015] Real-time monitoring of the armrest angle of the electric wheelchair;

[0016] Determine whether the armrest angle enters the preset angle range corresponding to the target mode;

[0017] When the armrest angle enters the angle range corresponding to the target mode and maintains a stable state within the angle range corresponding to the target mode for a preset stable confirmation time, at least one control parameter related to the driving mode is smoothly transitioned from the source mode parameter value to the target mode parameter value based on the armrest movement rate information.

[0018] Through the above scheme, by combining the armrest angle stable state judgment, it is ensured that the smooth transition of the control parameters is carried out after the armrest position is stable, thereby improving the accuracy and reliability of mode switching.

[0019] Optionally, according to the electric wheelchair armrest linkage control method, the step of smoothly transitioning at least one control parameter related to the driving mode from a source mode parameter value to a target mode parameter value based on the armrest movement rate information includes:

[0020] Real-time handrail movement rate information is obtained, and a control parameter is dynamically adjusted to smoothly transition to a target mode parameter value, so that the transition of at least one control parameter related to the driving mode is adapted to the real-time handrail movement rate information.

[0021] Through the above solution, the transition of control parameters is dynamically adjusted to adapt to the real-time armrest movement rate, making the transition of control parameters more flexible and humane, and further improving smoothness.

[0022] Optionally, according to the electric wheelchair armrest linkage control method, the method further includes:

[0023] Acquiring real-time motion characteristic information of an armrest of the electric wheelchair, the real-time motion characteristic information of the armrest indicating that the armrest is in at least one of a speed change state, a direction change state, or a pause state, and the real-time motion characteristic information of the armrest includes armrest motion rate information for subsequent adjustment;

[0024] Analyze the corresponding armrest adjustment intention based on the real-time movement feature information of the armrest;

[0025] The method of dynamically adjusting the control parameter to smoothly transition to the target mode parameter value so that the transition of at least one control parameter related to the driving mode is adapted to the real-time handrail movement rate information includes:

[0026] According to the armrest adjustment intention and the armrest movement rate information, adjust the transition mode of at least one control parameter related to the driving mode to smoothly transition to the target mode parameter value, and the transition mode includes adjusting the transition rate of the control parameter to the target mode parameter value or controlling the transition to stop.

[0027] Through the above scheme, by analyzing the real-time movement characteristics and adjustment intentions of the armrest, the transformation of control parameters can be adjusted more accurately according to the user's operation intention, thereby improving the responsiveness and intelligence level of the system.

[0028] Optionally, according to the electric wheelchair armrest linkage control method, adjusting a transition mode for smoothly transitioning at least one control parameter related to the driving mode to a target mode parameter value based on the armrest adjustment intention and the armrest movement rate information includes:

[0029] Obtaining real-time driving information, including the current driving status of the electric wheelchair or the instant driving instructions input by the user through the joystick;

[0030] Determine whether there are preset conflict conditions based on real-time driving information and armrest adjustment intentions;

[0031] If a conflict condition exists, the control parameter is adjusted to the target mode parameter value transition rate or the control transition is stopped according to the preset safety rules;

[0032] If the conflict condition does not exist, the transformation method will continue to be adjusted according to the armrest adjustment intention.

[0033] Through the above solution, driving safety in complex or emergency situations is ensured by judging whether there is a conflict between real-time driving information and the armrest adjustment intention, and making adjustments based on safety rules.

[0034] Optionally, according to the electric wheelchair armrest linkage control method, judging whether a preset conflict condition exists based on real-time driving information and armrest adjustment intention includes:

[0035] Acquiring driving environment information of the electric wheelchair, where the driving environment information indicates the real-time driving environment state of the electric wheelchair;

[0036] Adjusting a conflict judgment basis of the conflict condition according to the driving environment information, the conflict judgment basis including judgment parameters and / or judgment rules;

[0037] According to the real-time driving information and the armrest adjustment intention, the adjusted conflict judgment basis is followed to determine whether there are conflict conditions.

[0038] Through the above solution, by combining driving environment information to adjust the basis for conflict judgment, the safety judgment is made more suitable for actual scenarios, thereby improving the environmental adaptability and safety of the system.

[0039] Optionally, according to the electric wheelchair armrest linkage control method, the conflict judgment basis for adjusting the conflict condition according to the driving environment information includes:

[0040] A rule framework for presetting the conflict judgment basis, which includes configurable parameters for controlling the response characteristics of the conflict judgment basis;

[0041] Determining a set value of the configurable parameter according to a preset correspondence between the driving environment information and the configurable parameter;

[0042] Apply the set configurable parameters to the rule framework to generate adjusted conflict judgment basis.

[0043] Through the above scheme, the flexible configuration and generation of conflict judgment basis are achieved through the preset rule framework and configurable parameters, which improves the customizability and adaptability of the system.

[0044] Optionally, according to the electric wheelchair armrest linkage control method, determining the set value of the configurable parameter according to the preset correspondence between the driving environment information and the configurable parameter includes:

[0045] Obtain driving environment information and calculate its rate of change;

[0046] The determination method of the configurable parameter is adjusted according to the change rate to determine the set value of the configurable parameter.

[0047] Through the above solution, the method of determining the configurable parameters is adjusted by calculating the change rate of the driving environment information, so that the system can respond to environmental changes more dynamically, further improving environmental adaptability.

[0048] In a second aspect, the present application also provides a control system for an electric wheelchair, the technical solution of which is as follows:

[0049] The system includes:

[0050] A detection module, used to detect position change information of the electric wheelchair's armrests;

[0051] The first acquisition module is used to trigger the driving mode switch and acquire the corresponding target mode when the armrest position change information meets the preset switching condition;

[0052] A second acquisition module is used to acquire armrest movement rate information associated with armrest position change information;

[0053] a transition start module, configured to start a transition process of the control parameters according to the handrail movement rate information, so that at least one control parameter related to the driving mode smoothly transitions from a source mode parameter value to a target mode parameter value;

[0054] The driving control module is used to control the driving of the electric wheelchair in response to the user's joystick instructions according to the changed control parameters.

[0055] Through the above solution, the armrest linkage mode switching is realized through a modular system, and the armrest position and movement rate information are combined to support the smooth transition of control parameters, effectively avoid sudden driving changes, improve the smoothness and safety of control, and at the same time have good scalability and implementation basis.

[0056] Optionally, the transition startup module includes:

[0057] The starter module starts the transition process of the control parameters according to the handrail movement rate information;

[0058] The armrest angle monitoring submodule is used to monitor the armrest angle of the electric wheelchair in real time;

[0059] An angle determination submodule, used to determine whether the armrest angle enters the preset angle range corresponding to the target mode;

[0060] The parameter transition execution submodule is used to smoothly transition at least one control parameter related to the driving mode from the source mode parameter value to the target mode parameter value according to the armrest movement rate information when the armrest angle enters the angle range corresponding to the target mode and remains stable within the angle range corresponding to the target mode for a preset stable confirmation time.

[0061] The above solution ensures that the system can achieve a smooth transition based on the judgment of the stable state of the armrest angle.

[0062] From the above, it can be seen that the electric wheelchair armrest linkage control method and system provided by the present application avoids step changes in control parameters during mode switching by initiating a smooth transition of control parameters according to the armrest movement rate information, thereby improving the riding comfort and operating smoothness of the electric wheelchair during the mode switching process and reducing safety hazards. It has the advantages of initiating a smooth transition of control parameters according to the armrest movement rate information, avoiding step changes in control parameters during mode switching, thereby improving the riding comfort and operating smoothness of the electric wheelchair during the mode switching process and reducing safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 A flowchart of a method for controlling the armrest linkage of an electric wheelchair is provided in accordance with one embodiment of the present application.

[0064] Figure 2 This is one of the flow charts of a method for controlling the linkage of an electric wheelchair armrest provided in another embodiment of the present application.

[0065] Figure 3 The second flowchart of a method for controlling the linkage of an electric wheelchair armrest is provided in another embodiment of the present application.

[0066] Figure 4 The third flowchart of a method for controlling the linkage of an electric wheelchair armrest is provided as another embodiment of the present application.

[0067] Figure 5 This is a fourth flow chart of a method for controlling the linkage of an electric wheelchair armrest provided in another embodiment of the present application.

[0068] Figure 6 FIG5 is a fifth flow chart of a method for controlling the linkage of an electric wheelchair armrest provided in another embodiment of the present application.

[0069] Figure 7 FIG6 is a flowchart of a method for controlling the linkage of an electric wheelchair armrest provided in another embodiment of the present application.

[0070] Figure 8 FIG7 is a flowchart of a method for controlling the linkage of an electric wheelchair armrest provided in another embodiment of the present application.

[0071] Figure 9 A flowchart of an electric wheelchair armrest linkage control system provided in one embodiment of the present application.

[0072] Figure 10 A flowchart of an electric wheelchair armrest linkage control system provided in another embodiment of the present application. DETAILED DESCRIPTION

[0073] The technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. The components of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is claimed, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0074] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0075] Conventional electric wheelchair control systems use armrest position changes to trigger driving mode switching. When the user is in motion and the joystick is not in the neutral position, the control parameters (e.g., maximum speed limit, acceleration limit) between the old and new modes undergo a step-like change at the mode boundary. This can cause unexpected sudden changes in the wheelchair's actual motion state (e.g., speed, acceleration), resulting in jerks or jerkiness. This not only significantly reduces ride comfort during transitions (e.g., entering or exiting a narrow doorway), but also introduces the potential for misoperation due to disturbed control.

[0076] Reference Figure 1 In this regard, the present application proposes a method for controlling the armrest linkage of an electric wheelchair, comprising:

[0077] S100: Detecting position change information of the electric wheelchair's armrests;

[0078] S200: When the armrest position change information meets the preset switching condition, triggering the driving mode switch and obtaining the corresponding target mode;

[0079] S300: Acquire armrest movement rate information associated with armrest position change information;

[0080] S400: Initiating a control parameter transition process based on the handrail movement rate information, so that at least one control parameter related to the driving mode smoothly transitions from a source mode parameter value to a target mode parameter value;

[0081] S500: According to the transformed control parameters, respond to the user's joystick instructions and control the movement of the electric wheelchair.

[0082] In this embodiment, the armrest position change information is data indicating that the position of the electric wheelchair armrest has changed. It can be implemented using an angle sensor, a linear displacement sensor or an encoder. For example, an angle sensor installed at the armrest shaft is mainly used to sense the user's operation behavior on the armrest and provide input for subsequent mode switching.

[0083] The preset switching condition is a specific condition that triggers the switching of the electric wheelchair's driving mode. It can be achieved by the armrest position information reaching a preset angle threshold, the armrest position information entering a preset angle range, or the armrest position information remaining stable within the preset angle range. For example, the armrest angle exceeds 15 degrees. It is mainly used to determine when to switch modes based on the user's armrest operation intention.

[0084] Among them, the armrest movement rate information is data indicating the speed of position change of the electric wheelchair armrest, which can be achieved by differential calculation of the armrest position change information or by calculating the position change per unit time through continuous position sampling, such as calculating the rate of change of the armrest angle over time. It is mainly used to reflect the user's willingness or operation speed when performing mode switching operations.

[0085] The transition process of the control parameters refers to the process in which the control parameters related to the driving mode of the electric wheelchair gradually change from one value to another. It can be implemented by linear interpolation, curve interpolation or piecewise function. For example, the maximum speed limit is changed according to a specific function curve within a period of time. It is mainly used to avoid instantaneous and step-like changes in the control parameters when switching modes.

[0086] The driving mode of an electric wheelchair is the configuration state of the electric wheelchair in different environments, such as "indoor mode" or "outdoor mode", which corresponds to a set of preset control parameters (such as speed limit, acceleration, steering sensitivity, etc.).

[0087] Smooth transition means that the control parameters change continuously without sudden changes during the transition process. It can be achieved by setting a parameter change function, adjusting the parameter change rate or controlling the parameter change acceleration, such as making the parameters change according to an S-shaped curve. It is mainly used to reduce the discontinuity of the wheelchair movement state caused by parameter changes and improve driving smoothness.

[0088] The core innovation of this application lies in that by introducing armrest movement rate information and initiating the transition process of control parameters based on this information, the control parameters related to the driving mode are smoothly transitioned from the source mode parameter value to the target mode parameter value, thereby solving the problem of driving jerks or impacts caused by the step-like changes in control parameters when the electric wheelchair switches the driving mode through the armrest linkage, and achieving the effect of improving driving smoothness and operational safety.

[0089] In some examples of this embodiment, the control system of an electric wheelchair may include one or more sensors, such as an angle sensor for detecting armrest angles, and a processing unit, such as a microcontroller or embedded processor. The processing unit receives signals from the angle sensor and calculates armrest position change information and armrest motion rate information. The processing unit internally stores preset mode switching conditions and control parameter sets corresponding to different driving modes. When the armrest position change is detected to meet the switching conditions, the processing unit determines the target mode and, based on the calculated armrest motion rate information, invokes a preset parameter transition algorithm. This algorithm dynamically generates a time-varying curve of the control parameters based on the armrest motion rate. For example, faster armrest motion may result in a more rapid, yet still smooth, parameter transition. The processing unit outputs the transitioning control parameters in real time and, in conjunction with user input via the joystick, generates control signals for the drive motors, thereby controlling the travel of the electric wheelchair. For example, when switching from outdoor mode to indoor mode, the maximum speed limit is smoothly reduced from a higher outdoor mode value to a lower indoor mode value based on the armrest motion rate, rather than switching instantaneously. When an electric wheelchair switches modes with its armrests, control parameters related to the mode transition smoothly based on the armrest's movement rate, avoiding sudden changes in parameters. This solves the existing problem of discontinuous wheelchair motion caused by sudden changes in parameters and eliminates any jerks or shocks during travel. This improves ride comfort during transitions (for example, entering or exiting a narrow space), reduces interference with user operations caused by sudden changes in movement, and enhances operational safety.

[0090] Reference Figure 2 Furthermore, in another embodiment of the present application, step S400 includes:

[0091] S410: starting a transition process of control parameters according to the handrail movement rate information;

[0092] S420: Real-time monitoring of the armrest angle of the electric wheelchair;

[0093] S430: Determine whether the armrest angle enters a preset angle range corresponding to the target mode;

[0094] S440: When the armrest angle enters the angle range corresponding to the target mode and maintains a stable state within the angle range corresponding to the target mode for a preset stable confirmation time, at least one control parameter related to the driving mode is smoothly transitioned from the source mode parameter value to the target mode parameter value based on the armrest movement rate information.

[0095] In this embodiment, the preset angle interval refers to the armrest angle range pre-set for each driving mode. This can be implemented using a numerical range or lookup table stored in the control system's memory. A stable state refers to a state in which the armrest angle remains relatively constant within the preset angle interval or varies by less than a preset threshold. This can be achieved by continuously sampling the armrest angle and calculating its variance or maximum deviation over a period of time. The preset stability confirmation time refers to the time threshold required to confirm that the armrest angle is stable within the preset angle interval. This can be implemented using a time value stored in the control system's configuration parameters.

[0096] This embodiment, in addition to initiating the control parameter transition process based on armrest motion rate information, also incorporates real-time monitoring and determination of the armrest angle. This is done because relying solely on armrest motion rate information to initiate parameter transitions may not accurately reflect the user's true intent. By monitoring the armrest angle, the system can determine whether the armrest has entered the preset angle range corresponding to the target mode, thereby preliminarily verifying the feasibility of a mode switch. Furthermore, by determining whether the armrest angle remains stable within this angle range and for a preset stability confirmation period, the system can eliminate brief oscillations or false touches and ensure that the user consistently and clearly intends to switch to the target mode. Only when these conditions are met is the mode switch intention finally confirmed, and a smooth transition of control parameters is executed based on the armrest motion rate information. This combined determination mechanism of armrest motion rate, armrest angle, and its stability makes triggering mode switches more accurate and reliable. Armrest motion rate information is used to initiate preliminary transition preparations and influence transition smoothness, while the armrest angle and its stability serve as key confirmation signals, ensuring that parameter adjustments are only made when the user's intent is clear. This effectively solves the problem of false triggering that may be caused by relying solely on rate information, avoids erroneous switching of control parameters, and improves the stability of the electric wheelchair's driving state.

[0097] A specific implementation of this embodiment is as follows: Assume that the electric wheelchair is configured with indoor and outdoor modes. The armrest angle range for indoor mode is 15 to 50 degrees, and the armrest angle range for outdoor mode is 0 to 15 degrees. The preset stability confirmation time can be set to 0.5 seconds. When the user operates the electric wheelchair from outdoors to indoors and lifts the armrest, the system detects the change in armrest position and calculates the armrest movement rate. If this information meets the preset switching conditions (for example, the rate exceeds a certain threshold), the system will initially initiate the transition process of control parameters based on this rate information. For example, it will begin preparing to adjust parameters such as the maximum speed limit from the outdoor mode value to the indoor mode value. At the same time, the system will obtain the armrest angle in real time. The system will determine whether the current armrest angle is within the 15 to 50 degree angle range corresponding to the indoor mode. If so, the system will further determine whether the armrest angle remains stable within this range. For example, the change in the armrest angle for 0.5 consecutive seconds is less than a preset stability threshold (for example, 2 degrees). Only when the armrest angle enters the range of 15 to 50 degrees and remains stable within this range for 0.5 seconds will the system finally confirm the user's intention to switch modes. At this time, the system will smoothly transition the control parameters related to the driving mode, such as the maximum speed limit and acceleration, from the outdoor mode parameter values ​​to the indoor mode parameter values ​​based on the previously obtained armrest movement rate information. If the armrest angle leaves this angle range or becomes unstable before the stability confirmation period is reached, the final parameter transition will not be executed.

[0098] Reference Figure 3 Furthermore, in another embodiment of the present application, the sub-steps of step S440 include S441: when the armrest angle enters the angle range corresponding to the target mode and maintains a stable state within the angle range corresponding to the target mode for a preset stability confirmation time; S442: based on the armrest movement rate information, smoothly transitioning at least one control parameter related to the driving mode from the source mode parameter value to the target mode parameter value; S442 includes:

[0099] S4424: Acquire real-time handrail movement rate information, and dynamically adjust the control parameter to smoothly transition to the target mode parameter value, so that the transition of at least one control parameter related to the driving mode is adapted to the real-time handrail movement rate information.

[0100] In this embodiment, real-time handrail motion rate information refers to the rate of change of the handrail angle over time, continuously acquired by the system during the control parameter transition process. This can be obtained by performing differential or filtering processing on the continuously acquired handrail angle data, and its purpose is to reflect the speed at which the user adjusts the handrail. Dynamically adjusting the control parameter transition method to smoothly transition to the target mode parameter value refers to changing the functional relationship or process characteristics of the control parameter transition from the source mode parameter value to the target mode parameter value based on the acquired real-time handrail motion rate information. This can be achieved by modifying the slope, shape, or duration of the transition curve, and its purpose is to make the parameter transition process responsive to the user's real-time operation. The transition method refers to the specific functional relationship or variation pattern of the control parameter over time during the transition process. This can be a linear change, exponential change, S-shaped curve change, or other preset smooth function, and its purpose is to ensure the smoothness of the parameter transition. Adaptation refers to the correlation or matching relationship between the control parameter transition method and the real-time handrail motion rate information, so that the parameter transition process better conforms to the user's operational intention expressed through the handrail motion rate. This can be achieved through preset mapping rules or algorithms, and its purpose is to enhance the user experience and intuitive operation.

[0101] This embodiment acquires real-time handrail motion rate information and dynamically adjusts the control parameter transition method based on this information, enabling control parameter transitions to better adapt to the user's operational intent. Specifically, after detecting that a change in handrail position meets a preset switching condition, triggering a driving mode switch and acquiring a target mode, the system acquires the handrail motion rate information associated with the handrail position change and initiates the control parameter transition process. Furthermore, when the handrail angle enters the angle range corresponding to the target mode and remains stable within that range for a preset stability confirmation period, the system begins a smooth transition of the control parameters from the source mode parameter value to the target mode parameter value. During this transition process, the system continuously acquires real-time handrail motion rate information and dynamically adjusts the specific transition method for the control parameters to smoothly transition to the target mode parameter value based on this real-time information. This dynamic adjustment ensures that the control parameter transition process matches the user's real-time handrail motion speed. For example, when the user adjusts the handrail quickly, the system can accelerate the parameter transition rate; when the user adjusts the handrail slowly, the system can slow the parameter transition rate. This parameter transition mechanism, responsive to the user's rhythm, combined with a fundamental scheme that triggers mode switching based on armrest position and initiates transitions based on armrest angle stability, forms a control flow that more accurately understands and responds to user intent. By making the parameter transition process dynamic, rather than fixed, in response to the armrest's movement rate, this solution effectively avoids discontinuous changes in motion during mode switching caused by sudden parameter changes not matching the user's joystick commands, thereby resolving issues such as jerking and sudden acceleration that plague existing technologies.

[0102] In some specific implementations of this embodiment, the system continuously monitors the armrest angle of the electric wheelchair. When the armrest angle enters the angle range corresponding to the target mode, for example, when switching from outdoor mode to indoor mode, the armrest angle enters the range of 15 to 50 degrees and remains stable within this range for a preset stability confirmation period, such as 1 second, the system triggers a mode switch to indoor mode and initiates the control parameter transition process. Assuming the control parameter to be transitioned is the maximum speed limit, a smooth transition is performed from the source parameter value for outdoor mode (e.g., 8 km / h) to the target parameter value for indoor mode (e.g., 4 km / h). When the maximum speed limit transition begins, the system begins acquiring real-time armrest movement rate information. This can be obtained by performing a differential calculation on armrest angle data collected at regular intervals (e.g., 10 milliseconds). Based on the acquired real-time armrest movement rate information, the system dynamically adjusts the maximum speed limit transition method. For example, a mapping rule can be preset to map the armrest movement rate to the maximum speed limit transition rate. When the real-time armrest movement rate is high, the system increases the maximum speed limit transition rate, causing it to approach the target value more quickly. When the real-time armrest movement rate is low, the system decreases the maximum speed limit transition rate, causing it to approach the target value more slowly. In specific implementations, a dynamic transition time or transition curve parameter can be calculated based on the real-time armrest movement rate, and the current maximum speed limit value can be updated based on this parameter. This process continues until the maximum speed limit reaches the target parameter value. At the same time, the system controls the actual travel speed of the electric wheelchair based on the current maximum speed limit after the transition and the user's input instructions through the joystick.

[0103] Reference Figure 4 Furthermore, the method of this embodiment also includes:

[0104] S4421: Acquire real-time motion characteristic information of an armrest of the electric wheelchair, where the real-time motion characteristic information of the armrest indicates that the armrest is in at least one of a speed change state, a direction change state, or a pause state, and the real-time motion characteristic information of the armrest includes armrest motion rate information for subsequent adjustment;

[0105] S4422: Analyze the corresponding armrest adjustment intention based on the real-time movement feature information of the armrest;

[0106] Dynamically adjusting the control parameter to smoothly transition to the target mode parameter value so that the transition of at least one control parameter related to the driving mode is consistent with the real-time handrail movement rate information, including:

[0107] S4423: According to the armrest adjustment intention and the armrest movement rate information, adjust the transition method of at least one control parameter related to the driving mode to smoothly transition to the target mode parameter value, the transition method includes adjusting the transition rate of the control parameter to the target mode parameter value or controlling the transition to stop.

[0108] Among them, the real-time motion feature information of the armrest is comprehensive information about the current motion state of the armrest obtained through sensors and processed and analyzed. It can be achieved by analyzing data such as the armrest position, speed, acceleration, etc. that change over time. Its purpose is to provide richer user operation information than the simple motion rate; the armrest adjustment intention refers to the operation purpose expressed by the user through the armrest operation inferred by the system based on the real-time motion feature information of the armrest. It can use preset rules, state machines or machine learning models to analyze the correspondence between motion characteristics and intentions. Its purpose is to understand the user's deeper control needs; the transition method refers to the specific method of controlling the transition of parameters from the current value to the target value. It can be achieved by adjusting the function curve of the parameter changing over time or pausing / resume the parameter change under specific conditions. Its purpose is to control the smoothness and responsiveness of the parameter transition process.

[0109] By acquiring real-time motion characteristics of the electric wheelchair's armrests, which include not only armrest velocity information but also indications of whether the armrest is in at least one of a speed change, direction change, or pause state, the system can analyze the corresponding armrest adjustment intentions based on this more comprehensive armrest motion state information. For example, an armrest speed change, direction change, or pause may correspond to the user's desire to speed up, slow down, fine-tune, or pause the mode switch, respectively. Based on this analysis of the armrest adjustment intention and armrest velocity information, the system dynamically adjusts the control parameter transition method to smoothly transition to the target mode parameter value. This adjustment includes changing the speed at which the control parameter transitions to the target mode parameter value or, in specific circumstances, halting the transition. By matching the control parameter transition with the user's more refined adjustment intentions and the real-time armrest velocity, the system can avoid unintended motion caused by sudden parameter changes, resulting in a smoother and more natural mode switch process. Compared with the solution that only adjusts based on the armrest movement rate, this solution adds analysis of the armrest movement characteristics and user intentions, making the adjustment logic of the control parameters more intelligent and precise, and can better adapt to the user's operational needs in complex scenarios, significantly improving the driving performance and user experience of the electric wheelchair when switching modes.

[0110] In some specific implementations of this embodiment, the system can continuously monitor the position, velocity, and acceleration of the armrest. When a significant rate of change in the armrest's velocity is detected, the armrest is determined to be in a speed-changing state; when a change in the direction of the armrest's motion is detected, the armrest is determined to be in a direction-changing state; and when the armrest's velocity is detected to be near zero for a sustained period, the armrest is determined to be in a paused state. The system can analyze user intent based on this state information, combined with the armrest's velocity. For example, if the user quickly lifts the armrest (high velocity, acceleration), the system can determine that the user wishes to quickly switch to indoor mode and accordingly accelerate the rate at which control parameters (such as the maximum speed limit) are transitioned to the indoor mode setting. If the user slowly lowers the armrest (low velocity, deceleration), the system can determine that the user wishes to smoothly transition to outdoor mode and accordingly slow the rate at which control parameters are transitioned to the outdoor mode setting. If the user suddenly pauses at a certain angle while lifting the armrest (velocity near zero, pause), the system can determine that the user may be hesitating or temporarily pausing the transition and accordingly pause the transition of control parameters until the armrest moves again. If the user makes slight changes in direction or speed fluctuations while raising or lowering the armrest, the system can determine that the user is making fine-tuning adjustments and accordingly adopt a smoother parameter transition curve or temporarily slow the transition rate. In this way, the control parameter transition process can more closely follow the user's actual operation intention, achieving a more predictable mode switching effect.

[0111] Reference Figure 5 , further, step S4423 includes:

[0112] S44231: Acquire real-time driving information, which includes the current driving state of the electric wheelchair or the instant driving instruction input by the user through the joystick;

[0113] S44232: Determine whether there are preset conflict conditions based on real-time driving information and handrail adjustment intention;

[0114] S44233: If a conflict condition exists, adjusting the control parameter transition rate toward the target mode parameter value or stopping the control transition according to a preset safety rule;

[0115] S44234: If the conflict condition does not exist, continue to adjust the transformation method according to the armrest adjustment intention.

[0116] Specifically, real-time driving information refers to a data set that reflects the current motion state of the electric wheelchair or the user's immediate control intention. It can be achieved by obtaining sensor data such as the wheelchair's speed, acceleration, steering angular velocity, or command signals such as the displacement and angle of the joystick. Its purpose is to provide a basis for judging the compatibility of the armrest adjustment intention with the current driving situation; the preset conflict condition refers to the judgment criteria that may cause an unsafe or uneven state under the combination of specific driving information and specific armrest adjustment intention. It can be achieved by setting a logical relationship between speed thresholds, steering angle thresholds, acceleration thresholds and armrest adjustment directions, rates, target modes, etc. Its purpose is to identify potential operational risks; the preset safety rules refer to a set of strategies for guiding the control parameter transformation behavior when the conflict condition is determined to exist. It can be achieved by defining control The upper and lower limits of the parameter conversion rate can be directly set to zero, or the control parameters can be forced to maintain the current values, etc., with the aim of giving priority to driving safety when a conflict occurs; adjusting the conversion rate of the control parameters to the target mode parameter values ​​or controlling the conversion stop means changing the speed at which the control parameters change from the current value to the target value or completely preventing them from changing. This can be achieved by modifying the slope or shape of the control parameter transition curve, or setting a flag to pause or terminate the transition process. Its purpose is to respond to conflicts by intervening in the normal parameter conversion process; the conversion method refers to the specific process or functional relationship in which the control parameters change smoothly from one value to another. This can be achieved by using mathematical models such as linear interpolation, curve interpolation (such as an S-shaped curve) or piecewise function. Its purpose is to make the change process of the control parameters smooth and avoid steps.

[0117] By acquiring real-time driving information and comparing it with the intended armrest adjustment, the system determines whether a pre-set conflict condition exists. This conflict determination mechanism enables the system to intervene in control parameter transitions based on pre-set safety rules when the user's intent is incompatible with the current driving state, such as reducing the transition rate or stopping the transition. This prevents sudden motion changes caused by forcibly executing the user's intent in unsafe or inappropriate circumstances. Compared to solutions that adjust transitions based solely on the armrest's movement rate, this application further considers the actual wheelchair's operating conditions and the user's immediate control instructions, making the armrest linkage control more intelligent and safer. This mechanism, combined with the armrest's movement rate-based transition method, ensures that the control parameter transition process is not only smooth and consistent with the user's intent under normal circumstances, but also prioritizes driving safety in complex or dangerous scenarios. This effectively addresses the safety hazards and reduced ride comfort caused by conflicts between the user's intent and the current state when switching modes during driving.

[0118] In some specific implementations of this embodiment, the system first obtains the electric wheelchair's current speed, acceleration, and real-time joystick commands (e.g., forward speed command and steering angle command) as real-time driving information. Simultaneously, the system analyzes the handrail motion characteristics to determine the user's handrail adjustment intention, such as a desire to switch from outdoor mode to indoor mode. The system then determines whether a preset conflict condition exists based on the obtained real-time driving information and handrail adjustment intention. For example, a conflict condition could be set as follows: If the current wheelchair speed exceeds 1 meter per second and the handrail adjustment intention is to switch to indoor mode with a maximum speed limit of 0.5 meters per second, a conflict is determined to exist. If a conflict condition is determined to exist, the system adjusts the control parameter transition according to preset safety rules. For example, the safety rules could specify that, in such a speed conflict, the rate at which the maximum speed limit transitions toward the indoor mode target value is set to zero, temporarily halting the speed limit reduction until the wheelchair speed drops below a safety threshold. If it is determined that there are no conflict conditions, such as the current speed of the wheelchair is low, or the user only fine-tunes the armrest but does not trigger a mode switch, the system will continue to adjust the control parameters for a smooth transition according to the transition method previously determined based on the armrest adjustment intention and armrest movement rate information.

[0119] Reference Figure 6 , further, step S44232 includes:

[0120] S442321: Acquire driving environment information of the electric wheelchair, where the driving environment information indicates the real-time driving environment state of the electric wheelchair;

[0121] S442322: Adjusting a conflict judgment basis of the conflict condition according to the driving environment information, the conflict judgment basis including judgment parameters and / or judgment rules;

[0122] S442323: Follow the adjusted conflict judgment criteria based on real-time driving information and armrest adjustment intention to determine whether there are conflict conditions.

[0123] Specifically, the driving environment information is information indicating the real-time driving environment status of the electric wheelchair, which can be realized by using sensor data or preset map information, and its purpose is to provide input for the subsequent dynamic adjustment of the conflict judgment basis;

[0124] Conflict judgment basis refers to the criteria used to determine whether there is a preset conflict condition between real-time driving information and the armrest adjustment intention, which includes judgment parameters and / or judgment rules, and its purpose is to make the conflict judgment process adaptable to different driving environments;

[0125] The judgment parameter refers to the numerical threshold or proportional factor used in the conflict judgment process. It can be implemented by speed threshold, acceleration threshold, steering angle velocity threshold, etc. Its purpose is to quantify the conflict judgment standard;

[0126] Judgment rules refer to the logical judgment conditions or algorithms used in the conflict judgment process. They can be implemented using threshold-based comparison logic, fuzzy logic-based judgment algorithms, or machine learning model-based judgment algorithms. Their purpose is to define the specific logical process of conflict judgment.

[0127] The system obtains information about the electric wheelchair's driving environment, which indicates the real-time state of the driving environment. Based on this driving environment information, the system dynamically adjusts the conflict judgment criteria for conflict conditions, which include judgment parameters and / or judgment rules. This means that the criteria for determining whether a conflict exists between real-time driving information (such as speed and steering) and the armrest adjustment intention (such as mode switch direction) are no longer fixed but are instead adjusted based on the current environment. For example, in confined environments, the threshold for determining speed conflicts may be lowered, or the rules for determining steering conflicts may be stricter. The system then determines whether a conflict condition exists based on the real-time driving information and armrest adjustment intention, following the adjusted conflict judgment criteria. If a conflict is determined to exist, the rate at which the control parameters transition toward the target mode parameter value is adjusted or the control transition is stopped according to pre-set safety rules, thereby avoiding aggressive parameter switching in unsuitable environments. Dynamically adjusting the conflict judgment criteria based on different driving environments enables the system to more accurately identify potential conflict risks, avoiding misjudgments or missed judgments caused by fixed criteria in complex or sensitive environments. This improves the adaptability of the control strategy and ensures smooth driving and safe operation of the electric wheelchair during transitions between different scenarios.

[0128] In some specific implementations of this embodiment, the electric wheelchair can be equipped with multiple sensors to obtain information about the driving environment. For example, an accelerometer or vibration sensor can be used to detect the smoothness of the road surface to determine whether it is on a bumpy road. Ultrasonic sensors or visual sensors can be used to detect the distance to surrounding obstacles and the width of the space to determine whether it is in a confined space. When the system detects that the electric wheelchair has entered a confined space, it adjusts the conflict judgment criteria based on pre-set correspondence. Specifically, the parameters used to determine speed conflicts (such as the upper speed threshold) can be lowered from the higher values ​​in outdoor mode to lower values, and the judgment rules can be adjusted, such as adding a limit on steering angular velocity. When the user lifts the armrest to trigger a mode switch in a confined space, the system uses these adjusted conflict judgment criteria to check whether the real-time driving speed and steering instructions conflict with the parameters of the target mode (indoor mode). If the real-time speed exceeds the lower speed threshold set for confined environments, even if the speed is below the original indoor mode speed limit, the system may determine that a conflict exists and slow or pause the transition of the speed parameters toward the target value, thereby avoiding dangers caused by excessive speed or overly sensitive steering in confined areas.

[0129] Reference Figure 7 Furthermore, in another embodiment of the present application, step S442322 includes:

[0130] S4423221: A rule framework for presetting the conflict judgment basis, which includes configurable parameters for controlling the response characteristics of the conflict judgment basis;

[0131] S4423222: Determine a set value of the configurable parameter according to a preset correspondence between the driving environment information and the configurable parameter;

[0132] S4423223: Apply the set configurable parameters to the rule framework to generate adjusted conflict judgment basis.

[0133] The rule framework for conflict judgment refers to a predefined structure or model used to evaluate whether there is a conflict between real-time driving information and the handrail adjustment intention. It can be implemented using a rule set based on logical judgment, a weighted scoring model, or a classification model based on machine learning. Its purpose is to provide a structured basis for conflict judgment; configurable parameters refer to the numerical values, thresholds, weights, or logical conditions in the rule framework that can be adjusted according to external information, which are used to change the judgment behavior and sensitivity of the rule framework. Its purpose is to achieve dynamic adjustment of the conflict judgment basis; preset correspondence refers to the association rules or lookup tables pre-established during system design for mapping specific driving environment information to corresponding configurable parameter setting values. Its purpose is to determine the parameter setting values ​​based on environmental information; response characteristics refer to the sensitivity, speed, and accuracy of the conflict judgment results output by the conflict judgment basis when facing different combinations of real-time driving information and handrail adjustment intentions. Its purpose is to measure the adaptability of the conflict judgment basis.

[0134] A pre-defined rule framework with configurable parameters provides a structured foundation for conflict determination, defining how to evaluate real-time driving information and handrail adjustment intentions to determine whether a conflict exists. Based on driving environment information, the system searches for or calculates configurable parameter settings that match the current environment according to pre-defined correspondences, ensuring that the parameter settings reflect the characteristics and requirements of the current environment. These configurable parameter settings, determined based on environmental information, are then applied to the pre-defined rule framework. By modifying the parameters within the rule framework, a conflict determination basis optimized for the current driving environment is generated. This adjusted conflict determination basis is then used to determine whether a conflict exists between real-time driving information and handrail adjustment intentions. This solution, through the combination of the rule framework and configurable parameters, achieves more refined control over the response characteristics of the conflict determination basis, resulting in more accurate conflict determination, reducing false and missed detections, and thus improving safety when adjusting handrails in various environments. This solution provides a specific implementation method for adjusting the conflict determination basis based on driving environment information. This adjustment is no longer a crude switching process, but rather a dynamic optimization based on the rule framework and parameters, significantly improving the adaptability and accuracy of conflict determination.

[0135] In some specific implementations of this embodiment, the rule framework for conflict determination can be a simple weighted summation model. This model takes real-time driving information and handrail adjustment intentions as inputs and assigns a weight to each input. The weighted summation result is compared with a threshold; if the threshold is exceeded, a conflict is determined. In this example, the configurable parameters can be weights and / or thresholds for each input. The preset correspondence can be a lookup table. For example, when the driving environment information is narrow indoors, weight set A and threshold T1 are associated; when the driving environment information is open indoors, weight set B and threshold T2 are associated. When the system detects that the driving environment information is narrow indoors, the preset correspondence determines the setting value of the configurable parameters to be weight set A and threshold T1. Weight set A and threshold T1 are applied to the weighted summation rule framework to generate an adjusted conflict determination basis. For example, weight set A can assign higher weights to inputs related to speed and steering, and threshold T1 can be set lower to make it easier to determine a conflict in narrow indoor environments. This adjusted basis is then used to determine whether the current real-time speed, steering, and other information constitute a conflict with the handrail adjustment intention.

[0136] Reference Figure 8 , further, step S4423222 includes:

[0137] A1: Obtain driving environment information and calculate its rate of change;

[0138] A2: Adjust the method for determining the configurable parameters according to the rate of change to determine the set values ​​of the configurable parameters.

[0139] The rate of change refers to the speed at which the driving environment information changes over time. It can be obtained by calculating the difference between the driving environment information obtained at consecutive time points and dividing it by the time interval; the configurable parameter refers to the parameter used to control the response characteristics of the conflict judgment. It can exist in the form of a threshold, weight coefficient, time constant or shape parameter of the function curve; the determination method refers to the method or algorithm for calculating the output result based on the input information. It can exist in the form of a lookup table, mathematical formula, interpolation algorithm or machine learning model; the set value refers to the specific numerical value assigned to the configurable parameter, which can be expressed as a discrete preset value or a continuous calculated value.

[0140] By acquiring driving environment information and calculating its rate of change, the system quantifies the degree of dynamic environmental change. Based on this information, the system adjusts the method for determining configurable parameters based on the rate of change and determines the set values ​​for these parameters. This means that configurable parameter settings are no longer statically dependent on the type of environment, but instead dynamically adapt to the speed of environmental change. For example, when the rate of environmental change is high, the system can use a more conservative or more responsive parameter determination method to set configurable parameters to values ​​that improve safety. When the rate of environmental change is low, the system can use a more sensitive or smoother parameter determination method to set configurable parameters to values ​​that improve comfort. This ability to dynamically adjust the parameter determination method based on the rate of environmental change enables the adjustment of the conflict judgment basis to match the dynamic characteristics of the actual environment more precisely and timely. Therefore, during the driving of the electric wheelchair, when the user triggers the driving mode switch by changing the armrest position, and the joystick is still in a non-neutral valid command output state, it can more effectively resolve the conflict between the step change of control parameters between the new and old modes and the current joystick command, avoid unexpected speed or acceleration mutations of the wheelchair, and ensure driving smoothness, ride comfort and operational safety during scene transitions that require precise control.

[0141] In some specific implementations of this embodiment, the control system can be configured with multiple preset configurable parameter determination methods, for example, one method using linear interpolation based on a low rate of change, and another method using a step adjustment method based on a high rate of change. When the system acquires driving environment information (e.g., detecting a change from an open area to a narrow area via camera recognition) and calculates its rate of change (e.g., a significant change in environmental characteristics within a short period of time, resulting in a high rate of change), the system can select a corresponding configurable parameter determination method based on this rate of change. If the rate of change is high, the system selects the step adjustment method, quickly setting the configurable parameter (e.g., the threshold for determining a conflict between a joystick command and the upper speed limit of the new mode) to a more stringent value, thereby quickly tightening the conflict determination criteria and prioritizing safety. If the rate of change is low, the system selects the linear interpolation method, which smoothly transitions the configurable parameter value toward the target value to maintain ride comfort. The selection of the determination method and parameter setting can be performed by a processing unit (e.g., an embedded controller), which receives the environmental information and the rate of change as input and outputs the calculated configurable parameter setting value.

[0142] Reference Figure 9 , the present application further proposes a control system for an electric wheelchair, the system comprising:

[0143] A detection module, used to detect position change information of the electric wheelchair's armrests;

[0144] The first acquisition module is used to trigger the driving mode switch and acquire the corresponding target mode when the armrest position change information meets the preset switching condition;

[0145] A second acquisition module is used to acquire armrest movement rate information associated with armrest position change information;

[0146] a transition start module, configured to start a transition process of the control parameters according to the handrail movement rate information, so that at least one control parameter related to the driving mode smoothly transitions from a source mode parameter value to a target mode parameter value;

[0147] The driving control module is used to control the driving of the electric wheelchair in response to the user's joystick instructions according to the changed control parameters.

[0148] Among them, the detection module refers to the functional unit used to sense the position status of the electric wheelchair armrest. It can be implemented by an angle sensor, encoder or other position detection device, and its purpose is to obtain the real-time position information of the armrest. The first acquisition module refers to the functional unit used to determine whether the driving mode needs to be switched and determine the target mode based on the armrest position change information. It can be implemented by software logic or dedicated hardware circuit in the controller, and its purpose is to realize automatic mode selection based on the armrest position. The second acquisition module refers to the functional unit used to calculate or obtain the armrest movement speed. It can be implemented by performing differential calculation on continuous armrest position information or using a speed sensor, and its purpose is to quantify the speed of user adjustment of the armrest. The transition start module refers to the functional unit used to control the smooth transition of the control parameters related to the driving mode based on the armrest movement rate information. It can be implemented by software algorithms or parameter generation circuits in the controller, and its purpose is to avoid sudden changes in control parameters. The driving control module refers to the functional unit used to control the actual movement of the electric wheelchair according to the currently effective control parameters and user operation instructions. It can be implemented by the motion control algorithm and motor drive interface in the controller, and its purpose is to perform the final driving control task.

[0149] Reference Figure 10 ,Further, the transition start module includes:

[0150] The starter module starts the transition process of the control parameters according to the handrail movement rate information;

[0151] The armrest angle monitoring submodule is used to monitor the armrest angle of the electric wheelchair in real time;

[0152] An angle determination submodule, used to determine whether the armrest angle enters the preset angle range corresponding to the target mode;

[0153] The parameter transition execution submodule is used to smoothly transition at least one control parameter related to the driving mode from the source mode parameter value to the target mode parameter value according to the armrest movement rate information when the armrest angle enters the angle range corresponding to the target mode and remains stable within the angle range corresponding to the target mode for a preset stable confirmation time.

[0154] The solution of this application achieves precise control of the control parameter transition process by combining handrail motion rate information, real-time handrail angle monitoring, preset angle range judgment, and a stable confirmation duration mechanism. The system first initiates the preparation or preliminary stage of parameter transition based on the handrail motion rate information, which enables the system to predict the user's mode switching intention. Subsequently, the system monitors the handrail angle in real time and determines whether it enters the angle range corresponding to the target mode. Entering the angle range is a necessary condition for mode switching. Furthermore, the system introduces a stable confirmation mechanism. Only when the handrail angle enters the angle range corresponding to the target mode and remains stable within this range for a preset stable confirmation duration does the system finally confirm the user's mode switching intention. At this time, the system will smoothly transition the control parameters related to the driving mode from the source mode parameter value to the target mode parameter value based on the handrail motion rate information. This multiple judgment and confirmation mechanism avoids frequent or erroneous switching caused by brief handrail jitter or unstable lingering near the mode boundary. At the same time, the smooth transition of control parameters based on the armrest movement rate information ensures the continuity of parameter changes, allowing the electric wheelchair's driving state (such as speed and acceleration) to transition smoothly, avoiding abrupt jerks or accelerations. This control logic, combined with the basic electric wheelchair control system, allows smooth and safe transitions when the user switches modes through armrest operation, even when the joystick is in a non-neutral position, significantly improving the user's riding comfort and operational safety during scene changes.

[0155] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for controlling the armrest linkage of an electric wheelchair, characterized in that: include: Detecting the position change information of the electric wheelchair's armrests; When the armrest position change information meets the preset switching condition, the driving mode switch is triggered to obtain the corresponding target mode; Acquiring armrest movement rate information associated with the armrest position change information; Initiating a control parameter transition process based on the handrail movement rate information, so that at least one control parameter related to the driving mode smoothly transitions from a source mode parameter value to a target mode parameter value; According to the transformed control parameters, the driving of the electric wheelchair is controlled in response to the user's joystick instruction.

2. The electric wheelchair armrest linkage control method according to claim 1, characterized in that: The step of initiating a control parameter transition process based on the handrail movement rate information to smoothly transition at least one control parameter related to the driving mode from a source mode parameter value to a target mode parameter value includes: Initiating a transition process of the control parameters according to the handrail movement rate information; Real-time monitoring of the armrest angle of the electric wheelchair; determining whether the armrest angle enters a preset angle range corresponding to the target mode; When the armrest angle enters the angle range corresponding to the target mode and maintains a stable state within the angle range corresponding to the target mode for a preset stable confirmation time, at least one of the control parameters related to the driving mode is smoothly transitioned from the source mode parameter value to the target mode parameter value based on the armrest movement rate information.

3. The electric wheelchair armrest linkage control method according to claim 2, characterized in that: The step of smoothly transitioning at least one control parameter related to the driving mode from a source mode parameter value to a target mode parameter value according to the handrail movement rate information includes: Acquire the real-time information of the movement rate of the armrest, dynamically adjust the transition mode of the control parameter to smoothly transition to the target mode parameter value, and make the transition of at least one control parameter related to the driving mode adapt to the real-time information of the movement rate of the armrest.

4. The electric wheelchair armrest linkage control method according to claim 3, characterized in that: The method further comprises: Acquiring real-time motion characteristic information of an armrest of the electric wheelchair, the real-time motion characteristic information of the armrest indicating that the armrest is in at least one of a speed change state, a direction change state, or a pause state, and the real-time motion characteristic information of the armrest includes motion rate information of the armrest for subsequent adjustment; Analyzing the corresponding armrest adjustment intention according to the real-time movement characteristic information of the armrest; The dynamically adjusting the control parameter to smoothly transition to the target mode parameter value so that the transition of at least one control parameter related to the driving mode is adapted to the real-time handrail movement rate information includes: According to the armrest adjustment intention and the armrest movement rate information, adjust the transition mode of at least one control parameter related to the driving mode to smoothly transition to the target mode parameter value, and the transition mode includes adjusting the transition rate of the control parameter to the target mode parameter value or controlling the transition to stop.

5. The electric wheelchair armrest linkage control method according to claim 4, characterized in that: Adjusting, according to the armrest adjustment intention and the armrest movement rate information, a transition method for smoothly transitioning at least one control parameter related to the driving mode to the target mode parameter value, including: Acquiring real-time driving information, wherein the real-time driving information includes the current driving state of the electric wheelchair or the instant driving instruction input by the user through the joystick; determining whether a preset conflict condition exists based on the real-time driving information and the armrest adjustment intention; If the conflict condition exists, adjusting the rate of change of the control parameter to the target mode parameter value or stopping the control change according to a preset safety rule; If the conflict condition does not exist, the transition mode continues to be adjusted according to the armrest adjustment intention.

6. The electric wheelchair armrest linkage control method according to claim 5, characterized in that: The determining whether a preset conflict condition exists based on the real-time driving information and the armrest adjustment intention includes: Acquiring driving environment information of the electric wheelchair, wherein the driving environment information indicates a real-time driving environment state of the electric wheelchair; adjusting a conflict judgment basis of the conflict condition according to the driving environment information, the conflict judgment basis including judgment parameters and / or judgment rules; According to the real-time driving information and the armrest adjustment intention, the adjusted conflict judgment basis is followed to determine whether the conflict condition exists.

7. The electric wheelchair armrest linkage control method according to claim 6, characterized in that: The conflict judgment basis for adjusting the conflict condition according to the driving environment information includes: Presetting a rule framework for the conflict determination basis, wherein the rule framework includes configurable parameters for controlling response characteristics of the conflict determination basis; Determining a set value of the configurable parameter according to a preset correspondence between the driving environment information and the configurable parameter; The set configurable parameters are applied to the rule framework to generate the adjusted conflict judgment basis.

8. The electric wheelchair armrest linkage control method according to claim 7, characterized in that: The determining the setting value of the configurable parameter according to the preset correspondence between the driving environment information and the configurable parameter includes: Acquiring the driving environment information and calculating its changing rate; The determination method of the configurable parameter is adjusted according to the change rate to determine the set value of the configurable parameter.

9. A control system for an electric wheelchair, configured to execute the control method according to any one of claims 1 to 8, characterized in that: The system includes: A detection module, used to detect position change information of the electric wheelchair's armrests; A first acquisition module is configured to trigger a driving mode switch and acquire a corresponding target mode when the armrest position change information satisfies a preset switching condition; A second acquisition module is used to acquire armrest movement rate information associated with the armrest position change information; a transition start module, configured to start a transition process of a control parameter according to the handrail movement rate information, so that at least one control parameter related to the driving mode smoothly transitions from a source mode parameter value to a target mode parameter value; The travel control module is used to control the travel of the electric wheelchair in response to the user's joystick instruction according to the transformed control parameters.

10. The control system of the electric wheelchair according to claim 9, characterized in that: The transition startup module includes: A starter module, which starts the transition process of the control parameters according to the handrail movement rate information; The armrest angle monitoring submodule is used to monitor the armrest angle of the electric wheelchair in real time; An angle determination submodule, configured to determine whether the armrest angle enters a preset angle range corresponding to the target mode; A parameter transition execution submodule is used to smoothly transition at least one of the control parameters related to the driving mode from the source mode parameter value to the target mode parameter value according to the armrest movement rate information when the armrest angle enters the angle range corresponding to the target mode and maintains a stable state within the angle range corresponding to the target mode for a preset stable confirmation time.

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