Intelligent electric wheelchair

Abstract

The utility model provides an intelligent electric wheelchair. The intelligent electric wheelchair comprises a riding module and a plurality of wheel leg modules, each wheel-leg module comprises an upper executing mechanism, an upper arm, a lower executing mechanism, a lower arm and a driving wheel; the upper executing mechanism is arranged at the upper end of the upper arm; the lower actuating mechanism is arranged at the upper end of the lower arm; the driving wheel is arranged at the lower end of the lower arm; a transition wheel is arranged in each wheel-leg module, and when the driving wheels are separated from the ground, the transition wheels act on the ground and are used for supporting the intelligent electric wheelchair. By adopting the support of the transition wheel, the lower actuating mechanism can drive the lower arm and the driving wheel to rotate, so that the driving wheel rotates to the surface of a required obstacle, and the obstacle can be climbed under the driving action of the driving wheel; the transition wheel can also be used as a spare wheel of the intelligent electric wheelchair when the driving wheel is damaged.

Description

Technical Field

[0001] The present application relates to the field of wheelchair technology, and in particular to an intelligent electric wheelchair. Background Art

[0002] Power wheelchairs play a vital role in the lives of people with limited mobility, helping them to travel with independence, autonomy and comfort.

[0003] Electric wheelchairs generally need to be on flat roads or have dedicated passages when traveling. When encountering obstacles (such as steps or ditches) during driving, ordinary electric wheelchairs are generally unable to pass through and can only rely on human assistance or directly rush over the obstacles, which is a dangerous process.

[0004] To solve this problem, some electric wheelchairs adopt a crawler design. Although they can pass through obstacles, their structure is bulky. Therefore, how to design a simple electric wheelchair that can climb over obstacles is a problem that needs to be solved urgently. Utility Model Content

[0005] The present application provides an intelligent electric wheelchair to solve the problem of being unable to climb over obstacles in the prior art.

[0006] In a first aspect, the present application provides an intelligent electric wheelchair, comprising: a riding module and a plurality of wheel-leg modules;

[0007] Each wheel-leg module includes an upper actuator, an upper arm, a lower actuator, a lower arm and a driving wheel;

[0008] The upper actuator is arranged at the upper end of the upper arm, and the lower actuator is arranged at the lower end of the upper arm; the upper actuator is used to drive the upper arm to move;

[0009] The lower actuator is arranged at the upper end of the lower arm, and the driving wheel is arranged at the lower end of the lower arm; the lower actuator is used to drive the lower arm to move;

[0010] A transition wheel is provided in each wheel-leg module. When the driving wheel is off the ground, the transition wheel acts on the ground to support the intelligent electric wheelchair.

[0011] Optionally, the transition wheel is arranged at the lower part of the upper arm.

[0012] Optionally, when the upper arm and the lower arm are both arranged on the same side of the lower actuator, the upper arm includes a first bent portion, and the length of the first bent portion can accommodate the lower arm and the driving wheel.

[0013] Optionally, the lower arm includes a second bending portion for avoiding the idler wheel when the lower actuator drives the lower arm to rotate.

[0014] Optionally, the first bending portion faces the inner side of the intelligent electric wheelchair.

[0015] Optionally, the included angle between the upper arm and the lower arm is variable.

[0016] Optionally, in the normal driving state of the intelligent electric wheelchair, the clockwise included angle from the upper arm to the lower arm is less than 180°.

[0017] Optionally, the length of the lower arm and / or the upper arm is adjustable.

[0018] Optionally, the lower actuator is further configured to drive the lower arm to rotate around a preset rotation axis;

[0019] When the lower actuator drives the lower arm to rotate around the preset rotation axis, the idler wheel serves as a transition support point of the intelligent electric wheelchair, so that the drive wheel contacts the rotated road surface.

[0020] Optionally, the intelligent electric wheelchair further includes: a control module;

[0021] The control module is respectively communicatively connected to the upper actuator, the lower actuator, and the drive wheel.

[0022] Optionally, the intelligent electric wheelchair further includes: a sensing module;

[0023] The sensing module is disposed on the housing of the upper actuator and / or the bottom of the riding module;

[0024] The sensing module is communicatively connected to the control module, and the sensing module is configured to sense road surface data.

[0025] Optionally, the sensing module includes: a camera, an ultrasonic sensor, and an inertial measurement unit (IMU).

[0026] Optionally, the idler wheel integrates a motor, and the idler wheel with the integrated motor is configured to provide driving force or braking force.

[0027] Optionally, the intelligent electric wheelchair further includes a user controller, and the user controller is communicatively connected to the control module.

[0028] Optionally, the upper actuator is connected to the base of the riding module by bolts, the upper arm is connected to the upper actuator by bolts, the lower actuator is connected to the upper arm by bolts, the lower actuator is connected to the lower arm by bolts, and the lower arm is connected to the drive wheel by bolts.

[0029] The intelligent electric wheelchair provided in this application includes: a seating module and multiple wheel-leg modules; each wheel-leg module includes an upper actuator, an upper arm, a lower actuator, a lower arm, and a drive wheel; the upper actuator is arranged at the upper end of the upper arm, and the lower actuator is arranged at the lower end of the upper arm; the lower actuator is arranged at the upper end of the lower arm, and the drive wheel is arranged at the lower end of the lower arm; each wheel-leg module is provided with a transition wheel, which acts on the ground when the drive wheel is off the ground to support the intelligent electric wheelchair. With the support of the transition wheel, the lower actuator can drive the lower arm and drive wheel to rotate. When the drive wheel rotates to the surface of the required obstacle, the obstacle can be climbed over under the driving action of the drive wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0031] Figure 1 Schematic diagram of the application scenario provided for this application;

[0032] Figure 2 A schematic diagram of the structure of an intelligent electric wheelchair embodiment provided in this application Figure 1 ;

[0033] Figure 3 A schematic diagram of the structure of an intelligent electric wheelchair embodiment provided in this application Figure 2 ;

[0034] Figure 4 A schematic diagram of the structure of an intelligent electric wheelchair embodiment provided in this application Figure 3 ;

[0035] Figure 5 A schematic diagram of the structure of an intelligent electric wheelchair embodiment provided in this application Figure 4 ;

[0036] Figure 6 A schematic diagram of the structure of an intelligent electric wheelchair embodiment provided in this application Figure 5 ;

[0037] Figure 7 A schematic diagram of the intelligent electric wheelchair system architecture provided in this application;

[0038] Figure 8 A schematic diagram of a smart electric wheelchair going down stairs provided in this application;

[0039] Figure 9 A schematic diagram of an intelligent electric wheelchair climbing stairs provided in this application.

[0040] Description of reference numerals:

[0041] 10-riding module; 11-wheel-leg module; 12-control module; 13-perception module; 14-user controller; 111-upper actuator; 112-upper arm; 113-lower actuator; 114-lower arm; 115-driving wheel; 116-transition wheel; 131-camera; 132-ultrasonic sensor.

[0042] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0043] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0044] Figure 1 The application scenario diagram provided for this application is as follows: Figure 1 As shown, users can travel conveniently with an electric wheelchair.

[0045] In the above scenario, ordinary electric wheelchairs are generally unable to navigate obstacles when they encounter them, requiring assistance from others to climb over them. Some electric wheelchair designs rely on a direct charge to overcome obstacles, which is dangerous. Other designs use tracked designs to overcome obstacles, which, while possible, are bulky and inconvenient to navigate.

[0046] In view of this, the inventor discovered during the research in this field that the wheel-leg module of the electric wheelchair is designed as an upper arm and a lower arm, and a transition wheel is included between the upper arm and the lower arm. In this way, when it is necessary to climb over an obstacle, the transition wheel can contact the ground to play a supporting role. After the transition wheel provides support, the drive wheel is released and can rotate freely. When the drive wheel rotates to the surface of the obstacle, the obstacle can be climbed over.

[0047] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0048] Figure 2 Structural schematic of an embodiment of an intelligent electric wheelchair provided by this application Figure 1 , such as Figure 2 shown, the intelligent electric wheelchair includes: a riding module 10 and a plurality of wheel-leg modules 11.

[0049] Each wheel-leg module 11 includes an upper actuator 111, an upper arm 112, a lower actuator 113, a lower arm 114, and a drive wheel 115.

[0050] The upper actuator 111 is arranged at the upper end of the upper arm 112, and the upper actuator 111 is used to drive and control the movement of the upper arm 112; the lower actuator 113 is arranged at the lower end of the upper arm 112. The upper actuator 111 is used to drive the upper arm 112 to move.

[0051] The lower actuator 113 is arranged at the upper end of the lower arm 114, and the drive wheel 115 is arranged at the lower end of the lower arm 114; the lower actuator 113 is used to drive and control the movement of the lower arm 114. Preferably, the lower actuator 113 is used to drive and control the lower arm 114 to rotate around a rotation axis. More preferably, the lower actuator is used to drive and control the lower arm 114 to rotate around the rotation axis of the lower actuator 113. For example, controlling the rotation of the lower arm 114 to drive the drive wheel 115 to leave the ground. The drive wheel 115 provides forward power or braking force for the intelligent electric wheelchair.

[0052] A transition wheel 116 is arranged in each wheel-leg module 11. When the lower arm 114 rotates to make the drive wheel 115 leave the ground, the transition wheel 116 acts on the ground and is used to support the intelligent electric wheelchair.

[0053] Among them, there are various ways to set the position of the transition wheel 116.

[0054] In some embodiments, such as Figure 2 shown, the transition wheel 116 is arranged at the lowermost end of the housing of the lower actuator 113. Arranged at this position, when the lower actuator 113 controls the rotation of the lower arm 114 to retract the lower arm 114 and the drive wheel 115 leaves the ground, the transition wheel 116 is at the lowest position of the wheel-leg module and contacts the ground.

[0055] In some embodiments, the transition wheel 116 is arranged at the lowermost end of the structure of the upper arm 112. When the lower arm 114 is retracted and the drive wheel 115 leaves the ground, the transition wheel 116 is at the lowest position of the wheel-leg module and contacts the ground (not shown in the figure).

[0056] In some embodiments, the transition wheel 116 is arranged on the housing support structure of the wheel-leg module. When the lower arm 114 is retracted and the drive wheel 115 leaves the ground, the transition wheel 116 is at the lowest position of the wheel-leg module and contacts the ground (not shown in the figure).

[0057] In some embodiments, an independent bracket is additionally provided in the wheel-leg module. A transition wheel 116 is provided on the independent bracket and is installed near the upper end of the lower arm 114 through the independent bracket. When the lower arm 114 is retracted and the drive wheel 115 is lifted off the ground, the transition wheel 116 is at the lowest position of the wheel-leg module and contacts the ground (not shown in the figure). The independent bracket can provide additional adjustment options to adapt to different usage scenarios and ground conditions, facilitate replacement and maintenance, and reduce interference with the main structure.

[0058] By providing the transition wheel 116, when encountering an obstacle, the retracted lower arm 114 is rotated onto the surface of the obstacle by using the support of the transition wheel 116, and then the transition wheel 116 is retracted to complete the over-obstacle crossing. For example, on the road, when going up a road step, the lower arm 114 is retracted to make the transition wheel 116 contact the ground. When approaching the step to be climbed, the retracted lower arm 114 is rotated onto the step. The same operation is performed on both the front and rear wheels, and the wheelchair can then cross the step. After going up the step, the obstacle crossing is completed by using the support of the drive wheel 115.

[0059] This embodiment provides an intelligent electric wheelchair. An upper arm 112, a lower arm 114, a transition wheel 116, an upper actuator 111, and a lower actuator 113 are provided in each wheel-leg module. When the lower arm 114 is retracted, the transition wheel 116 provides additional support to maintain the stability and functionality of the wheelchair. The specific installation position of the transition wheel 116 can be determined according to actual needs. That is to say, the position of the transition wheel 116 is pre-set by the intelligent electric wheelchair manufacturer, and there are many such pre-setting methods. No matter where the transition wheel 116 is pre-set, as long as the position enables the transition wheel 116 to contact the ground when the lower arm 114 is retracted directly or indirectly, and then the lower arm 114 is rotated onto the surface of the obstacle or over the surface of the obstacle by rotating the lower arm 114, the danger of the wheelchair directly charging over can be avoided, the problems in the prior art can be solved, and corresponding effects can be achieved.

[0060] The intelligent electric wheelchair designed by this solution can safely and stably cross some obstacles. For example, it can cross road steps and can also go down road steps. In some scenarios, the intelligent electric wheelchair can also cross some deep pits, and the situation where the drive wheel 115 gets stuck in the pit can be avoided. The intelligent electric wheelchair designed by this solution can safely cross. In addition, this solution can also provide an alternative travel plan for the user by using the transition wheel 116 when the drive wheel 115 is damaged.

[0061] In some embodiments, the lower actuator 113 is further configured to drive the lower arm to rotate around the lower actuator; when the lower actuator drives the lower arm to rotate around the lower actuator, the transition wheel serves as a transition support point of the intelligent electric wheelchair, enabling the drive wheel to contact the rotated road surface. With this configuration, the wheelchair can go up and down steps, and the specific configuration method will be introduced in subsequent embodiments.

[0062] In some embodiments, a motor or a servo driver is integrated inside the transition wheel 116, which can provide power output and braking force.

[0063] In some embodiments, the transition wheel 116 is connected to the upper actuator or the lower actuator of the wheel leg module and can be driven by the upper actuator or the lower actuator. For example, it is connected to a slip ring or other similar power output mechanism of the upper actuator or the lower actuator through a cable to obtain the driving force from the upper actuator or the lower actuator.

[0064] In some embodiments, the drive wheel 115 is connected to the upper actuator or the lower actuator of the wheel leg module and can be driven by the upper actuator or the lower actuator. For example, it is connected to a slip ring or other similar power output mechanism of the upper actuator or the lower actuator through a cable to obtain the driving force from the upper actuator or the lower actuator.

[0065] In some embodiments, when crossing an obstacle, the transition wheel needs to reach a position near the contact with the obstacle. For example, when going down a step, the transition wheel needs to reach the edge of the previous step. At the edge, if the ground is uneven, it may cause the transition wheel to be unable to act on the ground, resulting in the wheelchair becoming unstable. Therefore, multiple transition wheels are installed on each wheel leg module to increase the contact area between the transition wheel and the ground, thereby preventing instability caused by uneven road surfaces when crossing obstacles.

[0066] In some embodiments, dedicated slots are designed inside the transition wheel to ensure that the motor or the servo driver can be tightly installed. The motor or the servo driver is fixed in the designed slots by bolts or welding to ensure its stability. The output shaft of the motor is connected to the driving component of the transition wheel through a gear, a chain, or a direct connection method to achieve power transmission. The cable of the motor or the servo driver is connected to the control module to ensure that its output and performance can be adjusted through the control system.

[0067] In some embodiments, the lower actuator 113 is physically connected to the lower end of the upper arm 112, and the lower actuator 113 is connected to the lower arm 114 through a linkage structure (such as a push rod, a connecting rod, a gear, etc.), and can convert the linear or rotational motion of the lower actuator 113 into the motion of the lower arm 114.

[0068] In some embodiments, the lower actuator 113 is only disposed at the lower end portion of the upper arm 112, and there is no physical connection between the two. One end of the lower actuator 113 is fixed to the structure at the upper end of the lower arm 114, and the other end is fixed to the housing support structure.

[0069] In some embodiments, there is no direct physical connection between the lower arm 114 and the upper arm 112, and the upper arm 112 and the lower arm 114 are connected through the lower actuator structure.

[0070] In some embodiments, there is a physical connection between the lower arm 114 and the upper arm 112. For example, the lower arm 114 and the upper arm 112 are connected by a hinge or a fixing member.

[0071] In some embodiments, one end of the upper actuator 111 is fixed to the base or the infrastructure of the riding module. The other end of the upper actuator is connected to the upper arm 112 through a connecting rod, a hinge or other linkage devices. In this way, the movement of the actuator directly controls the movement of the upper arm 112, and the upper arm 112 itself does not need to be directly connected to the base.

[0072] In some embodiments, the upper arm 112 is directly connected to the base, and one end of the upper actuator 111 is fixed to the structure at the upper end of the upper arm 112, and the other end is fixed to the housing support structure. The housing support structure can be the base structure or other support structures. Through the action of the upper actuator 111, the upper arm can also move.

[0073] Exemplarily, for the wheel-leg module 11, the upper actuator 111 is bolted to the base of the riding module 10, the upper arm 112 is bolted to the upper actuator 111, the lower actuator 113 is bolted to the upper arm 112, the lower actuator 113 is bolted to the lower arm 114, and the lower arm 114 is bolted to the drive wheel 115.

[0074] In some embodiments, the riding module 10 includes a base, a seat cushion, a backrest, a headrest, armrests and footrests.

[0075] In some embodiments, the seat cushion is bolted to the base, the backrest is hinged to the base, the headrest is bolted to the backrest, the armrests are bolted to the backrest, and the footrests are bolted to the base. In the above connections, in addition to bolts and hinges, the seat cushion and the base can also be connected by snaps, which can achieve quick assembly and disassembly and are suitable for designs that require convenient adjustment. At the same time, the backrest and the base can also be fixed by welding to provide permanent stability. The headrest and the backrest can also be fixed using a strong adhesive. The armrests and the backrest can also be magnetically connected, allowing for quick installation and disassembly while having a certain degree of adjustment flexibility. The connection between the footrests and the base can use spring clips, which simplifies the installation process, absorbs vibrations and improves the use comfort.

[0076] To ensure that the lower actuator 113 controls the lower arm 114 to rotate around a rotating shaft, the lower arm 114 and the upper arm 112 can both be arranged on the same side of the lower actuator, or the lower arm 114 and the upper arm 112 can both be arranged on different sides of the lower actuator 113. When arranged on different sides, since the lower actuator is arranged in the middle, there is a spatial interval between the lower arm and the upper arm during the rotation process of the lower arm. Therefore, no collision will occur. When arranged on the same side, the spatial interval between the upper arm and the lower arm is very small, and the driving wheel driven by the lower arm will collide with the upper arm during rotation. Therefore, the structure of the wheel-leg module needs to be designed. Preferably, the scheme of arranging both the lower arm and the upper arm on the same side of the lower actuator is adopted. This design can make the center of gravity of the entire wheel-leg module more concentrated on one side, and the force and load distribution are more uniform, reducing the stability problems caused by the center-of-gravity offset.

[0077] To solve the problem that when the upper arm and the lower arm are arranged on the same side of the lower actuator, the driving wheel driven by the lower arm will collide with the upper arm during rotation, through the design method shown in Figure a in Figure 3 as follows. Figure 3 The following is a schematic structure diagram of an embodiment of an intelligent electric wheelchair provided by this application. Figure 2 A first bending portion is provided on the upper arm, which can accommodate the lower arm and the driving wheel, so that the driving wheel will not collide with the upper arm during the rotation around the axis.

[0078] It should be noted that the length and bending degree of the first bending portion are related to the size of the driving wheel and the length setting of the lower arm.

[0079] Considering the above design method, in some embodiments, when the upper arm and the lower arm are arranged on different sides of the lower actuator, the design of the bending portion can also be adopted to avoid the problem that the driving wheel driven by the lower arm will collide with the upper arm during rotation.

[0080] In Figure 3 the setting shown in Figure a of

[0081] the lower arm and the driving wheel are arranged on the inner side of the upper arm (i.e., the side close to the center of the wheelchair). At this time, the first bending portion faces the inner side of the intelligent electric wheelchair to avoid collision during rotation.

[0082] In some embodiments, the lower arm and the driving wheel are arranged on the outer side of the upper arm (i.e., the side far from the center of the wheelchair). At this time, the first bending portion faces the outer side of the intelligent electric wheelchair to avoid collision during rotation.

[0082] When the lower arm and the driving wheel rotate around a rotating shaft, the above embodiments consider the collision between the lower arm and the driving wheel and the upper arm. During the rotation process, there may also be a collision with the transition wheel. To solve this problem, a second bending portion is provided on the lower arm, as shown in Figure 3as shown in Figure b. The second bending part is used to avoid the idler wheel when the lower actuator drives the lower arm to rotate.

[0083] The length of the second bending part is related to the size of the idler wheel.

[0084] The bending direction of the second bending part is related to which side of the lower actuator the lower arm is set on. No matter which side it is set on, the bending direction of its second bending part is to avoid collision with the idler wheel.

[0085] Optionally, in the avoidance design of each of the above bending parts, make the contact point between the upper actuator and the upper arm, the contact point between the lower actuator and the lower arm, and the contact point between the lower arm and the driving wheel be on a plane to make the force balanced and increase the stability of the wheelchair.

[0086] As Figure 3 as shown in Figure c, it is a schematic diagram of the intelligent electric wheelchair in the normal driving state. The clockwise angle from the upper arm 112 to the lower arm 114 of each wheel-leg module is less than 180°. The angle design in the normal driving state can enhance the stability of the wheel-leg module, and when changing from the normal driving state to the angle adjustment for crossing an obstacle, starting from an angle less than 180° in the normal driving state for adjustment has a better influence on the user experience, and the wheelchair will not vibrate.

[0087] In the crossing state, the lower arm 114 is rotated to a preset angle under the action of the lower actuator 113.

[0088] In some embodiments, the length of the lower arm 114 is adjustable. In some ways, the lower arm 114 uses a slide rail or chute system, or an electric sliding system, so that the lower arm 114 can slide along the track to adjust the length. In some ways, the lower arm 114 is composed of multiple telescopic pipe segments and can be telescoped within a certain range to adjust the length. In some ways, a locking device such as a spring lock, a mechanical lock or a screw lock is equipped on the telescopic part of the lower arm 114 to fix the required length. In some ways, the length of the lower arm 114 is adjusted by a threaded mechanism, such as a screw lifting device. In some ways, an electric motor or a hydraulic cylinder is used to automatically adjust the length of the lower arm 114.

[0089] In some embodiments, the length of the upper arm 112 can also be adjusted. In some ways, the upper arm 112 can slide along the track to adjust its length by using a slide rail or chute system, or an electric sliding system. In some ways, the upper arm 112 is composed of multiple telescopic pipe segments and can be telescoped within a certain range to adjust the length. In some ways, a locking device, such as a spring lock, a mechanical lock, or a screw lock, is provided on the telescopic part of the upper arm 112 to fix the required length. In some ways, the length of the upper arm 112 is adjusted by a threaded mechanism, such as a screw lift device. In some ways, an electric motor or a hydraulic cylinder is used to automatically adjust the length of the upper arm 112.

[0090] The upper arm 112 and the lower arm 114 can both have a length adjustment design, or neither of them can have a length adjustment design, or one of the arms can have a length adjustment design.

[0091] Figure 4 Structural schematic of an embodiment of an intelligent electric wheelchair provided by this application Figure 3 , such as [[ID= shown, the intelligent electric wheelchair further includes a control module 12;

[0092] In some embodiments, as ​ shown, the control module 12 is arranged at the rear side of the seat.

[0093] In some embodiments, the control module 12 can also be arranged at the bottom of the riding module.

[0094] The control module 12 is respectively communicatively connected to the upper actuator 111, the lower actuator 113, and the drive wheel 115. The communication connection can be through a wired connection or a wireless connection.

[0095] The control module 12 is used to send control instructions to the upper actuator 111, the lower actuator 113, and the drive wheel 115 through the communication line.

[0096] ​ Structural schematic of an embodiment of an intelligent electric wheelchair provided by this application ​ , such as ​ shown, the intelligent electric wheelchair further includes a sensing module 13;

[0097] The sensing module 13 is arranged on the outer shell of the upper actuator 111 and / or the bottom of the riding module 10, and can also be arranged on the seat armrest; the sensing module 13 is communicatively connected to the control module, and the sensing module is used to sense road surface data.

[0098] In some embodiments, the sensing module 13 includes: a camera 131, an ultrasonic sensor 132. In ​Among them, the ultrasonic sensor 132 is disposed on the housing of the upper actuator 111, and the camera is disposed on the base structure of the riding module 10.

[0099] In some embodiments, the sensing module 13 further includes an inertial measurement unit IMU, which can be set separately or integrated in the camera or the control module.

[0100] In some embodiments, the sensing module 13 further includes a laser rangefinder.

[0101] In some embodiments, the sensing module 13 further includes a lidar.

[0102] In some embodiments, the camera 131 is a stereo vision camera.

[0103] In some other embodiments, the sensing module 13 can also be disposed on the seat armrest (not shown in the figure).

[0104] In some other embodiments, the sensing module 13 can also be disposed at the bottom of the seat (not shown in the figure).

[0105] The number of each measuring device included in the sensing module 13 described above is not limited.

[0106] ​ Structural schematic of an embodiment of an intelligent electric wheelchair provided by the present application ​ , such as ​ shown, the intelligent electric wheelchair further includes a user controller 14, the user controller 14 is disposed on the armrest, and the user controller 14 is communicatively connected to the control module 12. The user can trigger the functions to be executed through the user controller 14, which facilitates the user operation.

[0107] In some embodiments, the intelligent electric wheelchair further includes a battery, and the battery can be a detachable battery. There are various settings for the battery, such as being disposed on structures such as the upper arm, lower arm, and base. The battery and the structure can be connected by bolts or other fixing methods.

[0108] The upper actuator, upper arm, lower actuator, and lower arm usually use high-strength steel or aluminum alloy. For the drive wheels, the wheel rims usually use high-strength aluminum alloy or steel alloy, and the tires may be made of wear-resistant rubber or synthetic materials. For the transition wheels, strong plastics or metal alloys are usually used. Plastic materials can be lightweight and suitable for bearing loads in a short time, while metal alloys provide higher durability and load-bearing capacity.

[0109] ​ Schematic diagram of the system architecture of an intelligent electric wheelchair provided by the present application, such as ​As shown, the system architecture mainly includes a control module 12, a wheel-leg module 11, and a perception module 13; the control module 12 is respectively connected to the upper actuator 111, the lower actuator 113, and the drive wheel 115 in the wheel-leg module 11, and the control module 12 is also connected to the ultrasonic sensor 132, the camera 131, and the IMU in the perception module 13. Among them, the perception module 13 provides the entire system with surrounding environment information through a combination of different sensors. To ensure that the present application can fully utilize the capabilities of the wheel-leg module on special terrain, the camera 131 and the ultrasonic sensor 132 cover the ground within a preset distance in the direction of travel and the ground under the wheelchair, and the two can be redundant within a certain viewing angle.

[0110] In some intelligent electric wheelchair systems, the perception module also includes a laser rangefinder and / or a laser radar, which is communicatively connected to the control module.

[0111] In order to demonstrate the function of the smart electric wheelchair provided in this application, the support of the transition wheel can be used to climb over obstacles, which is clearly explained below with several examples.

[0112] ​ A schematic diagram of a smart electric wheelchair going down stairs provided in this application.

[0113] Step 1: The transition wheel of the front wheel touches the edge of the upper step.

[0114] Step 2: Rotate the front drive wheel to the lower step.

[0115] Step 3: The transition wheel of the rear wheel touches the edge of the upper step.

[0116] Step 4: Rotate the rear drive wheel to the lower step.

[0117] Step 5: Drive down the stairs.

[0118] Step 6: Return to normal driving state.

[0119] In normal driving conditions, the clockwise angle between the upper arm and the lower arm is less than 180°, and the counterclockwise angle between the upper arm and the horizontal plane of the seat cushion is less than 90°.

[0120] The process of climbing stairs is introduced below with an embodiment.

[0121] ​ A schematic diagram of an intelligent electric wheelchair climbing stairs provided in this application.

[0122] In the first step, the transition wheel of the front wheel contacts the edge of the upper step.

[0123] Step 2: Rotate the front drive wheel to the upper step.

[0124] Step 3: The transition wheel of the rear wheel touches the edge of the upper step.

[0125] Step 4: The drive wheel of the rear wheel rotates onto the upper step.

[0126] Step 5: Travel on the upper step.

[0127] Step 6: The intelligent electric wheelchair resumes its normal driving state.

[0128] In the normal driving state, the clockwise angle between the upper arm and the lower arm is less than 180°, and the counterclockwise angle between the upper arm and the horizontal plane of the seat cushion is less than 90°.

[0129] After considering the specification and practicing the disclosed technical solutions herein, those skilled in the art will readily conceive of other embodiments of the present application. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include the common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and the embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the following claims.

[0130] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. An intelligent electric wheelchair, characterized in that, Comprising: A riding module and a plurality of wheel-leg modules; Each wheel-leg module includes an upper actuator, an upper arm, a lower actuator, a lower arm, and a driving wheel; The upper actuator is disposed at the upper end of the upper arm, the lower actuator is disposed at the lower end of the upper arm, and the upper actuator is used to drive the movement of the upper arm; The lower actuator is disposed at the upper end of the lower arm, the driving wheel is disposed at the lower end of the lower arm, and the lower actuator is used to drive the movement of the lower arm; A transition wheel is provided in each wheel-leg module. When the driving wheel is off the ground, the transition wheel acts on the ground to support the intelligent electric wheelchair.

2. The intelligent electric wheelchair according to claim 1, characterized in that, The transition wheel is disposed at the lower part of the upper arm.

3. The intelligent electric wheelchair according to claim 1, characterized in that, When the upper arm and the lower arm are both disposed on the same side of the lower actuator, the upper arm includes a first bending portion, and the length of the first bending portion can accommodate the lower arm and the driving wheel.

4. The intelligent electric wheelchair according to claim 3, wherein, The lower arm includes a second bending portion, and the second bending portion is used to avoid the transition wheel when the lower actuator drives the lower arm to rotate.

5. The intelligent electric wheelchair according to claim 4, characterized in that, The first bending portion faces the inner side of the intelligent electric wheelchair.

6. The intelligent electric wheelchair according to claim 1, wherein The included angle between the upper arm and the lower arm is variable.

7. The intelligent electric wheelchair according to claim 6, wherein In the normal driving state of the intelligent electric wheelchair, the clockwise included angle from the upper arm to the lower arm is less than 180°.

8. The intelligent electric wheelchair according to any one of claims 1 to 7, characterized in that, The length of the lower arm and / or the upper arm is adjustable.

9. The intelligent electric wheelchair according to any one of claims 1 to 7, characterized in that, The lower actuator is further used to drive the lower arm to rotate around a preset rotation axis; When the lower actuator drives the lower arm to rotate around a preset rotation axis, the transition wheel serves as a transition support point of the intelligent electric wheelchair, so that the driving wheel contacts the rotated road surface.

10. The intelligent electric wheelchair according to any one of claims 1 to 7, characterized in that, The driving wheel is driven by the upper actuator or the lower actuator.

11. The intelligent electric wheelchair according to any one of claims 1 to 7, characterized in that, The intelligent electric wheelchair further includes: a control module; The control module is respectively communicatively connected to the upper actuator, the lower actuator, and the driving wheel.

12. The intelligent electric wheelchair according to claim 11, wherein, The intelligent electric wheelchair further includes: a sensing module; The sensing module is disposed on the housing of the upper actuator and / or the bottom of the riding module; The sensing module is communicatively connected to the control module, and the sensing module is used to sense road surface data.

13. The intelligent electric wheelchair according to claim 12, wherein The sensing module includes: a camera, an ultrasonic sensor, and an inertial measurement unit IMU.

14. The intelligent electric wheelchair according to any one of claims 1 to 3, characterized in that, The transition wheel integrates a motor inside, and the transition wheel with the integrated motor is used to provide driving force or braking force.

15. The intelligent electric wheelchair according to claim 11, characterized in that, The intelligent electric wheelchair further includes a user controller, and the user controller is communicatively connected to the control module.

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