A control method and device for an intelligent wheelchair

Abstract

The application provides a control method and device of an intelligent wheelchair, the method is used for a cloud server, and comprises the following steps: receiving position information of an active wheelchair and position information of a driven wheelchair, wherein the position information of the active wheelchair and the position information of the driven wheelchair are generated when any wheelchair receives a queue trigger instruction; sending a queue preparation instruction to the active wheelchair and the driven wheelchair, and respectively controlling the active wheelchair and the driven wheelchair to move to a first target position and a second target position; receiving a first navigation route and a reference speed sent by the active wheelchair, and generating a corresponding second navigation route and a following speed to be sent to the driven wheelchair, so as to control the driven wheelchair to follow the active wheelchair to move; wherein the first navigation route and the reference speed of the active wheelchair are generated based on the received moving instruction. Through the above method, the driven wheelchair and the active wheelchair can be controlled to move in a queue.

Description

Technical Field

[0001] This invention relates to the field of intelligent wheelchair technology, and in particular to a control method and device for an intelligent wheelchair. Background Technology

[0002] As people age, mobility becomes increasingly difficult, and wheelchairs are considered the most commonly used mobility aids to help people with disabilities and those who have lost their mobility to move and maintain a more dignified posture.

[0003] The existing Single-Lane Navigation (SLAM) technology is usually applied to wheeled chassis. Generally, a circular safety zone is defined around the chassis by software. If an obstacle is detected in the zone, the chassis will either brake or go around it. Therefore, if two wheelchairs are to ride side by side under this restriction, the distance between them must be at least 2 meters. This will first occupy the public passageway area, and secondly, it will also affect the chatting experience of two people sitting side by side.

[0004] How to make two self-navigating wheelchairs run side by side at close range and maintain their relative position through differential control during turns is a technical problem that needs to be solved. Summary of the Invention

[0005] To address the problems existing in the prior art, the present invention provides a control method and device for an intelligent wheelchair.

[0006] This invention provides a control method for an intelligent wheelchair, used on a cloud server, the method comprising:

[0007] The system receives the position information of the active wheelchair and the position information of the driven wheelchair, wherein the position information of the active wheelchair and the position information of the driven wheelchair are generated when either wheelchair receives a queue trigger command;

[0008] A queue preparation command is sent to the active wheelchair and the driven wheelchair, respectively controlling the active wheelchair and the driven wheelchair to move to the first target position and the second target position;

[0009] The system receives a first navigation route and a reference speed from the active wheelchair, and generates a corresponding second navigation route and a following speed, which are then sent to the driven wheelchair to control the driven wheelchair to follow the movement of the active wheelchair; wherein the first navigation route and reference speed of the active wheelchair are generated based on the received movement commands.

[0010] According to a control method for an intelligent wheelchair provided by the present invention, a queue preparation command is sent to the active wheelchair and the driven wheelchair, and the active wheelchair and the driven wheelchair are respectively controlled to move to a first target position and a second target position, including:

[0011] Send a queue preparation command to the active wheelchair, and control the active wheelchair to move to the first target position;

[0012] A queue preparation command is sent to the driven wheelchair, controlling the driven wheelchair to move to an initial position on one side of the active wheelchair, wherein the distance between the initial position and the first target position is greater than or equal to the obstacle avoidance distance;

[0013] The obstacle avoidance radars of the active wheelchair and the passive wheelchair are turned off from opposite sides of their scanning areas. The passive wheelchair is controlled to move toward the active wheelchair to the second target position, and the passive and active wheelchairs are made to move in the same direction.

[0014] According to a control method for an intelligent wheelchair provided by the present invention, the method receives a first navigation route and a reference speed sent by the active wheelchair, and generates a corresponding second navigation route and a following speed, which are then sent to the driven wheelchair to control the driven wheelchair to follow the movement of the active wheelchair. The method includes:

[0015] In turning mode, the difference between the second navigation route of the driven wheelchair during the turning process and the first navigation route of the active wheelchair during the turning process is determined;

[0016] The following speed of the driven wheelchair is increased or decreased according to the difference to ensure that the relative positions of the driven wheelchair and the active wheelchair remain unchanged.

[0017] According to a control method for an intelligent wheelchair provided by the present invention, the method further includes:

[0018] In obstacle avoidance mode, the system receives a judgment command uploaded by the active wheelchair to determine whether the obstacle has moved.

[0019] If the obstacle is determined to be moving based on the judgment instruction, the active wheelchair and the driven wheelchair are controlled to stop moving respectively. If a determination instruction is received that the obstacle has moved out of the target range, the active wheelchair and the driven wheelchair are controlled to move together.

[0020] If the obstacle is determined to be stationary based on the judgment instruction, a dequeue instruction and a rendezvous location area after a preset time period are sent to the active wheelchair and the passive wheelchair. The active wheelchair and the passive wheelchair are then controlled to plan their respective routes to avoid the obstacle until they reach the rendezvous location area and continue their team movement.

[0021] According to a control method for an intelligent wheelchair provided by the present invention, the active wheelchair and the driven wheelchair are respectively controlled to plan their own travel routes and avoid obstacles until the active wheelchair and the driven wheelchair reach the meeting point area to continue their group movement, including:

[0022] The active wheelchair is controlled to move to the third target location after a preset time period;

[0023] The driven wheelchair is controlled to move to the fourth target position after a preset time period; wherein the third target position and the fourth target position are both located in the gathering position area, and the distance between the third target position and the fourth target position is less than the wheelchair obstacle avoidance distance;

[0024] The system receives the third navigation route and reference speed sent by the active wheelchair, and generates a corresponding fourth navigation route and following speed, which are then sent to the driven wheelchair to control the driven wheelchair and the active wheelchair to continue moving in tandem. The third navigation route and reference speed of the active wheelchair are generated based on the received movement commands.

[0025] According to a control method for an intelligent wheelchair provided by the present invention, during the process of controlling the coordinated movement of the driven wheelchair and the active wheelchair, the method further includes:

[0026] Within each time period, the processors of the active wheelchair and the passive wheelchair respectively report real-time location information.

[0027] According to a control method for an intelligent wheelchair provided by the present invention, after controlling the driven wheelchair to follow the active wheelchair to the destination, the method further includes:

[0028] Send a disengagement command to the active wheelchair and the passive wheelchair to disengage the passive wheelchair from following the active wheelchair.

[0029] The present invention also provides a control device for an intelligent wheelchair, which is set on a cloud server, the device comprising:

[0030] The information receiving module is used to receive the position information of the active wheelchair and the passive wheelchair, wherein the position information of the active wheelchair and the passive wheelchair are generated when either wheelchair receives a queue trigger command;

[0031] The instruction sending module is used to send queue preparation instructions to the active wheelchair and the driven wheelchair, and control the active wheelchair and the driven wheelchair to move to the first target position and the second target position respectively;

[0032] The motion control module is used to receive a first navigation route and a reference speed sent by the active wheelchair, and generate a corresponding second navigation route and a following speed to send to the driven wheelchair, so as to control the driven wheelchair to follow the movement of the active wheelchair; wherein, the first navigation route and reference speed of the active wheelchair are generated based on the received movement command.

[0033] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the control method of the intelligent wheelchair as described above.

[0034] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method of the intelligent wheelchair as described above.

[0035] This invention provides a control method and device for intelligent wheelchairs. When either intelligent wheelchair receives a queue trigger command, it triggers the uploading of the position information of the active and passive wheelchairs to a cloud server. When the active and passive wheelchairs receive a queue preparation command from the cloud server, they are controlled to move to a first target position and a second target position. The active wheelchair receives the movement command, determines a first navigation route and a reference speed, and sends them to the cloud server. The cloud server then generates a second navigation route and a following speed based on the first navigation route and the reference speed and sends them to the passive wheelchair. This enables the control of the passive and active wheelchairs to travel in a queue, solving the problem in the prior art where two wheelchairs cannot get too close when traveling in a queue, resulting in a better experience when traveling in a queue on wheelchairs. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0037] Figure 1 This is one of the flowcharts illustrating the control method for the intelligent wheelchair provided by the present invention;

[0038] Figure 2 This is the second flowchart illustrating the control method for the intelligent wheelchair provided by the present invention;

[0039] Figure 3 This is a schematic diagram of the control method for the intelligent wheelchair provided by the present invention, which shows the method for obtaining the second target position;

[0040] Figure 4 This is a schematic diagram of the control device for the intelligent wheelchair provided by the present invention;

[0041] Figure 5 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0043] The following is combined Figures 1-5 This invention describes a control method and apparatus for an intelligent wheelchair.

[0044] Figure 1 This is a flowchart illustrating the control method for the intelligent wheelchair provided by the present invention, as shown below. Figure 1 As shown, the intelligent wheelchair control method provided by the present invention is used on a cloud server, and the method includes:

[0045] Step 100: Receive the position information of the active wheelchair and the position information of the driven wheelchair, wherein the position information of the active wheelchair and the position information of the driven wheelchair are generated when either wheelchair receives a queue trigger command.

[0046] It should be noted that in this embodiment, the multiple smart wheelchairs can be those with automatic navigation capabilities. In some use cases, multiple smart wheelchairs may need to travel in a queue, such as in parallel or sequentially. Taking two smart wheelchairs as an example, for instance, elderly people traveling together in smart wheelchairs need to maintain a close and appropriate distance at all times so that they can communicate and look after each other. Before using the smart wheelchairs, other smart wheelchairs that are allowed to enter the queue mode can be pre-stored on a cloud server. Based on this, when traveling together, there is no need to pair them again; a queue mode request can be initiated directly.

[0047] Specifically, a user can trigger a request to enter queue mode from either smart wheelchair. Another smart wheelchair agrees to the request, and upon successful entry into queue mode, both wheelchairs upload their location information to the cloud server. At this point, the smart wheelchair that initiated the request can be designated as the active wheelchair being followed, used to determine the navigation route and base speed during queue driving, while the smart wheelchair that agreed to the request is designated as the passive wheelchair. Alternatively, the smart wheelchair that agreed to the request can be designated as the active wheelchair, and the smart wheelchair that initiated the request as the passive wheelchair. Alternatively, the active and passive wheelchairs can be determined based on the location information obtained from the cloud server. This embodiment does not impose any particular limitations on the method of determining the active and passive wheelchairs.

[0048] Step 200: Send queue preparation instructions to the active wheelchair and the passive wheelchair, and control the active wheelchair and the passive wheelchair to move to the first target position and the second target position respectively.

[0049] Specifically, after successfully entering queue mode, the cloud server determines the departure point based on the current location information of the active and passive wheelchairs. This means that the active and passive wheelchairs must first move to the first target location and the second target location respectively before departing together. During actual queue mode operation, the first target location can be either the initial position of the active wheelchair or a location redefined by the cloud server based on the initial positions of both wheelchairs, suitable for pre-departure device position adjustments. Similarly, the second target location can be either the initial position of the passive wheelchair or a location redefined by the cloud server based on the initial positions of both wheelchairs, suitable for pre-departure device position adjustments.

[0050] Common smart wheelchairs define a safe zone based on their own position during operation to avoid obstacles. The distance from the boundary of the safe zone to the center of the smart wheelchair is the obstacle avoidance distance of the wheelchair. In this embodiment, when two smart wheelchairs enter the queue mode, they will allow each other to enter their own safe zone. That is, the distance between the first target position and the second target position is less than the obstacle avoidance distance of the wheelchair.

[0051] Step 300: Receive the first navigation route and reference speed sent by the active wheelchair, and generate a corresponding second navigation route and following speed to send to the driven wheelchair, so as to control the driven wheelchair to follow the movement of the active wheelchair; wherein, the first navigation route and reference speed of the active wheelchair are generated based on the received movement command.

[0052] Specifically, in this embodiment, both the active and passive wheelchairs have automatic navigation capabilities. By default, the active wheelchair determines a first navigation route and a reference speed from its current location to its destination. The first navigation route is the active wheelchair's travel path, and the reference speed is its travel speed, and this information is sent to the cloud server. The cloud server determines whether adjustments are needed based on the first navigation route and reference speed. For example, if encountering a turn, it adjusts the passive wheelchair's offset route and speed relative to the active wheelchair to ensure both wheelchairs remain within each other's safe zone, allowing for safe passage through turns without hindering close-range communication. After these adjustments, a second navigation route and following speed suitable for the passive wheelchair are generated.

[0053] The cloud server sends the generated second navigation route and following speed to the driven wheelchair, which then controls the active and driven wheelchairs to travel in a queue mode according to their respective navigation routes and speeds.

[0054] The intelligent wheelchair control method provided by this invention, when a queue trigger command is received by either intelligent wheelchair, triggers the uploading of the position information of the active and passive wheelchairs to a cloud server; when the active and passive wheelchairs receive a queue preparation command issued by the cloud server, they are controlled to move to a first target position and a second target position; the active wheelchair receives the movement command, determines a first navigation route and a reference speed, and sends them to the cloud server, so that the cloud server generates a second navigation route and a following speed based on the first navigation route and the reference speed and sends them to the passive wheelchair. This enables the control of the passive and active wheelchairs to travel in a queue, solving the defect in the prior art where two wheelchairs cannot get too close when traveling in a queue, resulting in a better experience of traveling in a queue on wheelchairs.

[0055] Based on the above embodiments, Figure 2 This is another flowchart illustrating the control method for the intelligent wheelchair provided by the present invention, as shown below. Figure 2 As shown, in this embodiment, step 200, sending a queue preparation command to the active wheelchair and the passive wheelchair, and controlling the active wheelchair and the passive wheelchair to move to the first target position and the second target position respectively, includes:

[0056] Step 210: Send a queue preparation command to the active wheelchair and control the active wheelchair to move to the first target position.

[0057] Specifically, after the cloud server issues a queue preparation command to the active wheelchair, the active wheelchair must first move to the first target position. The first target position can be the initial position of the active wheelchair, or it can be a position that the cloud server re-determines based on the initial positions of the active and passive wheelchairs, suitable for the two smart wheelchairs to adjust their device positions before departure.

[0058] Step 220: Send a queue preparation command to the driven wheelchair, and control the driven wheelchair to move to an initial position on one side of the active wheelchair, wherein the distance between the initial position and the first target position is greater than or equal to the obstacle avoidance distance.

[0059] Specifically, after the cloud server issues a queue preparation command to the driven wheelchair, the driven wheelchair needs to move to the initial position near the active wheelchair before moving to the second target position in the above embodiment. It must be outside the safe zone of the active wheelchair, that is, the distance between the initial position and the first target position needs to be greater than the obstacle avoidance distance, or it can be equal to the obstacle avoidance distance, so that a more precise position adjustment can be made later.

[0060] Step 230: Turn off the scanning areas on opposite sides of the obstacle avoidance radar of the active wheelchair and the obstacle avoidance radar of the passive wheelchair, control the passive wheelchair to move toward the active wheelchair to the second target position, and make the passive wheelchair and the active wheelchair move in the same direction.

[0061] Specifically, the intelligent wheelchair uses obstacle avoidance radar to define a safe zone, ensuring that there are no other obstacles within the safe zone. With the obstacle avoidance radars of both the active and passive wheelchairs remaining activated, neither wheelchair can enter the other's safe zone. Therefore, the passive wheelchair must first move to the vicinity of the active wheelchair's safe zone before making further adjustments to its position.

[0062] After the active wheelchair is in the initial position of the first target position and the passive wheelchair is in the initial position of the active wheelchair, the scanning areas of the opposite sides of the obstacle avoidance radar of the active wheelchair and the obstacle avoidance radar of the passive wheelchair are turned off, the passive wheelchair is controlled to enter the safe zone of the active wheelchair, and moves to the second target position.

[0063] For example, Figure 3 This is a schematic diagram of the control method for the intelligent wheelchair provided by the present invention, as shown below. Figure 3 As shown in diagram a, the obstacle avoidance distance of the active wheelchair A is 2 meters. The driven wheelchair B can first move to a position 2 meters to the right of the active wheelchair A. Both the active and driven wheelchairs then close their respective radar scanning areas to the left and right (60° each). Ignoring radar data, the driven wheelchair B turns 90° to the left and moves 1.5 meters towards the active wheelchair A, then turns 90° to the right, maintaining the same direction as the active wheelchair. In this way, the distance between the active wheelchair A and the driven wheelchair B becomes 0.5 meters. Figure 3 As shown in b.

[0064] The intelligent wheelchair control method provided by this invention determines a more reasonable second target position by controlling the driven wheelchair to move to an initial position outside the safe zone of the active wheelchair before controlling the driven wheelchair to move to the second target position, thus ensuring that the two wheelchairs can enter each other's safe zone when traveling in a queue.

[0065] Based on the above embodiments, in this embodiment, receiving the first navigation route and reference speed sent by the active wheelchair, and generating a corresponding second navigation route and following speed, and sending them to the driven wheelchair to control the driven wheelchair to follow the movement of the active wheelchair, includes:

[0066] In turning mode, the difference between the second navigation route of the driven wheelchair during the turning process and the first navigation route of the active wheelchair during the turning process is determined;

[0067] The following speed of the driven wheelchair is increased or decreased according to the difference to ensure that the relative positions of the driven wheelchair and the active wheelchair remain unchanged.

[0068] Specifically, in actual driving, there are various road conditions, so it is necessary to adjust the second navigation route and following speed accordingly based on the actual road conditions.

[0069] Furthermore, if the active wheelchair is on the left and the passive wheelchair on the right, when a left turn is needed, the passive wheelchair travels a greater distance than the active wheelchair. In this case, the passive wheelchair's following speed needs to be increased accordingly based on the difference in distances traveled during the left turn. Conversely, when a right turn is needed, the passive wheelchair travels a less distance than the active wheelchair. In this case, the passive wheelchair's following speed needs to be decreased accordingly based on the difference in distances traveled during the right turn. Based on this, the relative positions of the active and passive wheelchairs can always be kept constant.

[0070] The intelligent wheelchair control method provided by this invention can maintain the relative position of the active and passive wheelchairs by adjusting the second navigation route and following speed of the driven wheelchair in a timely manner when encountering curves, thereby improving the user experience.

[0071] Based on the above embodiments, in this embodiment, the method further includes:

[0072] In obstacle avoidance mode, the system receives a judgment command uploaded by the active wheelchair to determine whether the obstacle has moved.

[0073] If the obstacle is determined to be moving based on the judgment instruction, the active wheelchair and the driven wheelchair are controlled to stop moving respectively. If a determination instruction is received that the obstacle has moved out of the target range, the active wheelchair and the driven wheelchair are controlled to move together.

[0074] If the obstacle is determined to be stationary based on the judgment instruction, a dequeue instruction and a rendezvous location area after a preset time period are sent to the active wheelchair and the passive wheelchair. The active wheelchair and the passive wheelchair are then controlled to plan their respective routes to avoid the obstacle until they reach the rendezvous location area and continue their team movement.

[0075] Specifically, this embodiment proposes a control method for encountering obstacles during parallel operation. When the active wheelchair detects an obstacle about to enter the safe zone during operation, it activates obstacle avoidance mode.

[0076] If the obstacle is movable, such as a kitten that suddenly jumps out, control both the active and passive wheelchairs to stop driving. Once the movable obstacle is away from the safe zone, control both the active and passive wheelchairs to continue driving side by side along the original navigation route and speed.

[0077] If the obstacle is stationary, such as a car parked on the side of the road, the navigation system cannot anticipate this situation when planning the route. In this case, the cloud server sends a dequeue command and pre-sets a rendezvous time and location area to both the active and passive wheelchairs. The active and passive wheelchairs then plan their respective navigation routes and rendezvous at the target location area at the target time.

[0078] The intelligent wheelchair control method provided by this invention, by setting an obstacle avoidance mode, can ensure that when encountering an obstacle, the user can safely pass over the obstacle and continue to maintain the queue mode without manual operation.

[0079] Based on the above embodiments, in this embodiment, the active wheelchair and the driven wheelchair are each controlled to plan their own routes for obstacle avoidance until they reach the meeting point area to continue their group movement, including:

[0080] The active wheelchair is controlled to move to the third target location after a preset time period;

[0081] The driven wheelchair is controlled to move to the fourth target position after a preset time period; wherein the third target position and the fourth target position are both located in the gathering position area, and the distance between the third target position and the fourth target position is less than the wheelchair obstacle avoidance distance;

[0082] The system receives the third navigation route and reference speed sent by the active wheelchair, and generates a corresponding fourth navigation route and following speed, which are then sent to the driven wheelchair to control the driven wheelchair and the active wheelchair to continue moving in tandem. The third navigation route and reference speed of the active wheelchair are generated based on the received movement commands.

[0083] Specifically, after a preset time period, the active wheelchair moves to the third target position within the assembly area. The passive wheelchair first moves to its initial position near the active wheelchair, outside the active wheelchair's safety zone, meaning the distance between the initial position and the third target position is greater than or equal to the obstacle avoidance distance. At this point, the control shuts down the scanning areas on opposite sides of the obstacle avoidance radars of both the active and passive wheelchairs, allowing the passive wheelchair to enter the active wheelchair's safety zone and move to the fourth target position.

[0084] Furthermore, the active wheelchair determines a third navigation route and a baseline speed from its current location to its destination, and sends this information to a cloud server. The cloud server makes adjustments based on the third navigation route and baseline speed to generate a fourth navigation route and following speed suitable for the passive wheelchair. The cloud server then distributes the generated fourth navigation route and following speed to the passive wheelchair, controlling both the active and passive wheelchairs to travel in queue mode according to their respective navigation routes and speeds.

[0085] The intelligent wheelchair control method provided by this invention, by setting an obstacle avoidance mode, can ensure that when encountering an obstacle, the user can safely pass over the obstacle and continue to maintain the queue mode without manual operation.

[0086] Based on the above embodiments, in this embodiment, during the process of controlling the coordinated movement of the driven wheelchair and the active wheelchair, the method further includes:

[0087] Within each time period, the processors of the active wheelchair and the passive wheelchair respectively report real-time location information.

[0088] Specifically, during actual intelligent wheelchair operation, the navigation routes and speeds of the two wheelchairs may need to be adjusted due to the variability of road conditions. Therefore, this embodiment controls the driven and active wheelchairs to report their real-time location information to the cloud server at certain time intervals.

[0089] The intelligent wheelchair control method provided by this invention can adjust the navigation route and driving speed in a timely manner according to road conditions by synchronizing the position information of the active wheelchair and the driven wheelchair at regular intervals, thus ensuring the safety and stability of the queuing mode.

[0090] Based on the above embodiments, in this embodiment, after controlling the driven wheelchair to follow the active wheelchair to the destination, the method further includes:

[0091] Send a disengagement command to the active wheelchair and the passive wheelchair to disengage the passive wheelchair from following the active wheelchair.

[0092] Specifically, in queue mode, a disgrouping command can be sent even if no immovable obstacle is encountered. In other words, the disgrouping command can be issued at any time according to the user's wishes, allowing the active wheelchair and the passive wheelchair to travel independently.

[0093] The intelligent wheelchair control method provided by this invention controls the active and passive wheelchairs to promptly disengage from the queue mode by issuing a disengagement command, ensuring flexibility during the driving process and improving the user experience.

[0094] The control device for the intelligent wheelchair provided by the present invention is described below. The control device for the intelligent wheelchair described below can be referred to in correspondence with the control method for the intelligent wheelchair described above.

[0095] Figure 4 This is a schematic diagram of the control device for the intelligent wheelchair provided by the present invention, as shown below. Figure 4As shown, the control device for the intelligent wheelchair provided by the present invention is located on a cloud server, and the device includes:

[0096] The information receiving module 401 is used to receive the position information of the active wheelchair and the position information of the driven wheelchair, wherein the position information of the active wheelchair and the position information of the driven wheelchair are generated when either wheelchair receives a queue trigger command;

[0097] The instruction sending module 402 is used to send queue preparation instructions to the active wheelchair and the driven wheelchair, respectively controlling the active wheelchair and the driven wheelchair to move to the first target position and the second target position;

[0098] The motion control module 403 is used to receive the first navigation route and reference speed sent by the active wheelchair, and generate a corresponding second navigation route and following speed to send to the driven wheelchair, so as to control the driven wheelchair to follow the movement of the active wheelchair; wherein, the first navigation route and reference speed of the active wheelchair are generated based on the received movement command.

[0099] The intelligent wheelchair control device provided by this invention, upon receiving a queue trigger command through either intelligent wheelchair, triggers the uploading of the position information of the active and passive wheelchairs to a cloud server; when the active and passive wheelchairs receive a queue preparation command from the cloud server, it controls the active and passive wheelchairs to move to a first target position and a second target position; through the active wheelchair receiving the movement command, it determines a first navigation route and a reference speed and sends them to the cloud server, so that the cloud server generates a second navigation route and a following speed based on the first navigation route and the reference speed and sends them to the passive wheelchair, thereby enabling the control of the passive and active wheelchairs to travel in a queue, solving the defect in the prior art where two wheelchairs cannot get too close when traveling in a queue, and making the experience of traveling in a queue on wheelchairs better.

[0100] Based on the above embodiments, in this embodiment, the instruction sending module 402 is specifically used for:

[0101] Send a queue preparation command to the active wheelchair, and control the active wheelchair to move to the first target position;

[0102] A queue preparation command is sent to the driven wheelchair, controlling the driven wheelchair to move to an initial position on one side of the active wheelchair, wherein the distance between the initial position and the first target position is greater than or equal to the obstacle avoidance distance;

[0103] The obstacle avoidance radars of the active wheelchair and the passive wheelchair are turned off from opposite sides of their scanning areas. The passive wheelchair is controlled to move toward the active wheelchair to the second target position, and the passive and active wheelchairs are made to move in the same direction.

[0104] Based on the above embodiments, in this embodiment, the motion control module 403 is specifically used for:

[0105] In turning mode, the difference between the second navigation route of the driven wheelchair during the turning process and the first navigation route of the active wheelchair during the turning process is determined;

[0106] The following speed of the driven wheelchair is increased or decreased according to the difference to ensure that the relative positions of the driven wheelchair and the active wheelchair remain unchanged.

[0107] Based on the above embodiments, in this embodiment, the motion control module 403 is specifically used for:

[0108] In obstacle avoidance mode, the system receives a judgment command uploaded by the active wheelchair to determine whether the obstacle has moved.

[0109] If the obstacle is determined to be moving based on the judgment instruction, the active wheelchair and the driven wheelchair are controlled to stop moving respectively. If a determination instruction is received that the obstacle has moved out of the target range, the active wheelchair and the driven wheelchair are controlled to move together.

[0110] If the obstacle is determined to be stationary based on the judgment instruction, a dequeue instruction and a rendezvous location area after a preset time period are sent to the active wheelchair and the passive wheelchair. The active wheelchair and the passive wheelchair are then controlled to plan their respective routes to avoid the obstacle until they reach the rendezvous location area and continue their team movement.

[0111] Based on the above embodiments, in this embodiment, the motion control module 403 is specifically used for:

[0112] The active wheelchair is controlled to move to the third target location after a preset time period;

[0113] The driven wheelchair is controlled to move to the fourth target position after a preset time period; wherein the third target position and the fourth target position are both located in the gathering position area, and the distance between the third target position and the fourth target position is less than the wheelchair obstacle avoidance distance;

[0114] The system receives the third navigation route and reference speed sent by the active wheelchair, and generates a corresponding fourth navigation route and following speed, which are then sent to the driven wheelchair to control the driven wheelchair and the active wheelchair to continue moving in tandem. The third navigation route and reference speed of the active wheelchair are generated based on the received movement commands.

[0115] Based on the above embodiments, in this embodiment, the device further includes:

[0116] The information receiving module is used to receive real-time location information reported by the processor of the active wheelchair and the processor of the passive wheelchair respectively in each time period.

[0117] Based on the above embodiments, in this embodiment, the instruction sending module 402 is further configured to:

[0118] After controlling the driven wheelchair to follow the active wheelchair to the destination, a disengagement command is sent to both the active and driven wheelchairs to disengage the driven wheelchair from following the active wheelchair.

[0119] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530, and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other via the communication bus 540. The processor 510 can call logical instructions in the memory 530 to execute a control method for the intelligent wheelchair. This method is used in a cloud server and includes:

[0120] The system receives the position information of the active wheelchair and the position information of the driven wheelchair, wherein the position information of the active wheelchair and the position information of the driven wheelchair are generated when either wheelchair receives a queue trigger command;

[0121] A queue preparation command is sent to the active wheelchair and the driven wheelchair, respectively controlling the active wheelchair and the driven wheelchair to move to the first target position and the second target position;

[0122] The system receives a first navigation route and a reference speed from the active wheelchair, and generates a corresponding second navigation route and a following speed, which are then sent to the driven wheelchair to control the driven wheelchair to follow the movement of the active wheelchair; wherein the first navigation route and reference speed of the active wheelchair are generated based on the received movement commands.

[0123] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0124] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method for the intelligent wheelchair provided by the methods described above. This method is used on a cloud server and includes:

[0125] The system receives the position information of the active wheelchair and the position information of the driven wheelchair, wherein the position information of the active wheelchair and the position information of the driven wheelchair are generated when either wheelchair receives a queue trigger command;

[0126] A queue preparation command is sent to the active wheelchair and the driven wheelchair, respectively controlling the active wheelchair and the driven wheelchair to move to the first target position and the second target position;

[0127] The system receives a first navigation route and a reference speed from the active wheelchair, and generates a corresponding second navigation route and a following speed, which are then sent to the driven wheelchair to control the driven wheelchair to follow the movement of the active wheelchair; wherein the first navigation route and reference speed of the active wheelchair are generated based on the received movement commands.

[0128] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0129] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method of a smart wheelchair, characterized by, The method for a cloud server comprises: receiving position information of an active wheelchair and position information of a passive wheelchair, wherein the position information of the active wheelchair and the position information of the passive wheelchair are generated when any wheelchair receives a queue triggering instruction; sending a queue preparation instruction to the active wheelchair and the passive wheelchair to control the active wheelchair and the passive wheelchair to move to a first target position and a second target position respectively; receiving a first navigation route and a reference speed sent by the active wheelchair, and generating a corresponding second navigation route and a following speed to be sent to the passive wheelchair to control the passive wheelchair to follow the active wheelchair to move; wherein the first navigation route and the reference speed of the active wheelchair are generated based on the received movement instruction; after controlling the passive wheelchair to follow the active wheelchair to move to a destination, the method further comprises: sending a queue release instruction to the active wheelchair and the passive wheelchair to release the passive wheelchair from following the active wheelchair to move.

2. The control method of the intelligent wheelchair according to claim 1, wherein sending a queue preparation instruction to the active wheelchair and the passive wheelchair to control the active wheelchair and the passive wheelchair to move to a first target position and a second target position respectively comprises: sending a queue preparation instruction to the active wheelchair to control the active wheelchair to move to a first target position; sending a queue preparation instruction to the passive wheelchair to control the passive wheelchair to move to an initial position on one side of the active wheelchair, wherein the distance between the initial position and the first target position is greater than or equal to a wheelchair obstacle avoidance distance; turning off the scanning area of the obstacle avoidance radar of the active wheelchair and the obstacle avoidance radar of the passive wheelchair on the opposite side to control the passive wheelchair to move to the second target position towards the active wheelchair, and to make the passive wheelchair and the active wheelchair move in the same direction.

3. The control method of the intelligent wheelchair according to claim 1, wherein receiving a first navigation route and a reference speed sent by the active wheelchair, and generating a corresponding second navigation route and a following speed to be sent to the passive wheelchair to control the passive wheelchair to follow the active wheelchair to move comprises: in a turning mode, determining the difference between the second navigation route of the passive wheelchair in the turning process and the first navigation route of the active wheelchair in the turning process; increasing or decreasing the following speed of the passive wheelchair according to the difference to ensure that the relative position of the passive wheelchair and the active wheelchair remains unchanged.

4. The control method of the intelligent wheelchair according to claim 1, wherein The method further comprises: in an obstacle avoidance mode, receiving a judgment instruction uploaded by the active wheelchair to judge whether an obstacle moves; if it is determined based on the judgment instruction that the obstacle moves, controlling the active wheelchair and the passive wheelchair to stop moving respectively, and in the case that a determination instruction is received that the obstacle moves out of a target range, continuing to control the active wheelchair and the passive wheelchair to move in a queue; if it is determined based on the judgment instruction that the obstacle is stationary, sending a queue release instruction and a collection position area after a preset time period to the active wheelchair and the passive wheelchair to control the active wheelchair and the passive wheelchair to respectively plan a travel route for obstacle avoidance until the active wheelchair and the passive wheelchair arrive at the collection position area to continue to move in a queue.

5. The control method of the intelligent wheelchair according to claim 4, wherein respectively controlling the active wheelchair and the passive wheelchair to respectively plan a travel route for obstacle avoidance until the active wheelchair and the passive wheelchair reach the collection position area to continue teaming motion, comprising: controlling the active wheelchair to move to a third target position after a preset time period; controlling the passive wheelchair to move to a fourth target position after a preset time period; wherein the third target position and the fourth target position are both located in the collection position area, and the distance between the third target position and the fourth target position is less than the wheelchair obstacle avoidance distance; receiving the third navigation route and the reference speed sent by the active wheelchair, and generating a corresponding fourth navigation route and a following speed to send to the passive wheelchair to control the passive wheelchair and the active wheelchair to continue teaming motion; wherein the third navigation route and the reference speed of the active wheelchair are generated based on the received movement instruction.

6. The control method of the intelligent wheelchair according to claim 1, wherein In the process of controlling the passive wheelchair and the active wheelchair to team motion, the method further comprises: In each time period, receiving the real-time position information reported by the processor of the active wheelchair and the processor of the passive wheelchair respectively.

7. A control device of a smart wheelchair, characterized by, The device is set in the cloud server, and the device comprises: An information receiving module is configured to receive position information of the active wheelchair and position information of the passive wheelchair, wherein the position information of the active wheelchair and the position information of the passive wheelchair are generated based on a received teaming trigger instruction; An instruction sending module is configured to send a teaming preparation instruction to the active wheelchair and the passive wheelchair to control the active wheelchair and the passive wheelchair to move to a first target position and a second target position respectively; A motion control module is configured to receive a first navigation route and a reference speed sent by the active wheelchair, and generate a corresponding second navigation route and a following speed to send to the passive wheelchair to control the passive wheelchair to follow the active wheelchair to move; wherein the first navigation route and the reference speed of the active wheelchair are generated based on a received movement instruction. The instruction sending module is further configured to: After controlling the passive wheelchair to follow the active wheelchair to move to a destination, send a teaming release instruction to the active wheelchair and the passive wheelchair to release the passive wheelchair from following the active wheelchair to move.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the control method of the intelligent wheelchair according to any one of claims 1 to 6 when executing the program. 9.A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program implements the control method of the intelligent wheelchair according to any one of claims 1 to 6 when executed by the processor.

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