Intelligent head control device and system of electric wheelchair

Abstract

The invention relates to an intelligent head control device for an electric wheelchair, and the device comprises a transmitting end which can recognize the front, back, left and right inclination angles of the head and transmits a signal to a triggering end; the trigger end can judge whether to transmit or block the signal sent by the transmitting end, and the trigger end blocks the signal by default; the trigger end receives and processes a signal of the transmitting end, and when a trigger condition is met, the trigger end transmits the signal to the controlled end, and the transmitting end, the trigger end and the controlled end are in signal communication; and the controlled end can control an operating rod to realize the instruction given by the trigger end. The electric wheelchair has the advantages that the electric wheelchair can be controlled through the inclination angle of the head, the steering view blind area problem, the potential safety hazard problem and the continuous action endurance requirement problem existing when most wheelchairs are used are avoided, the equipment is safe, simple, convenient and easy to control, and the handicapped with hand dysfunction can be helped to go out freely; the device can also be directly installed on an existing electric wheelchair, additional purchase is not needed, and cost is saved.

Description

[Technical field]

[0001] The present invention relates to the technical field of medical equipment, and in particular to an intelligent head control device for an electric wheelchair and a system thereof. [Background technology]

[0002] In the prior art, electric wheelchairs are the main means of transportation for disabled people with limb motor impairments; ordinary electric wheelchairs require hand movements to control the joystick, which is difficult for people with hand dysfunction to operate.

[0003] For this type of patients, there are wheelchairs on the market that are controlled by the mouth and the jaw as a means of transportation; however, the control method of this type of wheelchair is still an extension of the ordinary electric wheelchair (also controlled by a joystick, only the control part is different), so there are certain defects.

[0004] First, there is a blind spot problem when operating the wheelchair: when the mouth or jaw controls the wheelchair to turn, the head must be rotated horizontally to achieve left and right steering of the wheelchair. Turning the head during operation will cause vision defects; secondly, since the face is in direct contact with the wheelchair joystick during operation, when the road is uneven and bumpy, there will be a safety hazard of the joystick poking into the face, accompanied by loss of control of the direction; thirdly, this type of electric wheelchair needs to keep the head in a forward posture during continuous movement to ensure that the mouth and lower jaw are in continuous contact with and operate the wheelchair joystick, which places high demands on the user's athletic endurance.

[0005] Therefore, this type of manipulation is not suitable for such patients.

[0006] Chinese patent application: CN118319624A discloses an electric wheelchair, including a tablet computer, a display screen and a safety auxiliary mechanism. The tablet computer is installed in front of the seat; two sets of display screens are installed on the armrests of the seat respectively; a camera b facing the front is installed on the back of the tablet computer, and a camera a facing the rear side is installed on the back of the display screen; an infrared receiver and an infrared transmitter are also installed on the back of the tablet computer; the tablet computer is connected to the wheelchair controller signal via Bluetooth. The present invention can collect and enlarge images far ahead to the user, making it easy to observe beautiful scenery or detect danger, improving safety and experience; it can detect vehicles coming from behind in time, making it easy for users to safely operate the electric wheelchair and improving safety performance; it can provide navigation functions, making it easy for automatic driving; it can also be remotely connected to the Internet, making it easy for family members to remotely operate the wheelchair; at the same time, the safety auxiliary mechanism can also assist the electric wheelchair to get on and off the curb, making it easy to travel. Although the above-mentioned wheelchair device takes into account multiple factors such as entertainment and safety, and has also integrated the more common technologies to improve it so that it can be remotely controlled and automatically driven, it ignores the patient's awareness of autonomous driving for people with hand disabilities, and one of the driving methods requires external participation, which is inconvenient for some patients without caregivers.

[0007] Chinese patent application: CN208626034U discloses an electric wheelchair controlled by the mandible, the electric wheelchair is provided with a crank controller for controlling the movement of the electric wheelchair, and also includes an adjustable and lockable double-rod mechanism, the double-rod mechanism includes a vertical rod and an end rod, the lower end of the vertical rod is fixed to the outer side of the electric wheelchair armrest by bolts, the upper end is connected to one end of the end rod by a ball joint, and the crank controller is connected to the other end of the end rod by a ball joint, and locking bolts for locking the ball joint are provided at the above two ball joint connections, the crank of the crank controller faces upward, and the electrical connection line of the crank controller is arranged along the double-rod mechanism. The utility model has a simple structure, convenient control, and low cost. However, the device is very likely to cause the vehicle body to be bumped when encountering uneven roads, and there is a safety hazard that the joystick will poke the face, and the safety is poor.

[0008] In summary, a new wheelchair control method is urgently needed, which can not only help disabled people with hand dysfunction to achieve freedom of travel, but also avoid the above-mentioned wheelchair turning vision blind spot problems, bumpy road safety hazards and continuous motion endurance requirements. [Summary of the invention]

[0009] The purpose of the present invention is to provide a new wheelchair control method, which can not only help disabled people with hand dysfunction to achieve freedom of travel, but also avoid the above-mentioned wheelchair turning field blind spot problems, road bumps and safety hazards and continuous motion endurance requirements.

[0010] To achieve the above object, the technical solution adopted by the present invention is:

[0011] An intelligent head control device for an electric wheelchair, comprising:

[0012] A transmitter, which can identify the tilt angle of the head in front, back, left, and right directions and send a signal to a trigger terminal;

[0013] The trigger end can determine whether to transmit or block the signal given by the transmitting end. The trigger end blocks the signal by default. The trigger end receives and processes the signal from the transmitting end. When the trigger condition is met, the trigger end transmits the signal to the controlled end. At this time, the signals among the transmitting end, the trigger end and the controlled end are connected.

[0014] The controlled end can control the joystick to implement the instructions given by the triggering end.

[0015] As a preferred example, the transmitter is provided with a transmitter switch, an indicator light, and a transmitter charging port on the outside, and is provided with a first buzzer, a first power module, a first gyroscope, and a second gyroscope on the inside.

[0016] As another preferred example, the transmitting end is provided with a transmitting end housing for protecting internal electronic components, and the transmitting end housing is provided with a plurality of first replaceable fixing parts.

[0017] As another preferred example, the controlled end includes a controlled end base, a servo master control, a transverse slide rail, a longitudinal slide rail, a servo and a joystick extension. The servo master control receives a signal from a transmitting end to control the servo. The servo includes a first servo and a second servo. The first servo is connected to the transverse slide rail, and the second servo is connected to the longitudinal slide rail, which respectively control the forward and backward movement and left and right movement of the joystick extension.

[0018] More preferably, the controlled end is provided with a controlled end switch, a controlled end charging port, a second power supply module and a second buzzer outside the controlled end.

[0019] As another preferred example, the trigger end includes a trigger end body and a trigger, and the trigger end body can be used to connect or block signal transmission; the trigger is a motion sensing sensor, which is used to identify changes in human body movements to determine whether to connect the signal between the transmitting end, the trigger end and the controlled end.

[0020] More preferably, the trigger end is provided with a trigger end switch and a trigger end charging port on the outside and a third power supply module on the inside.

[0021] As another preferred example, a plurality of second replaceable fixing members are provided on the trigger end.

[0022] In a second aspect, an embodiment of the present application provides an electric wheelchair intelligent head control system, comprising an electric wheelchair intelligent head control device as described in any one of claims 1-8.

[0023] The advantages of the present invention are:

[0024] 1. The present invention can control the electric wheelchair by the tilt angle of the head (not left or right steering), avoiding the blind spot problem of steering vision, potential safety hazards and the problem of continuous motion endurance required when most wheelchairs in the prior art are in use. The equipment is safe, simple and easy to operate, and can help disabled people with hand dysfunction to achieve freedom of travel.

[0025] 2. The present invention can be directly installed on most electric wheelchairs, and disabled people can choose according to their own needs, with wide applicability; it can be directly installed on existing electric wheelchairs for control without the need to purchase them separately, thus saving costs.

Brief Description of the Drawings

[0026] Attached Figure 1 The present invention is a schematic diagram of the front structure of an electric wheelchair intelligent head control device and a controlled end of the system.

[0027] Attached Figure 2The present invention is a schematic diagram of the side structure of an intelligent head control device for an electric wheelchair and a controlled end of the system.

[0028] Attached Figure 3 The present invention is a schematic diagram of an electric wheelchair intelligent head control device and a complete structure of a system transmitter and a first replaceable fixing part.

[0029] Attached Figure 4 The present invention is a schematic diagram of an intelligent head control device for an electric wheelchair and the internal structure of a transmitting end of the system and the structure of a first replaceable fixing part.

[0030] Attached Figure 5 The present invention is a schematic diagram of an intelligent head control device for an electric wheelchair and a bottom structure of a transmitting end of the system and a first replaceable fixing member.

[0031] Attached Figure 6 The present invention is a schematic structural diagram of an intelligent head control device for an electric wheelchair, the back side of its system triggering end and its second replaceable fixing part.

[0032] Attached Figure 7 The present invention is a schematic diagram of the front structure of an intelligent head control device for an electric wheelchair and a system triggering end thereof.

[0033] Attached Figure 8 The present invention is a flow chart of an electric wheelchair intelligent head control device and its system. [Specific implementation method]

[0034] The present invention will be further described below in conjunction with embodiments and with reference to the accompanying drawings.

[0035] The reference numerals and components involved in the drawings are as follows:

[0036] 1. Transmitter 11. Transmitter switch 12. Indicator light 13. Transmitter charging port 14. The first buzzer 15. The first power module 16. The First Gyroscope 17. Second gyroscope 18. Transmitter housing 19. First replaceable fixing member 191. Splint 192. Double-Sided Tape 193. Magnet 2. Controlled end 21. Controlled terminal base 22. Servo master control 23. Servo 231. First Servo 232. Second servo 24. Horizontal slide rail 25. Longitudinal slide rail 26. Rocker extension 27. Controlled end switch 28. Controlled end charging port 29. Second power module 201. Second buzzer 3. Trigger end 31. Trigger end body 32. Triggers 33. Trigger end switch 34. Trigger end charging port 35. The third power module 36. Second replaceable fixing member

[0037] Example 1

[0038] join Figure 1-8 , Figure 1 This is a schematic diagram of the front structure of an intelligent head control device for an electric wheelchair and a controlled end of the system of the present invention; Figure 2 It is a schematic diagram of the side structure of an intelligent head control device for an electric wheelchair and a controlled end of the system of the present invention; Figure 3 It is a schematic diagram of an electric wheelchair intelligent head control device and a complete structure of a system transmitter and a first replaceable fixing part of the present invention; Figure 4 It is a schematic diagram of an intelligent head control device for an electric wheelchair and the internal structure of the transmitting end of the system and the structure of the first replaceable fixing part of the present invention; Figure 5 It is a schematic diagram of an intelligent head control device for an electric wheelchair and a bottom structure of a transmitting end of the system and a first replaceable fixing member structure of the present invention;

[0039] Figure 6 It is a schematic diagram of the structure of an intelligent head control device for an electric wheelchair and the back side of the trigger end of the system and the second replaceable fixing part thereof according to the present invention; Figure 7 This is a schematic diagram of the front structure of an electric wheelchair intelligent head control device and its system trigger end of the present invention; Figure 8 The present invention is a flow chart of an electric wheelchair intelligent head control device and its system.

[0040] An intelligent head control device for an electric wheelchair, comprising:

[0041] The transmitting end 1 can identify the tilt angle of the head in front, behind, left and right directions and send a signal to the triggering end 3.

[0042] The transmitter 1 is provided with a transmitter switch 11, an indicator light 12, and a transmitter charging port 13 on the outside, and is provided with a first buzzer 14, a first power module 15, a first gyroscope 16, and a second gyroscope 17 on the inside. The first power module 15 is preferably a polymer (ternary) lithium battery, wherein the indicator light 12 and the first buzzer 14 can prompt changes in situations, such as power on / off, low power, trigger end status, signal connection, fault, emergency braking, alarm, etc. The indicator light 12 can also be set to a number of different colors to express different states; the transmitter charging port 13 is preferably a Type-C interface for power supply of the transmitter 1; the first gyroscope 16 and the second gyroscope 17 can respectively scan the changes in the sagittal anterior and posterior tilt angles of the transmitter 1 and the changes in the left and right tilt angles of the coronal plane (the changes in the left and right steering angles of the non-horizontal plane);

[0043] In this embodiment, the transmitter 1 is preferably provided with a transmitter housing 18 for protecting the internal electronic components, and the transmitter housing 18 is provided with a plurality of first replaceable fixing members 19, which can fix the transmitter at a certain place.

[0044] In this embodiment, the first replaceable fixing part 19 is preferably a splint 191, double-sided tape 192 and a magnet 193. The splint 191 can be used to fix the transmitting end 1 to easy-to-clamp personal belongings such as hats and glasses; the double-sided tape 192 can be used to fix the transmitting end 1 to hard and smooth surfaces such as helmets; the magnet 193 can be used to fix the transmitting end 1 to the surface of magnetically conductive objects such as metal glasses legs; the above-mentioned first replaceable fixing part 19 can be any fixing accessory, and the user can change it according to his or her own usage habits.

[0045] The controlled end 2 can control the joystick to implement the instructions given by the trigger end 3.

[0046] In this embodiment, the controlled terminal 2 preferably includes a controlled terminal base 21, and the controlled terminal base 21 is fixed on the electric wheelchair control armrest. The fixing method is preferably screws. As shown in the figure, the controlled terminal base is provided with corresponding screw holes, which can be fixed with screws of appropriate sizes. Of course, the controlled terminal base 21 has no fixed form and can also be fixed by other detachable fixing methods.

[0047] In this embodiment, the controlled end 2 preferably further includes a steering gear master control 22, and the steering gear master control 22 receives a signal from the transmitting end 1 for controlling the steering gear, and the steering gear 23 includes a first steering gear 231 and a second steering gear 232; the first steering gear 231 is connected to the transverse slide rail 24 to control the rocker extension 26 to make the electric wheelchair joystick move forward and backward in the longitudinal direction, and the second steering gear 231 is connected to the longitudinal slide rail 25 to control the rocker extension 26 to make the electric wheelchair joystick move left and right in the transverse direction;

[0048] In this embodiment, the controlled end 2 is preferably provided with a controlled end switch 27, a controlled end charging port 28, a second power module 29 and a second buzzer 201 on the outside. The controlled end switch 27 is used to control the opening and closing of the controlled end; the second buzzer 201 is used to prompt changes in the situation, such as power on and off, low battery, trigger end status, emergency braking, alarm, signal connection, etc.

[0049] The trigger terminal 3 can determine whether to transmit or block the signal given by the transmitting terminal 1. The trigger terminal 3 blocks the signal by default. The trigger terminal 3 receives the signal given by the transmitting terminal 1 and processes it according to the situation. When the trigger condition is met, the trigger terminal 3 will be triggered to transmit the signal to the controlled terminal 2. At this time, the signals between the transmitting terminal 1, the trigger terminal 3 and the controlled terminal 2 are connected.

[0050] In this embodiment, the trigger end 3 is preferably provided with a trigger end body 31 and a trigger 32, and the trigger end body 31 can be used to connect or block signal transmission; the trigger 32 is a motion sensing sensor, which is used to identify changes in human body movements to determine whether to connect the signal between the transmitting end 1, the trigger end 3 and the controlled end 2.

[0051] In this embodiment, the trigger end 3 is preferably provided with a trigger end switch 33 on the outside, and the trigger end switch 33 can control the opening and closing of the trigger end 3; a trigger end charging port 34 is also provided, and the trigger end charging port 34 is preferably a Type-C interface for charging power to the trigger end; a third power module 35 is provided inside.

[0052] In this embodiment, it is preferred that a plurality of second replaceable fixing parts 36 are provided on the trigger end 3, and the second replaceable fixing parts 36 can fix the trigger end 3 to a certain place, and the second replaceable fixing parts 36 are preferably Velcro, which can fix the trigger end 3 to a fabric surface such as clothes, preferably double-sided tape, which can fix the trigger end 3 to a hard and smooth surface such as a wheelchair armrest, and preferably a magnet, which can fix the trigger end 3 to the surface of a magnetic conductive object such as a metal guardrail of a wheelchair; of course, the above-mentioned second replaceable fixing parts 36 can be any fixing accessories, and users can change them according to their own usage habits.

[0053] The method and principle of use of the present invention are:

[0054] When the device is installed, the transmitting end 1 is fixed to the head through different first replaceable fixing parts 19, such as a hat, a helmet, glasses, etc.; the controlled end 2 is fixed to the electric wheelchair control armrest through screws and other fixing accessories with different holes, and the rocker anti-slip cap on the original wheelchair joystick is removed and replaced with a rocker extension 26; the trigger end 3 is fixed to any position that can be touched by the body, such as the wheelchair armrest, the surface of clothes, etc. through different replaceable fixing parts;

[0055] During specific use, the transmitting end 1, the triggering end 3, and the controlled end 2 all give indications of different situations through the indicator light 12 and the buzzer, such as power on / off prompts, low battery prompts, device connection prompts, emergency braking prompts, etc.;

[0056] The two gyro sensors of the transmitting end 1 respectively scan the changes of the front and back tilt angle of the head in the sagittal plane and the left and right tilt angle of the coronal plane (the left and right turning angle changes in the non-horizontal plane), and transmit signals to the triggering end 3;

[0057] The controlled end 2 takes action according to the signal from the trigger end 3: if the first gyroscope 16 tilts forward, the first servo 231 controls the joystick forward through the slide rail; if the second gyroscope 17 tilts left, the second servo 232 controls the joystick left through the slide rail (the wheelchair turns left on the spot); if the first gyroscope 16 and the second gyroscope 17 tilt at the same time, and the direction is the left front, the first servo 231 and the second servo 232 control the joystick to tilt to the left front through two slide rails at the same time, and the rest of the directions are analogous. The larger the gyroscope tilt angle, the longer the slide rail slides, and the faster the wheelchair moves (if the controlled end does not receive the signal, the servo action will immediately terminate and return to the center, and the wheelchair will stop. This function is for emergency braking in special situations);

[0058] The trigger terminal 3 receives the signal from the transmitter 1 and determines whether to transmit the signal to the controlled terminal 2 according to whether the body contacts the trigger 32 (by default, signal transmission is blocked when there is no contact, and the signal between the transmitter 1, the trigger terminal 3 and the controlled terminal 2 is connected when body contact is detected).

[0059] Example 2

[0060] An electric wheelchair intelligent head control system comprises the electric wheelchair intelligent head control device as described in any one of Embodiment 1.

[0061] Please note that, please refer to the attached Figure 8 , is a flow chart between the transmitting end, the triggering end and the controlled end in the present invention. As shown in the figure, the transmitting end 1 can identify the tilt angle of the head front, back, left and right and send a signal to the triggering end; the triggering end 3 can determine whether to transmit or block the signal given by the transmitting end, wherein the triggering end 3 is set to a blocking state by default. If triggered, it will be transmitted to the controlled end 2, and the signals between the transmitting end, the triggering end and the controlled end are connected at this time; and the purpose of setting the triggering end in this way is that if the triggering end 3 is damaged or the power is exhausted, the triggering end 3 cannot work normally. Directly acquiescing to signal blocking can make the controlled end unable to execute instructions, thereby ensuring the safety of the operator. If there is no triggering end 3 stuck between the transmitting end 1 and the controlled end 2, the transmitting end 1 will directly transmit the signal to the controlled end 2, and the controlled end 2 will be directly triggered. At this time, the wheelchair will continue to operate, putting the operator in a very dangerous situation.

[0062] The present invention can control an electric wheelchair by the tilt angle of the head (not left or right steering), avoiding the blind spot problem of steering vision, potential safety hazards and the problem of continuous motion endurance requirement when most wheelchairs in the prior art are in use. The device is safe, simple and easy to operate, and can help disabled people with hand dysfunction to achieve freedom of travel; the present invention can be directly installed on most electric wheelchairs, and disabled people can choose according to their own needs, with wide applicability; it can be directly installed on an existing electric wheelchair for control without the need to purchase it separately, thus saving costs.

[0063] The above is only a preferred embodiment of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and supplements without departing from the principle of the present invention. These improvements and supplements should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent head control device for an electric wheelchair, characterized in that: include: A transmitter, which can identify the tilt angle of the head in front, back, left, and right directions and send a signal to a trigger terminal; The trigger end can determine whether to transmit or block the signal given by the transmitting end. The trigger end blocks the signal by default. The trigger end receives and processes the signal from the transmitting end. When the trigger condition is met, the trigger end transmits the signal to the controlled end. At this time, the signals among the transmitting end, the trigger end and the controlled end are connected. The controlled end can control the joystick to implement the instructions given by the triggering end.

2. The intelligent head control device for an electric wheelchair according to claim 1, characterized in that: The transmitting end is provided with a transmitting end switch, an indicator light, and a transmitting end charging port on the outside, and is provided with a first buzzer, a first power module, a first gyroscope, and a second gyroscope on the inside.

3. The intelligent head control device for an electric wheelchair according to claim 1, characterized in that: The transmitting end is provided with a transmitting end shell for protecting the internal electronic components, and the transmitting end shell is provided with a plurality of first replaceable fixing parts.

4. The intelligent head control device for an electric wheelchair according to claim 1, characterized in that: The controlled end includes a controlled end base, a servo master, a transverse slide rail, a longitudinal slide rail, a servo and a joystick extension. The servo master receives a signal from a transmitting end to control the servo. The servo includes a first servo and a second servo. The first servo is connected to the transverse slide rail, and the second servo is connected to the longitudinal slide rail, which respectively control the forward and backward movement and the left and right movement of the joystick extension.

5. The intelligent head control device for an electric wheelchair according to claim 4, characterized in that: The controlled end is provided with a controlled end switch, a controlled end charging port, a second power supply module and a second buzzer outside the controlled end.

6. The intelligent head control device for an electric wheelchair according to claim 1, characterized in that: The trigger end includes a trigger end body and a trigger. The trigger end body can be used to connect or block signal transmission; the trigger is a motion sensing sensor used to identify changes in human body movements to determine whether to connect or block signal transmission between the transmitting end and the controlled end.

7. The intelligent head control device for an electric wheelchair according to claim 6, characterized in that: The trigger end is provided with a trigger end switch and a trigger end charging port outside and a third power supply module inside.

8. The intelligent head control device for an electric wheelchair according to claim 1, characterized in that: A plurality of second replaceable fixing members are arranged on the trigger end.

9. An intelligent head control system for an electric wheelchair, characterized in that: It comprises an intelligent head control device for an electric wheelchair as described in any one of claims 1-8.

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