Outdoor safety real-time monitoring system for intelligent wheelchair

Abstract

The invention discloses an outdoor safety real-time monitoring system for an intelligent wheelchair. The outdoor safety real-time monitoring system comprises a safety monitoring module, a voice broadcast module, a buzzer module, a power supply module and a wireless communication module, and the safety monitoring module comprises a master control microprocessor module, a film pressure sensor module, an attitude sensor module and a GNSS positioning module. According to the technical scheme, long-distance real-time monitoring can be achieved through the 4G communication module, the wheelchair condition and whether a user is taking the wheelchair or not can be monitored and sent to a mobile phone app of a guardian, when the rider is in a dangerous state, namely the wheelchair is overturned, the buzzer module can whistle to attract passers-by so as to increase the possibility of getting help, and the safety of the rider is improved. Meanwhile, the telephone number of the family member is dialed in time through the 4G communication module, whether the wheelchair is overturned or not is sent to the mobile phone of the family member, in addition, the technical scheme further has a sedentariness reminding function, and the diseases such as waist soreness, back pain and amyotrophy which are easily caused by sedentariness are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of wheelchair monitoring, and in particular to an outdoor safety real-time monitoring system for an intelligent wheelchair. Background Art

[0002] For the elderly, when they travel alone in a wheelchair, their activity space and willingness to travel are greatly limited due to many restrictions such as the lack of safety assurance. Therefore, it is necessary to monitor their safety when they are in a wheelchair. Chi Mingfeng et al. designed and realized the indoor positioning and navigation of the wheelchair robot using a multi-sensor fusion method. Li Xin et al. used human electromyography signals in conjunction with Bluetooth communication to realize the movement of the wheelchair in all directions. Zhang Zhen et al. used a variety of sensors in conjunction with Bluetooth communication to realize some monitoring of the safety of users when they are in a wheelchair.

[0003] Most of the current research on smart wheelchairs is only designed for automatic obstacle avoidance and autonomous navigation, without considering the safety of the wheelchair and the passengers. Some existing technologies for wheelchair safety monitoring use ESP8266 for Bluetooth communication, but the Bluetooth communication distance is generally only 10 meters, and long-distance safety monitoring is not achieved. In addition, safety monitoring is only for the safety status of the passengers themselves, such as heart rate, temperature, etc., and the safety status of the wheelchair is not monitored. To this end, the present invention aims to use sensors and 4G communication modules to perform long-distance real-time monitoring of the wheelchair user's riding information, wheelchair status, etc., so as to achieve real-time outdoor safety monitoring of the user. Summary of the invention

[0004] The purpose of the present invention is to solve the above problems and to design an outdoor safety real-time monitoring system for an intelligent wheelchair.

[0005] To achieve the above-mentioned purpose, the technical solution of the present invention is a real-time outdoor safety monitoring system for an intelligent wheelchair, comprising a safety monitoring module, a voice broadcast module, a buzzer module, a power module, and a wireless communication module. The safety monitoring module comprises a main control microprocessor module, a thin film pressure sensor module, a posture sensor module, and a GNSS positioning module.

[0006] As a further description of the technical solution, the main control microprocessor module adopts STM32F103C8T6 as the main control microprocessor, the attitude sensor module adopts MPU6050 attitude sensor, and the thin film pressure sensor module adopts a resistive thin film pressure sensor.

[0007] As a further description of the present technical solution, the posture sensor module is used to detect whether the wheelchair has tipped over, the film pressure sensor module is used to detect whether the user is sitting in the wheelchair, and the GNSS positioning module is used to provide the position information of the passenger.

[0008] As a further description of the present technical solution, the voice broadcast module is used to detect whether the user has been sitting for a long time, the buzzer module is used to sound the whistle when the wheelchair tips over, and the power supply module is used to supply power.

[0009] As a further description of this technical solution, the wireless communication module uses a 4G module to communicate and upload data to the Onenet cloud platform, and then sends it to the family's mobile phones, thereby achieving the purpose of real-time monitoring of outdoor safety.

[0010] As a further description of the technical solution, the program execution process of the outdoor safety real-time monitoring system includes the following steps:

[0011] Step 1: Initialize each module;

[0012] Step 2: Connect the wireless communication module to the network and the cloud platform;

[0013] Step 3: The main control microprocessor module collects data from the attitude sensor module, the thin film pressure sensor module, and the longitude and latitude information, and determines whether the collected data exceeds the set threshold. If it exceeds the set threshold, an alarm voice prompt and other processing will be performed;

[0014] Step 4: The wireless communication module will send the data collected by the main control microprocessor module to the Onenet cloud platform, and then send it to the mobile phones of family members through the Onenet cloud platform.

[0015] As a further description of the technical solution, the wireless communication module uses the MQTT protocol to connect to the Onenet cloud platform for data upload. The connection of the wireless communication module includes the following steps:

[0016] Step 1: The main control chip sends "AT" to it to determine whether it is working normally. If the communication module replies "OK", it means it is working normally;

[0017] Step 2: The main control chip sends "AT+CEREG?" to it to determine whether it has successfully logged in to the network. If the wireless communication module replies "+CEREG:0,1", it means that it has successfully logged in to the network. If not, resend "AT+CEREG?" until it is successfully logged in to the network.

[0018] Step 3: The main control chip sends "AT+QGPS=1" and "AT+QGPSLOC=2" to it in sequence to turn on GNSS and obtain positioning information;

[0019] Step 4: The wireless communication module sends "AT+QMTCFG="version0,4", "AT+QMTOPEN="0,183.230.40.96,1883", "AT+QMTCONN="0,"Device Name", "Product ID", "token"" to the Onenet cloud platform in sequence to set the MQTT version, open the MQTT channel and connect to MQTT;

[0020] Step 5: After the connection is successful, the wireless communication module sends "AT+QMTPUBEX=0,0,0,0,"$sys / product ID / device name" to the Onenet cloud platform

[0021] / thing / property / post"",117 (117 is the data length, fill in according to the actual situation). When the module receives the returned "<", it can send data to the Onenet cloud platform.

[0022] As a further description of the technical solution, the specific method for the main control microprocessor module to obtain the thin film pressure sensor module is: using the voltage conversion module to convert the resistance change of the sensor when there is pressure into a voltage change in the range of 0-3.3V, because the voltage signal can be more easily read and processed by the ADC of the main control microprocessor. After the ADC of the main control microprocessor reads the voltage value, the average voltage value read 10 times is linearly converted into a pressure value according to the range of the pressure sensor; when the pressure value is greater than the set threshold (this threshold is set based on multiple tests), it is considered that the user is riding in a wheelchair. At the same time, once there is pressure, the main control microprocessor will start counting. When the ride exceeds one hour, a sedentary reminder will be broadcast, and the count will be reset, and the above operation will be repeated.

[0023] As a further description of the technical solution, the specific method for the main control microprocessor module to obtain the attitude sensor module data is: first, initialize the I2C bus, set the communication rate and address parameters, then initialize the mpu6050 module, and configure the angle information to be read. The read angle is obtained by reading the gyroscope and accelerometer data of the attitude sensor module. When reading the data, the I2C interface of the main control microprocessor is used for communication, and the corresponding I2C read function is used to send a command requesting to read the angle data. Then the main control microprocessor receives the angle data. When either or both of the read roll angle and pitch angle exceed 30 degrees, it is determined that the wheelchair has overturned, otherwise it is in a safe state. At this time, the buzzer module sounds, and calls the alarm to the user's family through the 4G module. At the same time, the wheelchair overturning status is uploaded to the cloud platform and then sent to the family's mobile phone.

[0024] The beneficial effect is that this technical solution can realize long-distance real-time monitoring through the 4G communication module, and can monitor the condition of the wheelchair and whether the user is riding in the wheelchair and send it to the guardian's mobile phone app. When the occupant is in a dangerous state, that is, the wheelchair tips over, the buzzer module will sound the horn to attract passers-by to increase the possibility of getting help and rescue. At the same time, the family members can be called in time through the 4G communication module, and whether the wheelchair has tipped over can be sent to the family members' mobile phones. In addition, this technical solution also has a sedentary reminder function, which avoids diseases such as back pain, muscle atrophy, etc. that are easily caused by sitting for a long time. This technical solution obtains the location information of the occupant in real time and sends the location information to the guardian's mobile phone, which can make the guardian more at ease and enable the family members to obtain the location of the elderly in time when the elderly are in danger. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is the overall block diagram of the outdoor safety real-time monitoring system of the present invention;

[0026] Figure 2 It is a program execution flow chart of the outdoor safety real-time monitoring system of the present invention;

[0027] Figure 3 It is a connection flow chart of the wireless communication module of the present invention. DETAILED DESCRIPTION

[0028] First of all, the original intention of the design of the present invention is explained. Currently, most of the research on smart wheelchairs is only designed for automatic obstacle avoidance and autonomous navigation, without considering the safety of the wheelchair and the passengers. Some existing technologies for wheelchair safety monitoring use ESP8266 for Bluetooth communication, but the Bluetooth communication distance is generally only 10 meters, and long-distance safety monitoring is not achieved. In addition, the safety monitoring is only for the safety status of the passengers themselves, such as heart rate, temperature, etc., and the safety status of the wheelchair is not monitored. Therefore, the present invention designs an outdoor safety real-time monitoring system for smart wheelchairs.

[0029] The present invention will be described in detail below in conjunction with the accompanying drawings. Figure 1 As shown, an outdoor safety real-time monitoring system for a smart wheelchair includes a safety monitoring module, a voice broadcast module, a buzzer module, a power module, and a wireless communication module.

[0030] The voice broadcast module is used to detect whether the user has been sitting for a long time, the buzzer module is used to sound the whistle when the wheelchair tips over, and the power supply module is used to supply power.

[0031] The wireless communication module uses a 4G module to communicate and upload data to the Onenet cloud platform, and then sends it to family members’ mobile phones, thereby achieving the purpose of real-time monitoring of outdoor safety.

[0032] The safety monitoring module will be introduced in detail below. The safety monitoring module includes a main control microprocessor module, a thin film pressure sensor module, a posture sensor module, and a GNSS positioning module.

[0033] The main control microprocessor module adopts STM32F103C8T6 as the main control microprocessor.

[0034] The attitude sensor module uses the MPU6050 attitude sensor, which is used to detect whether the wheelchair is tipping over.

[0035] The thin film pressure sensor module adopts a resistive thin film pressure sensor, and the thin film pressure sensor module is used to detect whether the user is sitting in a wheelchair.

[0036] The GNSS positioning module is used to provide the location information of the passengers.

[0037] The following will introduce the program execution process of the outdoor safety real-time monitoring system in detail. Figure 2 As shown, the following steps are included:

[0038] Step 1: Initialize each module;

[0039] Step 2: Connect the wireless communication module to the network and the cloud platform;

[0040] Step 3: The main control microprocessor module collects data from the attitude sensor module, the thin film pressure sensor module, and the longitude and latitude information, and determines whether the collected data exceeds the set threshold. If it exceeds the set threshold, an alarm voice prompt and other processing will be performed;

[0041] Step 4: The wireless communication module will send the data collected by the main control microprocessor module to the Onenet cloud platform, and then send it to the mobile phones of family members through the Onenet cloud platform.

[0042] The following is a detailed description of the connection process of the wireless communication module. The wireless communication module uses the MQTT protocol to connect to the Onenet cloud platform for data upload. The connection process is as follows: Figure 3 As shown, the connection of the wireless communication module includes the following steps:

[0043] Step 1: The main control chip sends "AT" to it to determine whether it is working normally. If the communication module replies "OK", it means it is working normally;

[0044] Step 2: The main control chip sends "AT+CEREG?" to it to determine whether it has successfully logged in to the network. If the wireless communication module replies "+CEREG:0,1", it means that it has successfully logged in to the network. If not, resend "AT+CEREG?" until it is successfully logged in to the network.

[0045] Step 3: The main control chip sends "AT+QGPS=1" and "AT+QGPSLOC=2" to it in sequence to turn on GNSS and obtain positioning information;

[0046] Step 4: The wireless communication module sends "AT+QMTCFG="version0,4", "AT+QMTOPEN="0,183.230.40.96,1883", "AT+QMTCONN="0,"Device Name", "Product ID", "token"" to the Onenet cloud platform in sequence to set the MQTT version, open the MQTT channel and connect to MQTT;

[0047] Step 5: After the connection is successful, the wireless communication module sends "AT+QMTPUBEX=0,0,0,0,"$sys / product ID / device name" to the Onenet cloud platform

[0048] / thing / property / post"",117 (117 is the data length, fill in according to the actual situation). When the module receives the returned "<", it can send data to the Onenet cloud platform.

[0049] The specific method of obtaining the thin film pressure sensor module by the main control microprocessor module is introduced in detail below: the voltage conversion module is used to convert the resistance change of the sensor when there is pressure into a voltage change in the range of 0-3.3V, because the voltage signal can be more easily read and processed by the ADC of the main control microprocessor. After the ADC of the main control microprocessor reads the voltage value, the average voltage value read 10 times is linearly converted into a pressure value according to the range of the pressure sensor; when the pressure value is greater than the set threshold (this threshold is set based on multiple tests), it is considered that the user is riding in a wheelchair. At the same time, once there is pressure, the main control microprocessor will start counting. When the ride exceeds one hour, a sedentary reminder will be broadcast, and the count will be reset, and the above operation will be repeated.

[0050] The following will introduce in detail the specific method of the main control microprocessor module to obtain the attitude sensor module data. First, initialize the I2C bus, set the communication rate and address parameters, then initialize the mpu6050 module, and configure the angle information to be read. The read angle is obtained by reading the gyroscope and accelerometer data of the attitude sensor module. When reading the data, use the I2C interface of the main control microprocessor to communicate, use the corresponding I2C read function, send a command requesting to read the angle data, and then the main control microprocessor receives the angle data. When either or both of the read roll angle and pitch angle exceed 30 degrees, it is determined that the wheelchair has overturned, otherwise it is in a safe state. At this time, the buzzer module sounds, and calls the alarm to the user's family through the 4G module. At the same time, the wheelchair overturning status is uploaded to the cloud platform and then sent to the family's mobile phone.

[0051] This technical solution can achieve long-distance real-time monitoring through the 4G communication module, and can monitor the condition of the wheelchair and whether the user is riding in the wheelchair and send it to the guardian's mobile phone app. When the occupant is in a dangerous state, that is, the wheelchair tips over, the buzzer module will sound the horn to attract passers-by to increase the possibility of getting help and rescue. At the same time, the 4G communication module will be used to call family members in time and send whether the wheelchair has tipped over to the family members' mobile phones. In addition, this technical solution also has a sedentary reminder function to avoid diseases such as back pain, muscle atrophy, etc. that are easily caused by sitting for a long time. This technical solution obtains the occupant's location information in real time and sends the location information to the guardian's mobile phone, which can make the guardian more at ease and enable the family to obtain the location of the elderly in time when the elderly are in danger.

[0052] The above technical solutions only reflect the preferred technical solutions of the technical solutions of the present invention. Some changes that may be made to certain parts thereof by technicians in this technical field all reflect the principles of the present invention and fall within the protection scope of the present invention.

Claims

1. A real-time outdoor safety monitoring system for smart wheelchairs, characterized in that: It includes a safety monitoring module, a voice broadcast module, a buzzer module, a power module, and a wireless communication module. The safety monitoring module includes a main control microprocessor module, a thin film pressure sensor module, a posture sensor module, and a GNSS positioning module.

2. The outdoor safety real-time monitoring system for a smart wheelchair according to claim 1, characterized in that: The main control microprocessor module adopts STM32F103C8T6 as the main control microprocessor, the attitude sensor module adopts MPU6050 attitude sensor, and the thin film pressure sensor module adopts a resistive thin film pressure sensor.

3. The outdoor safety real-time monitoring system for a smart wheelchair according to claim 1, characterized in that: The posture sensor module is used to detect whether the wheelchair has tipped over, the thin film pressure sensor module is used to detect whether the user is sitting in the wheelchair, and the GNSS positioning module is used to provide the location information of the passenger.

4. The outdoor safety real-time monitoring system for a smart wheelchair according to claim 1, characterized in that: The voice broadcast module is used to detect whether the user has been sitting for a long time, the buzzer module is used to sound the whistle when the wheelchair tips over, and the power supply module is used to supply power.

5. The outdoor safety real-time monitoring system for a smart wheelchair according to claim 1, characterized in that: The wireless communication module uses a 4G module to communicate and upload data to the Onenet cloud platform, and then sends it to family members’ mobile phones, thereby achieving the purpose of real-time monitoring of outdoor safety.

6. The outdoor safety real-time monitoring system for a smart wheelchair according to claim 1, characterized in that: The program execution process of the outdoor safety real-time monitoring system includes the following steps: Step 1: Initialize each module; Step 2: Connect the wireless communication module to the network and the cloud platform; Step 3: The main control microprocessor module collects data from the attitude sensor module, the thin film pressure sensor module, and the longitude and latitude information, and determines whether the collected data exceeds the set threshold. If it exceeds the set threshold, an alarm voice prompt and other processing will be performed; Step 4: The wireless communication module will send the data collected by the main control microprocessor module to the Onenet cloud platform, and then send it to the mobile phones of family members through the Onenet cloud platform.

7. The outdoor safety real-time monitoring system for a smart wheelchair according to claim 1, characterized in that: The wireless communication module uses the MQTT protocol to connect to the Onenet cloud platform for data upload. The connection of the wireless communication module includes the following steps: Step 1: The main control chip sends "AT" to it to determine whether it is working normally. If the communication module replies "OK", it means it is working normally; Step 2: The main control chip sends "AT+CEREG?" to it to determine whether it has successfully logged in to the network. If the wireless communication module replies "+CEREG:0,1", it means that it has successfully logged in to the network. If not, resend "AT+CEREG?" until it is successfully logged in to the network. Step 3: The main control chip sends "AT+QGPS=1" and "AT+QGPSLOC=2" to it in turn to turn on GNSS and obtain positioning information; Step 4: The wireless communication module sends the data to the Onenet cloud platform in sequence "AT+QMTCFG="version0,4", "AT+QMTOPEN="0,183.230.40.96,1883", "AT+QMTCONN="0,"Device Name", "Product ID", "token"" to set the MQTT version, open the MQTT channel and connect to MQTT; Step 5: After the connection is successful, the wireless communication module sends a "AT+QMTPUBEX=0,0,0,0,"$sys / product ID / device name / thing / property / post"",117 (117 is the data length, fill in according to the actual situation). When the module receives the returned "<", it can send data to the Onenet cloud platform.

8. The outdoor safety real-time monitoring system for a smart wheelchair according to claim 1, characterized in that: The specific method for the main control microprocessor module to obtain the thin film pressure sensor module is: use the voltage conversion module to convert the resistance change of the sensor when there is pressure into a voltage change in the range of 0-3.3V, because the voltage signal can be more easily read and processed by the ADC of the main control microprocessor. After the ADC of the main control microprocessor reads the voltage value, the average voltage value read 10 times is linearly converted into a pressure value according to the range of the pressure sensor; when the pressure value is greater than the set threshold (this threshold is set based on multiple tests), it is considered that the user is riding in a wheelchair. At the same time, once there is pressure, the main control microprocessor will start counting. When the ride exceeds one hour, a sedentary reminder will be broadcast, and the count will be reset to zero, and the above operation will be repeated.

9. The outdoor safety real-time monitoring system for a smart wheelchair according to claim 1, characterized in that: The specific method for the main control microprocessor module to obtain the data of the attitude sensor module is: first, initialize the I2C bus, set the communication rate and address parameters, then initialize the mpu6050 module, and configure the angle information to be read. The read angle is obtained by reading the gyroscope and accelerometer data of the attitude sensor module. When reading the data, use the I2C interface of the main control microprocessor to communicate, use the corresponding I2C read function, send a command requesting to read the angle data, and then the main control microprocessor receives the angle data. When either or both of the read roll angle and pitch angle exceed 30 degrees, it is determined that the wheelchair has overturned, otherwise it is in a safe state. At this time, the buzzer module sounds, and calls the alarm to the user's family through the 4G module. At the same time, the wheelchair overturning status is uploaded to the cloud platform and then sent to the family's mobile phone.

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