An intelligent access control method for barrier-free and aging in buildings

Abstract

The application discloses a kind of barrier-free and old intelligent passage control method in building, it is related to intelligent travel technical field, control steps are as follows: S1, the user obtains intelligent wheelchair at the barrier-free entrance of building, the type of current user is identified based on camera module, for different types of users, the corresponding use means is given to intelligent wheelchair, input destination instruction, advance, barrier-free aging service facilities are provided in building;S2, whether there is an obstacle around the barrier-free passage magnetic induction of ground navigation magnetic strip and camera module identification ground barrier-free flow line is passed through.The application identifies obstacles based on ground navigation magnetic strip and camera combination, reminds service personnel to clean up when there is an obstacle, intelligent wheelchair automatically judges elevator time in advance Preparation, provide safe and reliable traffic environment, shorten response time, improve convenience and efficiency, fully consider the special needs of the elderly and the disabled.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of intelligent travel, in particular to a building internal barrier-free and aging-adapted intelligent passing control method. BACKGROUND

[0002] With the development of society and the acceleration of the aging process, the barrier-free and aging-adapted design in buildings becomes more and more important. At present, many buildings have considered the construction of barrier-free facilities to a certain extent. On the one hand, the traditional barrier-free passage design is relatively single, and usually only basic facilities such as ramps and handrails are simply set, lacking intelligent guidance and control. When the elderly and the disabled use these facilities, they often need the help of others or have to find their way by themselves, which is prone to problems such as getting lost and misoperation. In addition, for some complex building structures, the traditional barrier-free passage may not meet the needs of users, which limits their passing in the building. To this end, we propose a building internal barrier-free and aging-adapted intelligent passing control method. SUMMARY

[0003] To solve the above technical problems, the application provides a building internal barrier-free and aging-adapted intelligent passing control method, which solves the problem that the above method cannot meet the needs of users.

[0004] To achieve the above purposes, the technical scheme adopted by the application is as follows: a building internal barrier-free and aging-adapted intelligent passing control method, the control steps are as follows:

[0005] S1, a user obtains an intelligent wheelchair at a barrier-free entrance of a building, a camera module is used to identify and determine the type of the user, the intelligent wheelchair gives corresponding use means for different types of users, a destination instruction is input, and the intelligent wheelchair advances, and the building is provided with barrier-free and aging-adapted service facilities;

[0006] S2, whether there is an obstacle around the barrier-free passing flow line on the ground is identified through the barrier-free passage magnetic induction of the ground navigation magnetic strip and the camera module, when there is no obstacle, the intelligent wheelchair automatically carries the user to the destination, and the corresponding service facility at the destination gives a voice prompt to remind the service personnel to prepare for service, and when an obstacle is found around the barrier-free passing flow line, the service personnel are reminded to clean the passageway through voice playing;

[0007] S3, the intelligent wheelchair automatically judges the time of passing through a barrier-free elevator and a ramp to other floors, and automatically controls the barrier-free elevator to prepare in advance, and when the intelligent wheelchair arrives, the elderly are sent to the corresponding barrier-free and aging-adapted service facility at the corresponding floor;

[0008] S4, after the user finishes using, the user returns to the starting point by pressing the one-key return button, and returns to the nearest charging point or starting point for automatic charging.

[0009] Preferably, the smart wheelchair in S1 includes a gravity sensing module, an AGV navigation module, an electromagnetic recognition module, a camera module, and a Braille button module. The gravity sensing module is used to sense whether the smart wheelchair is occupied by a user. The AGV navigation module is used to position and navigate the smart wheelchair. The electromagnetic recognition module is used to sense the navigation magnetic strip on the ground. The camera module is used to take pictures of the process of traveling and identify the user. The Braille button module is used for blind people to identify button text information. The barrier-free aging service facilities in the building include barrier-free toilets, low-level drinking fountains, barrier-free ramps, and barrier-free service centers.

[0010] Preferably, the user inputs the destination instruction in S1 based on voice and touch input text. The camera module analyzes and judges the wheelchair user based on image recognition technology. For elderly people with weak bodies and limited mobility, the camera recognizes their slow movements and specific body features. For people temporarily using a wheelchair due to injury, they are distinguished according to their injury site and rehabilitation stage. For disabled people, their behavior and action features are identified. Different operation methods are given to different types of users.

[0011] Preferably, when analyzing the wheelchair user, the camera module pre-processes the image, including noise reduction and contrast enhancement, to improve the quality of the image and extract various features of the user, including body posture, facial expression, and action amplitude. Through comprehensive analysis of these features, the type of wheelchair user is determined.

[0012] Let the wheelchair user be U. The image feature vector is calculated as F' = (F1, F2, F3), where F1 represents the body posture feature value, F2 represents the body posture feature value, and F3 represents the action amplitude feature value. Based on the obtained vector, the type of current wheelchair user is determined. For each type of person, a threshold range is established. The obtained image feature vector is compared with the established threshold. According to the corresponding threshold range, the currently identified user is divided into the corresponding type of person.

[0013] Preferably, the ground navigation magnetic strip in the S2 step releases a magnetic field signal when it is in action, and the signal is received by the electromagnetic identification module. When an object approaches or is near the barrier-free traffic flow line, the electromagnetic identification module reacts and detects the change of the magnetic field to determine whether there is an obstacle that may affect the barrier-free traffic around. The camera module captures the picture around the barrier-free traffic flow line in real time, analyzes and determines the objects in the picture based on image recognition technology, and issues an alarm when an object that hinders the barrier-free traffic is found. The service personnel take appropriate measures.

[0014] Preferably, the method for determining the obstacle by the image recognition technology collects various image samples of objects that hinder the traffic in advance, extracts feature vectors, establishes an obstacle feature model, assumes that there are N types of obstacles, and the feature vector of each type of obstacle is M=(M1, M2, …, M n ), trains based on a machine learning algorithm to obtain a classifier for determining whether the object in the input image is an obstacle, inputs the currently captured video for determination, and the calculation formula of the classifier is:

[0015] y = sign(w*g+b)

[0016] where y is the output result of the classifier, w is the weight vector, b is the bias term, and g is the input image. When y is 1, it means that the object in the image is an obstacle, and when y is 0, it means that the object in the image is not an obstacle.

[0017] Preferably, when the intelligent wheelchair receives the instruction to go to other floors in the S3 step, the slope between the current position and the target floor is evaluated, the length, slope and driving speed of the wheelchair on the slope in the current state are measured, the time required to pass the slope is calculated, then the elevator control system of the building is communicated to obtain the current position, running speed and estimated arrival time of the elevator, the distance from the current position to the elevator entrance and the moving speed of the wheelchair are considered to calculate the time required to reach the elevator, and the running speed of the elevator and the height of the target floor are combined to calculate the time required to reach the target floor by the elevator.

[0018] Preferably, after the total time required to reach other floors by the barrier-free elevator and the slope is obtained, the intelligent wheelchair automatically controls the barrier-free elevator in advance to prepare, sends a signal to the elevator control system to request the elevator to open the door and wait for the estimated time, after entering the elevator, the elevator runs smoothly to the target floor, and after reaching the target floor, the intelligent wheelchair continues to move towards the corresponding barrier-free aging service facility.

[0019] Preferably, in the S4 step, when the user finishes using the intelligent wheelchair, a one-key return button is pressed, the current position is determined based on the built-in AGV navigation module, the departure information stored in advance is compared, the shortest return route is calculated based on the path planning algorithm, and in the returning process, the intelligent wheelchair continuously monitors the surrounding environment, automatically adjusts the speed, and avoids obstacles.

[0020] Preferably, the intelligent wheelchair interacts with the surrounding charging facilities by using wireless communication technology, obtains the position and use state information of each charging point, and automatically prepares for charging after successfully returning to the departure place.

[0021] Compared with the prior art, the beneficial effects of the present application are that:

[0022] The present application combines ground navigation magnetic strips and cameras to identify obstacles, reminds service personnel to clean up when there are obstacles, and the intelligent wheelchair automatically judges the elevator time to prepare in advance, provides a safe and reliable passing environment, shortens the response time, improves convenience and efficiency, fully considers the special needs of the elderly and the disabled, provides all-round service, embodies care and care, intelligent design and management meet physiological and psychological needs, and improve the quality of life. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The control step flowchart of the present application is shown in the figure;

[0024] Figure 2 The internal structure block diagram of the intelligent wheelchair of the present application is shown in the figure;

[0025] Figure 3 The time judgment step flowchart of the intelligent wheelchair of the present application is shown in the figure;

[0026] Figure 4 The ground navigation magnetic strip guide schematic diagram of the indoor barrier-free passage of the present application is shown in the figure. DETAILED DESCRIPTION

[0027] The following description is used to disclose the present application so that those skilled in the art can implement the present application. The preferred embodiments in the following description are only as examples, and other obvious modifications can be made by those skilled in the art.

[0028] Referring to Figures 1 to 3 The control method of the present application is shown in the figure, which is an indoor barrier-free and aging intelligent passing control method, and the control step is:

[0029] S1, the user obtains the intelligent wheelchair at the barrier-free entrance of the building, the type of the user is identified based on the camera module, the intelligent wheelchair gives corresponding use means for different types of users, the destination instruction is input, and the intelligent wheelchair advances, and the barrier-free service facility for the elderly is arranged in the building;

[0030] S2, whether there is an obstacle around the barrier-free passage flow line on the ground is identified through the barrier-free passage magnetic induction of the ground navigation magnetic strip and the camera module, the intelligent wheelchair automatically carries the user to the destination when there is no obstacle, and the corresponding service facility at the destination gives a voice prompt to remind the service personnel to make service preparation, and when it is found that there is an obstacle around the barrier-free passage flow line, the service personnel is reminded in a voice playing mode to clean the passageway;

[0031] S3, the intelligent wheelchair automatically judges the time of passing through the barrier-free elevator and the slope to other floors, and automatically controls the barrier-free elevator to make preparation in advance, and sends the elderly to the corresponding barrier-free service facility for the elderly on the corresponding floor after the intelligent wheelchair arrives;

[0032] S4, the user returns to the departure place after use by riding the intelligent wheelchair and pressing the one-key return button, and automatically charges at the nearest charging point or the departure point.

[0033] The application can meet the individual needs of different users by identifying the type of the user through the camera module and giving corresponding use means, and can automatically advance after inputting the destination instruction, without complex operation, so that the use is more relaxed. The barrier-free passage magnetic induction of the ground navigation magnetic strip is combined with the camera module, which can accurately identify whether there is an obstacle around the barrier-free passage flow line on the ground in real time, the intelligent wheelchair automatically carries the user to the destination when there is no obstacle, the safety in the driving process is ensured, the service personnel is reminded to clean the obstacle through the voice playing mode when the obstacle is found, the safety hidden danger is eliminated in time, the corresponding service facility at the destination gives a voice prompt to remind the service personnel to make service preparation, the user returns to the departure place after use by riding the intelligent wheelchair and pressing the one-key return button, and automatically charges at the nearest charging point or the departure point. The intelligent passage control method fully considers the special needs of the elderly and the disabled, and provides them with all-round barrier-free and aging service.

[0034] Reference Figure 2As shown, the intelligent wheelchair in the S1 step includes a gravity sensing module, an AGV navigation module, an electromagnetic recognition module, a camera module, and a Braille button module. The gravity sensing module is used to sense whether the intelligent wheelchair is occupied by a person. The AGV navigation module is used to position and navigate the intelligent wheelchair. The electromagnetic recognition module is used to sense the navigation magnetic strip on the ground. The camera module is used to take pictures of the process of traveling and identify the user. The Braille button module is used for blind people to identify button text information. The barrier-free aging service facilities in the building include barrier-free toilets, low-level drinking fountains, barrier-free ramps, and barrier-free service centers.

[0035] The gravity sensing module of the present application can accurately determine whether the intelligent wheelchair is occupied by a person, avoid false start and resource waste, start the corresponding function only when a person is on board, improve energy utilization efficiency, ensure navigation operation only when a person is using, prevent accidents, the AGV navigation module realizes accurate positioning of the intelligent wheelchair, the user can clearly understand his position, reduces the risk of getting lost, provides efficient position navigation, helps the user quickly reach the destination, especially for people who are not familiar with the environment, greatly improves the convenience of travel, the electromagnetic recognition module accurately senses the navigation magnetic strip on the ground, provides a reliable travel path guide for the intelligent wheelchair, ensures that the wheelchair travels on the barrier-free channel, improves the accuracy and stability of travel, and cooperates with other modules to jointly ensure the safe travel of the wheelchair, avoids deviating from the barrier-free channel and encountering obstacles, the camera module takes pictures of the process of traveling, on the one hand, it can record the travel trajectory for query and backtracking when needed, on the other hand, it provides additional security, such as providing evidence in case of an accident, the Braille button module provides a way for blind people to identify button text information, allowing blind people to independently operate the intelligent wheelchair, greatly expanding the application population of the intelligent wheelchair.

[0036] The user inputs the destination instruction in the S1 step based on voice and touch input text methods. The camera module analyzes and judges the wheelchair users based on image recognition technology. For the elderly with weak bodies and limited mobility, the camera recognizes their slow movements and specific body features. For people who temporarily need to use a wheelchair due to injury, they are distinguished according to their injury site and recovery stage. For disabled people, the behavior and action features are distinguished based on the shooting. Different operation methods are given to different types of users.

[0037] The voice input does not need manual operation for the user with difficulty in movement, especially for the person with limited hand movement, greatly improving the convenience of inputting the destination, and they can easily inform the intelligent wheelchair car of the destination through voice instruction without laborious touch operation. For the user with poor vision, voice input can avoid the problem that they cannot accurately input the destination due to unclear screen or button. Only the destination name needs to be said, and the intelligent wheelchair car can accurately identify and plan the route, quickly and efficiently, so that the user can complete the destination input in a short time, save time and improve travel efficiency.

[0038] When analyzing the wheelchair user, the camera module pre-processes the image, including denoising and contrast enhancement operation, improves the quality of the image, extracts various features of the user, including body posture, facial expression and action amplitude, and judges the type of the wheelchair user through comprehensive analysis of these features; the wheelchair user is U, the image feature vector is calculated, and the image feature vector is F'=(F1, F2, F3), wherein F1 represents the body posture feature value, F2 represents the body posture feature value, and F3 represents the action amplitude feature value; based on the obtained vector, the type of the current wheelchair user is judged, a threshold range is established for each type of person, the obtained image feature vector is compared with the established threshold, and the current recognized user is divided into the corresponding type of person according to the corresponding threshold range.

[0039] The calculation of the image feature vector in the application is the prior art, which will not be described in detail here; a clear standard is provided for personnel type judgment, the image feature vector extracted can be compared with these thresholds by establishing a threshold range for each type of person, so as to accurately judge the type of the user. Avoid the uncertainty of subjective judgment, improve the accuracy and reliability of judgment.

[0040] In the S2 step, the ground navigation magnetic stripe releases a magnetic field signal when it works, and the signal is received based on the electromagnetic identification module. When an object approaches or is near the barrier-free traffic flow line, the electromagnetic identification module reacts, detects the change of the magnetic field, judges whether there is an obstacle that may affect the barrier-free traffic around, the camera module captures the picture around the barrier-free traffic flow line in real time, analyzes and judges the objects in the picture based on image recognition technology, and issues an alarm when an object that hinders the barrier-free traffic is found. The service personnel take corresponding measures.

[0041] The magnetic field signal released by the ground navigation magnetic strip of the application can provide a clear travel route for the intelligent wheelchair, ensure that it travels in the barrier-free traffic flow line, and improve the accuracy and reliability of navigation. When an object approaches or is near the barrier-free traffic flow line, the electromagnetic recognition module can quickly detect changes in the magnetic field and timely determine whether there are obstacles that may affect barrier-free traffic around, which provides early warning for the user and increases the safety of travel.

[0042] The image recognition technology judges the method of the obstacle by pre-collecting various object image samples that hinder traffic, extracting feature vectors, establishing an obstacle feature model, assuming that there are N types of obstacles, and the feature vector of each type of obstacle is M=(M1, M2, … M n ), based on machine learning algorithm training, obtaining a classifier for judging whether the object in the input image is an obstacle, inputting the current video, judging, and the classifier calculation formula is:

[0043] y=sign(w*g+b)

[0044] Where y is the output result of the classifier, w is the weight vector, b is the bias term, and g is the input image. When y is 1, it means that the object in the image is an obstacle, and when y is 0, it means that the object in the image is not an obstacle.

[0045] Referring to Figure 3 When the intelligent wheelchair receives instructions to go to other floors, the slope between the current location and the target floor is evaluated in the S3 step, the length, slope and travel speed of the wheelchair on the slope in the current state are measured, the time required to pass the slope is calculated, then the elevator control system of the building is communicated to obtain the current position, running speed and estimated arrival time of the elevator, considering the distance from the current position to the elevator entrance and the moving speed of the wheelchair, the time required to reach the elevator is calculated, combined with the running speed of the elevator and the height of the target floor, the time required to reach the target floor by the elevator is calculated.

[0046] The intelligent wheelchair of the application can select the optimal path and time arrangement through the time calculation of the slope and the elevator. If the elevator waiting time is long and the slope traffic is smooth, the wheelchair can adjust the travel route according to the actual situation, preferentially select the slope to reach the target floor, and then wait for the elevator, thereby improving the overall travel efficiency. Communicating with the elevator control system can coordinate the operation of the elevator in advance to ensure that the elevator can respond in time when the intelligent wheelchair arrives, which can reduce the waiting time for the elevator, improve the use efficiency of the elevator, and avoid waste of elevator resources.

[0047] After obtaining the total time to reach other floors by the barrier-free elevator and the ramp, the intelligent wheelchair car automatically controls the barrier-free elevator in advance to prepare, sends a signal to the elevator control system, requests the elevator to open the door and wait for an estimated time, after entering the elevator, the elevator runs smoothly to the target floor, and after reaching the target floor, the intelligent wheelchair car continues to move towards the corresponding barrier-free aging service facility.

[0048] The application controls the elevator in advance to prepare, saves the time for the user to wait for the elevator, and reduces the waiting time for the elderly and the disabled, which reduces their fatigue and anxiety, and improves the comfort and convenience of travel.

[0049] In the S4 step, after the user uses the intelligent wheelchair car, a one-key return button is pressed, the current position is determined based on the built-in AGV navigation module, the departure information is compared with the pre-stored information, and the shortest return route is calculated based on the path planning algorithm. During the return process, the intelligent wheelchair car continuously monitors the surrounding environment, automatically adjusts the speed, and avoids obstacles.

[0050] During the return process, the intelligent wheelchair car continuously monitors the surrounding environment, which can timely discover potential obstacles, which helps to avoid collisions and accidents, and ensures the safety of the user.

[0051] The intelligent wheelchair car uses wireless communication technology to interact with the surrounding charging facilities, obtains the position and use state information of each charging point, and automatically prepares for charging after successfully returning to the departure place. During the charging process, the control system of the wheelchair car monitors the charging state in real time.

[0052] The application can ensure the safety and efficiency of the charging process by monitoring the charging state in real time. The control system can timely discover charging abnormalities such as overcharging and overheating, and take corresponding measures for protection, prolong the battery life, and reduce the safety risk.

[0053] Referring to Figure 4 As shown in the figure, different symbols and lines represent various facilities and their connection paths,

[0054] The user enters from the "building barrier-free entrance", next to which is the "intelligent barrier-free wheelchair parking place". After entering from the entrance, there is a path represented by a dotted line, which leads to the "right-angle branch section diagram", followed by the "straight section diagram", then the "acute-angle branch section diagram", and finally to the "barrier-free, aging facility" area. On the right side of the figure, there is an "accessible channel" next to the "navigation magnetic strip". The channel is connected to the "right-angle turning connection diagram" and the "acute-angle turning connection diagram". These turning connection diagrams are connected to the "barrier-free, aging facility" area through the dotted line path. This area is also represented by a rectangle with a dotted line frame.

[0055] Also shown in the figure are a plurality of "barrier-free, senior-friendly facility" areas, represented by rectangles with dashed-line borders, distributed at various locations in the figure, connected to other facilities by dashed-line paths;

[0056] Overall, the layout of barrier-free facilities and senior-friendly facilities, as well as the connecting paths between the facilities, are shown, aiming to provide convenient navigation and usage guidance for people with limited mobility.

[0057] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application.

Claims

1. A barrier-free and age-friendly intelligent access control method in a building, characterized by, The control step is: S1, the user obtains the intelligent wheelchair at the barrier-free entrance of the building, judges the type of the user based on the camera module, gives the corresponding use means to the intelligent wheelchair for different types of users, inputs the destination instruction, and advances, and the building is provided with barrier-free aging service facilities; S2, the barrier-free channel magnetic induction of the ground navigation magnetic strip and the camera module identify whether there are obstacles around the barrier-free passage flow line on the ground. When there are no obstacles, the user is automatically sent to the destination, and the corresponding service facility at the destination gives a voice prompt to remind the service personnel to prepare for service. When obstacles are found around the barrier-free passage flow line, the service personnel are reminded to clean the obstacles based on the voice broadcast mode; S3, the intelligent wheelchair automatically judges the time of passing through the barrier-free elevator and slope to other floors, and automatically controls the barrier-free elevator to prepare in advance, and sends the old people to the corresponding barrier-free aging service facilities on the corresponding floor after the intelligent wheelchair arrives; S4, the user returns to the starting point after using the intelligent wheelchair and returns to the nearest charging point or starting point for automatic charging.

2. The barrier-free and age-friendly intelligent access control method in a building according to claim 1, wherein, The intelligent wheelchair in S1 step includes a gravity sensing module, an AGV navigation module, an electromagnetic identification module, a camera module and a Braille button module. The gravity sensing module is used to sense whether the intelligent wheelchair is occupied. The AGV navigation module is used for positioning and navigation of the intelligent wheelchair. The electromagnetic identification module is used to sense the navigation magnetic strip on the ground. The camera module is used for shooting and identifying the user during the process. The Braille button module is used for blind people to identify button text information. The barrier-free aging service facilities in the building include barrier-free toilets, low drinking fountains, barrier-free slopes and barrier-free service centers.

3. The barrier-free and age-friendly intelligent access control method in a building according to claim 1, characterized in that, The user inputs the destination instruction in S1 step based on voice and touch input text to input the destination; The camera module analyzes and judges the wheelchair user based on image recognition technology. For the elderly with weak bodies and limited mobility, the camera recognizes their slow movements and specific body characteristics; For people who temporarily need to use a wheelchair due to injury, they are distinguished according to their injured parts and recovery stages. For the disabled, the behavior and action characteristics are distinguished. Different operation modes are given for different types of users.

4. The barrier-free and age-friendly intelligent access control method in a building according to claim 3, wherein, In the analysis of wheelchair users, the camera module pre-processes the image, including noise reduction, contrast enhancement operation, improves the quality of the image, extracts various features of the user, including body posture, facial expression and action amplitude, through the comprehensive analysis of these features, the personnel type of the wheelchair user is judged; the wheelchair user is U, the image feature vector is calculated, and the image feature vector is F'=(F1, F2, F3), wherein F1 represents the body posture feature value, F2 represents the body posture feature value, and F3 represents the action amplitude feature value; based on the obtained vector, the type of the current wheelchair user is judged, and the threshold range is established for each type of person. The obtained image feature vector is compared with the established threshold, and the currently recognized user is divided into the corresponding type of person according to the corresponding threshold range.

5. The barrier-free and age-friendly intelligent access control method in a building according to claim 1, wherein, In the S2 step, the ground navigation magnetic stripe releases a magnetic field signal when it works, and the signal is received based on the electromagnetic identification module. When an object approaches or is near the barrier-free traffic flow line, the electromagnetic identification module reacts, detects the change of the magnetic field, judges whether there is an obstacle that may affect the barrier-free traffic around, and the camera module captures the picture around the barrier-free traffic flow line in real time. Based on image recognition technology, the objects in the picture are analyzed and judged, and when an object that hinders barrier-free traffic is found, an alarm is sent out, and the service personnel take corresponding measures.

6. The barrier-free and age-friendly intelligent access control method in a building according to claim 5, wherein, The method for judging obstacles by image recognition technology collects various object image samples that hinder the passage in advance, extracts feature vectors, establishes an obstacle feature model, assumes that there are N types of obstacles, the feature vector of each type of obstacle is M=(M1, M2, …M n ), trains based on a machine learning algorithm to obtain a classifier for judging whether the object in the input image is an obstacle, inputs the currently captured video for judgment, and the classifier calculation formula is: y = sign(w * g + b) Where y is the output result of the classifier, w is the weight vector, b is the bias term, and g is the input image. When y is 1, it means that the object in the image is an obstacle, and when y is 0, it means that the object in the image is not an obstacle.

7. The barrier-free and age-friendly intelligent access control method in a building according to claim 1, wherein, In the S3 step, when the intelligent wheelchair receives the instruction to go to other floors, the slope between the current location and the target floor is evaluated, the length, slope and driving speed of the wheelchair on the slope in the current state are measured, the time required to pass the slope is calculated, then the elevator control system of the building is communicated to obtain the current position, running speed and estimated arrival time of the elevator, considering the distance from the current position to the elevator entrance and the moving speed of the wheelchair, the time required to reach the elevator is calculated, combined with the running speed of the elevator and the height of the target floor, the time required to reach the target floor by the elevator is calculated. 8.The method of claim 7, wherein, After obtaining the total time of passing the barrier-free elevator and the slope to reach other floors, the intelligent wheelchair automatically controls the barrier-free elevator in advance to prepare, sends a signal to the elevator control system, requests the elevator to open the door and wait for an estimated time, after entering the elevator, the elevator runs smoothly to the target floor, after reaching the target floor, the intelligent wheelchair continues to move towards the corresponding barrier-free aging service facility. 9.The method of claim 1, wherein, In the S4 step, when the user finishes using the intelligent wheelchair, a one-key return button is pressed. Based on the built-in AGV navigation module, the current position is determined and compared with the pre-stored departure information. Based on the path planning algorithm, the shortest return route is calculated. During the return process, the intelligent wheelchair continuously monitors the surrounding environment, automatically adjusts the speed, and avoids obstacles. 10.The method of claim 9, wherein, The intelligent wheelchair uses wireless communication technology to interact with the surrounding charging facilities, obtains the position and use state information of each charging point, and when the intelligent wheelchair successfully returns to the departure point, it automatically prepares for charging. During the charging process, the control system of the wheelchair monitors the charging status in real time.

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