Autonomous obstacle avoidance wheelchair for visually impaired people based on artificial intelligence

Abstract

The invention discloses an artificial intelligence-based autonomous obstacle avoidance wheelchair for visually impaired people, and relates to the field of intelligent wheelchairs, the wheelchair comprises a wheelchair main body and walking wheels, the walking wheels are mounted below the wheelchair main body, a detector is mounted on the front side of the wheelchair main body to detect obstacles, an intelligent controller is arranged below the wheelchair main body, and the intelligent controller is connected with the wheelchair main body. Mounting shafts are fixed to the inner sides of the walking wheels, the mounting shafts are rotationally connected with the wheelchair body, and transmission shafts are connected to the inner ends of the mounting shafts. According to the artificial intelligence-based autonomous obstacle avoidance wheelchair for visually impaired people, the moving direction of the wheelchair main body can be actively controlled by manually rotating the steering control shaft, the control mode does not conflict with intelligent control, and a user can autonomously control the wheelchair main body under some conditions; and the wheelchair main body can still be manually controlled to steer and avoid obstacles when the system accidentally breaks down.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent wheelchairs, and in particular to an autonomous obstacle-avoiding wheelchair for visually impaired people based on artificial intelligence. Background Art

[0002] Smart wheelchairs can move automatically through electric control, which makes them more convenient to use. Visually impaired patients can use wheelchairs to travel and avoid falling while walking due to visual impairment.

[0003] Prior art 1 (application number CN202211414054.3, Chinese patent published on December 20, 2024) A smart wheelchair, the smart wheelchair, for example, includes: a wheelchair body; a main control circuit, which is arranged on the wheelchair body and includes: an AI processor; a database memory, which is electrically connected to the AI ​​processor, and the database memory stores multiple groups of voice dialogue sample data; a voice processing unit, which is electrically connected to the AI ​​processor; a voice receiving unit, which is electrically connected to the voice processing unit; an amplifier circuit, which is electrically connected to the AI ​​processor; a speaker, which is electrically connected to the amplifier circuit. This application improves the convenience of operation and user experience of the smart wheelchair. Prior art 2 (application number CN202311757586.1, Chinese patent published on March 22, 2024) A smart wheelchair, including a battery box, a battery is installed on the inner side of the battery box, and a seat cushion is arranged on the upper side of the battery box, a backrest is fixed to one end of the seat cushion, and two armrests are arranged on both sides of the seat cushion, and two guide wheel brackets are fixed to the front end of the battery box. The present invention can adjust the height of the two main wheels through the highly intelligent adjustment mechanism, thereby adjusting the height of the entire wheelchair and the ground. When the speed is faster, the overall height of the wheelchair is made lower, which can effectively lower the center of gravity, thereby greatly improving the stability of the wheelchair when traveling at high speeds, preventing the wheelchair from swinging left and right when the speed is faster, and improving safety. Similarly, if the overall height of the wheelchair is increased when traveling at low speeds, the passability of the wheelchair can be effectively improved, allowing the wheelchair to cross a relatively rugged road surface at a low speed.

[0004] When visually impaired patients use current wheelchairs, if obstacles appear on the road while the wheelchair is moving and the visually impaired patients fail to avoid them in time, it is easy for the user to be injured or the wheelchair to overturn. With a fully intelligently controlled wheelchair, it is not easy for the user to independently control the direction of the wheelchair in an emergency, which reduces the wheelchair's obstacle avoidance flexibility. Summary of the invention

[0005] The purpose of the present invention is to provide an autonomous obstacle-avoiding wheelchair for visually impaired people based on artificial intelligence, so as to solve the problem raised in the above background technology that when the wheelchairs currently on the market are used by visually impaired patients, if obstacles appear on the road when the wheelchair is moving and the visually impaired patients fail to avoid them in time, it is easy to cause the user to be injured or the wheelchair to overturn. For fully intelligently controlled wheelchairs, it is inconvenient for the user to autonomously control the direction of the wheelchair in an emergency.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an autonomous obstacle-avoiding wheelchair for visually impaired people based on artificial intelligence, comprising a wheelchair body and walking wheels, wherein the walking wheels are installed below the wheelchair body, a detector is installed on the front side of the wheelchair body to detect obstacles, and an intelligent controller is arranged below the wheelchair body, a mounting shaft is fixed to the inner side of the walking wheel, a rotational connection is formed between the mounting shaft and the wheelchair body, a transmission shaft is connected to the inner end of the mounting shaft, and a mounting seat is arranged on the outer side of the transmission shaft, the mounting seat is fixed to the inner side of the wheelchair body, a drive shaft is arranged on the inner side of the transmission shaft, a rotational drive mechanism is arranged on the outer side of the drive shaft, a transmission control mechanism is arranged between the drive shaft and the transmission shaft, a steering control mechanism is arranged on the outer side of the transmission control mechanism, and a manual control mechanism is arranged on the outer side of the steering control mechanism.

[0007] To further optimize the technical solution, auxiliary wheels are arranged on the front side of the running wheels, and a back support is arranged on the rear side of the wheelchair body.

[0008] To further optimize the technical solution, obstacle clearing mechanisms are provided on the front sides of the traveling wheels and the auxiliary wheels to clear gravel on the road surface.

[0009] Further optimizing the technical solution, the obstacle clearing mechanism includes a first obstacle clearing plate, a second obstacle clearing plate, a connecting frame and a first telescopic device; A first obstacle clearing plate is arranged on the front side of the traveling wheel; The second obstacle-clearing plate is arranged in front of the auxiliary wheel, and the side edges of the first obstacle-clearing plate and the second obstacle-clearing plate are both designed with an inclined structure; A connecting frame, fixed to the inner sides of the first obstacle clearing plate and the second obstacle clearing plate to control the movement of the first obstacle clearing plate and the second obstacle clearing plate; The first retractor is fixed above the connecting frame, and the upper end of the first retractor is fixedly connected to the wheelchair body.

[0010] To further optimize the technical solution, a foot pedal is provided on the front side of the wheelchair body, and a connecting shaft is provided at the end of the foot pedal, so that a rotational connection is formed between the connecting shaft and the wheelchair body.

[0011] To further optimize the technical solution, the rotary drive mechanism includes a first bevel gear, an output shaft and a motor; A first bevel gear, fixed to the surface of the driving shaft; The output shaft is perpendicular to the driving shaft, and the output shaft is meshed with the driving shaft through the first bevel gear; The motor is connected to the output shaft to control the rotation of the output shaft.

[0012] To further optimize the technical solution, the steering control mechanism includes a docking block, a docking groove, a return spring, a connecting plate, a second retractor and a fitting block; The docking blocks are arranged at the left and right ends of the driving shaft, and a left-right sliding structure is formed between the docking blocks and the driving shaft; The docking groove is provided at the inner end of the transmission shaft, and a concave-convex matching structure is formed between the docking groove and the docking block; A return spring is arranged at the inner end of the docking block to provide an outward thrust for the docking block; A connecting plate, fixed to the surface of the docking block; A second retractor is arranged on the outer side of the connecting disk to push the connecting disk to move; The fitting block is arranged at the inner end of the second retractor, and a ball bearing is arranged on the surface of the fitting block, and the fitting block is fitted with the connecting disk through the ball bearing.

[0013] To further optimize the technical solution, the manual control mechanism includes a manual control block, a control rope, a reel, a second bevel gear and a steering control shaft; A manual control block is arranged on the inner side of the connection plate to provide pulling control for the connection plate, and a left-right sliding structure is formed between the manual control block and the mounting seat; A control rope, fixed to the inner side of the manual control block; A reel is rotatably mounted inside the wheelchair body, and the reel is connected to the upper end of the control rope; A second bevel gear is arranged at the front end of the winding shaft; The steering control shaft is rotatably mounted on the inner side of the wheelchair body, and the steering control shaft is meshed with the winding shaft through the second bevel gear.

[0014] To further optimize the technical solution, a connector is fixed to the outer end of the manual control block, the end of the connector is designed as an enlarged structure, and an annular groove is provided on the outer side of the connector on the surface of the connecting disk, and the connector forms a sliding connection with the connecting disk through the annular groove.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The detector can detect obstacles on the road, and the intelligent controller can analyze the road conditions, so as to intelligently control the direction of the wheelchair body, so that it can actively avoid obstacles and improve the safety of wheelchair use; The first obstacle-clearing plate and the second obstacle-clearing plate can be used to clear the gravel on the road in the direction of travel of the running wheels and auxiliary wheels, push it away from the travel path, reduce the subsequent bumps of the wheelchair body, and improve the comfort of use; The driving shaft controls the transmission shaft to provide rotational power for the travel wheel, so that the travel wheel can rotate actively, and the transmission control between the driving shaft and the transmission shaft can change the speed of the single-side travel wheel to achieve a steering effect; The second retractor can be used to push the connecting disk to move, control the power transmission between the drive shaft and the transmission shaft, and realize steering control. This control method cooperates with artificial intelligence automatic control, and the second retractor and the connecting disk are fitted, which does not affect the subsequent manual active control of the connecting disk to move; The moving direction of the wheelchair body can be actively controlled by manually rotating the steering control shaft. This control method does not conflict with intelligent control. The user can independently control the wheelchair body in some cases, so that the wheelchair body can still be manually controlled to steer and avoid obstacles when the system fails unexpectedly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a side view structural schematic diagram of the present invention; Figure 3 It is a bottom view structural schematic diagram of the present invention; Figure 4 It is a schematic diagram of the top view of the structure of the first obstacle removal board of the present invention; Figure 5 This is a schematic diagram of the main cross-sectional structure of the mounting seat of the present invention; Figure 6 This is a schematic diagram of the top-sectional structure of the mounting base of the present invention; Figure 7 It is a schematic diagram of the three-dimensional structure of the drive shaft of the present invention; Figure 8 This is a schematic diagram of the main cross-sectional structure of the drive shaft of the present invention; Fig. 9 It is a schematic diagram of the side sectional structure of the wheelchair body of the present invention.

[0017] In the figure: 1. wheelchair body; 2. walking wheels; 3. auxiliary wheels; 4. back support; 5. foot pedal; 6. connecting shaft; 7. detector; 8. intelligent controller; 9. first obstacle clearance plate; 10. second obstacle clearance plate; 11. connecting frame; 12. first telescope; 13. mounting seat; 14. mounting shaft; 15. transmission shaft; 16. driving shaft; 17. first bevel gear; 18. output shaft; 19. motor; 20. docking block; 21. docking groove; 22. reset spring; 23. connecting disk; 24. second telescope; 25. fitting block; 26. connector; 27. manual control block; 28. control rope; 29. ​​reel; 30. second bevel gear; 31. steering control shaft. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figure 1-Figure 9 , the present invention provides the following technical solutions: an autonomous obstacle avoidance wheelchair for visually impaired people based on artificial intelligence, comprising a wheelchair body 1 and running wheels 2, wherein the running wheels 2 are installed below the wheelchair body 1; Embodiment 1: The invention provides a technical solution, which discloses that a detector 7 is installed on the front side of a wheelchair body 1 to detect obstacles, and an intelligent controller 8 is arranged below the wheelchair body 1, a mounting shaft 14 is fixed on the inner side of the walking wheel 2, and a rotation connection is formed between the mounting shaft 14 and the wheelchair body 1, the inner end of the mounting shaft 14 is connected to a transmission shaft 15, and a mounting seat 13 is arranged on the outer side of the transmission shaft 15, and the mounting seat 13 is fixed on the inner side of the wheelchair body 1, a drive shaft 16 is arranged on the inner side of the transmission shaft 15, a rotation drive mechanism is arranged on the outer side of the drive shaft 16, and a transmission control mechanism is arranged between the drive shaft 16 and the transmission shaft 15, a steering control mechanism is arranged on the outer side of the transmission control mechanism, and a manual control mechanism is arranged on the outer side of the steering control mechanism.

[0020] The detector 7 can detect road condition information to identify obstacles on the road, and cooperate with the intelligent controller 8 to analyze and process the information and control the subsequent direction of travel of the wheelchair body 1. The working principle and system of the intelligent controller 8 and the detector 7 can refer to the current mature artificial intelligence system to automatically control the steering of the subsequent wheelchair body 1.

[0021] Embodiment 2: On the basis of embodiment 1, it is disclosed that an auxiliary wheel 3 is provided on the front side of the walking wheel 2, and a back support 4 is provided on the rear side of the wheelchair body 1, and an obstacle clearing mechanism is provided on the front side of the walking wheel 2 and the front side of the auxiliary wheel 3 to clear the gravel on the road surface. The obstacle clearing mechanism includes a first obstacle clearing plate 9, a second obstacle clearing plate 10, a connecting frame 11 and a first telescopic device 12. The first obstacle clearing plate 9 is provided on the front side of the walking wheel 2, and the second obstacle clearing plate 10 is provided on the front side of the auxiliary wheel 3. The side edges of the first obstacle clearing plate 9 and the second obstacle clearing plate 10 are both designed with an inclined structure. The connecting frame 11 is fixed on the inner side of the first obstacle clearing plate 9 and the second obstacle clearing plate 10 to control the movement of the first obstacle clearing plate 9 and the second obstacle clearing plate 10. The first telescopic device 12 is fixed on the upper side of the connecting frame 11, and the upper end of the first telescopic device 12 is fixedly connected to the wheelchair body 1, and a foot pedal 5 is provided on the front side of the wheelchair body 1, and a connecting shaft 6 is provided at the end of the foot pedal 5, and a rotational connection is formed between the connecting shaft 6 and the wheelchair body 1.

[0022] The foot pedal 5 can provide foot support for the user, and the foot pedal 5 can rotate around the connecting shaft 6 so that its supporting direction can be adjusted to adapt to the user's foot placement direction and improve the comfort of use. When the wheelchair body 1 is walking, the first obstacle clearing board 9 and the second obstacle clearing board 10 can push the road gravel in front of the running wheels 2 and the auxiliary wheels 3, and push it out from the moving direction of the running wheels 2 and the auxiliary wheels 3 to avoid the running wheels 2 and the auxiliary wheels 3 pressing on the gravel and causing bumps and warping, thereby improving the walking stability and comfort of the wheelchair body 1. The first obstacle clearing board 9 and the second obstacle clearing board 10 can be height-controlled by the first telescopic device 12 to adjust the obstacle clearing height to adapt to different road conditions.

[0023] Embodiment 3: Based on Embodiment 1, a rotation drive mechanism is disclosed, including a first bevel gear 17, an output shaft 18 and a motor 19, wherein the first bevel gear 17 is fixed to the surface of the drive shaft 16, the output shaft 18 and the drive shaft 16 are perpendicular to each other, and the output shaft 18 is meshed with the drive shaft 16 through the first bevel gear 17, the motor 19 is connected to the output shaft 18 to control the rotation of the output shaft 18, and the steering control mechanism includes a docking block 20, a docking groove 21, a return spring 22, a connecting plate 23, a second retractor 24 and a fitting block 2 5, a docking block 20 is arranged at the left and right ends of the driving shaft 16, and a left-right sliding structure is formed between the docking block 20 and the driving shaft 16, a docking groove 21 is arranged at the inner end of the driving shaft 15, and a concave-convex matching structure is formed between the docking groove 21 and the docking block 20, a return spring 22 is arranged at the inner end of the docking block 20 to provide an outward thrust for the docking block 20, a connecting plate 23 is fixed on the surface of the docking block 20, a second retractor 24 is arranged on the outer side of the connecting plate 23 to push the connecting plate 23 to move, and a fitting block 25 is arranged on the second retractor The inner end of the compressor 24 is provided with a ball bearing on the surface of the fitting block 25, and the fitting block 25 is fitted with the connecting disk 23 through the ball bearing. The manual control mechanism includes a manual control block 27, a control rope 28, a reel 29, a second bevel gear 30 and a steering control shaft 31. The manual control block 27 is arranged on the inner side of the connecting disk 23 to provide a pulling control for the connecting disk 23, and a left-right sliding structure is formed between the manual control block 27 and the mounting seat 13. The control rope 28 is fixed on the inner side of the manual control block 27, and the reel 29 is rotatably mounted on the wheelchair body 1. Inside, the winding shaft 29 is connected to the upper end of the control rope 28, the second bevel gear 30 is arranged at the front end of the winding shaft 29, the steering control shaft 31 is rotatably installed on the inner side of the wheelchair body 1, and the steering control shaft 31 is meshed with the winding shaft 29 through the second bevel gear 30, and the outer end of the manual control block 27 is fixed with a connector 26, the end of the connector 26 is designed with an enlarged structure, and the outer side of the connector 26 is provided with an annular groove opened on the surface of the connecting disk 23, and the connector 26 is slidably connected to the connecting disk 23 through the annular groove.

[0024] When the wheelchair body 1 is walking normally, the motor 19 drives the drive shaft 16 to rotate through the output shaft 18 and the first bevel gear 17, and the drive shaft 16 drives the transmission shaft 15 to rotate through the connection between the docking block 20 and the docking groove 21, and the transmission shaft 15 drives the running wheel 2 to rotate through the mounting shaft 14, so as to realize the walking control of the wheelchair body 1. When the detector 7 detects an obstacle and needs to turn, the intelligent controller 8 can control the single second telescopic device 24 to work, so that it pushes the connecting disk 23 to move, drives the docking block 20 to move, releases the connection between the docking block 20 and the docking groove 21, and makes the two sets of running wheels 2 have a differential speed, thereby realizing turning. The user can also independently control the wheelchair body 1 to turn, and only needs to manually rotate the single steering control shaft 31 to drive the winding shaft 29 to rotate through the second bevel gear 30, and the winding control rope 28 of the winding shaft 29 pulls the connecting disk 23 to move, and releases the connection between the docking block 20 and the docking groove 21, so as to realize manual steering control and increase the flexibility of the device.

[0025] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0026] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An autonomous obstacle-avoiding wheelchair for visually impaired people based on artificial intelligence, comprising a wheelchair body (1) and running wheels (2), wherein the running wheels (2) are installed below the wheelchair body (1); Features: A detector (7) is installed on the front side of the wheelchair body (1) to detect obstacles, and an intelligent controller (8) is arranged below the wheelchair body (1). A mounting shaft (14) is fixed on the inner side of the walking wheel (2), and a rotational connection is formed between the mounting shaft (14) and the wheelchair body (1). The inner end of the mounting shaft (14) is connected to a transmission shaft (15), and a mounting seat (13) is arranged on the outer side of the transmission shaft (15), and the mounting seat (13) is fixed on the inner side of the wheelchair body (1). A drive shaft (16) is arranged on the inner side of the transmission shaft (15), and a rotational drive mechanism is arranged on the outer side of the drive shaft (16), and a transmission control mechanism is arranged between the drive shaft (16) and the transmission shaft (15), a steering control mechanism is arranged on the outer side of the transmission control mechanism, and a manual control mechanism is arranged on the outer side of the steering control mechanism.

2. The autonomous obstacle avoidance wheelchair for visually impaired people based on artificial intelligence according to claim 1, characterized in that: An auxiliary wheel (3) is arranged on the front side of the running wheel (2), and a back support (4) is arranged on the rear side of the wheelchair body (1).

3. The autonomous obstacle avoidance wheelchair for visually impaired people based on artificial intelligence according to claim 2, characterized in that: The front sides of the running wheels (2) and the auxiliary wheels (3) are both provided with obstacle clearing mechanisms for clearing away gravel on the road surface.

4. The autonomous obstacle avoidance wheelchair for visually impaired people based on artificial intelligence according to claim 3, characterized in that: The obstacle clearing mechanism comprises a first obstacle clearing plate (9), a second obstacle clearing plate (10), a connecting frame (11) and a first retractor (12); A first obstacle clearing plate (9) arranged on the front side of the running wheel (2); The second obstacle-clearing plate (10) is arranged on the front side of the auxiliary wheel (3), and the side edges of the first obstacle-clearing plate (9) and the second obstacle-clearing plate (10) are both designed to be inclined; A connecting frame (11) is fixed to the inner sides of the first obstacle clearing plate (9) and the second obstacle clearing plate (10) to control the movement of the first obstacle clearing plate (9) and the second obstacle clearing plate (10); The first retractor (12) is fixed above the connecting frame (11), and the upper end of the first retractor (12) is fixedly connected to the wheelchair body (1).

5. The autonomous obstacle-avoiding wheelchair for visually impaired people based on artificial intelligence according to claim 1, characterized in that: A foot pedal (5) is provided on the front side of the wheelchair body (1), and a connecting shaft (6) is provided at the end of the foot pedal (5), and a rotational connection is formed between the connecting shaft (6) and the wheelchair body (1).

6. The autonomous obstacle-avoiding wheelchair for visually impaired people based on artificial intelligence according to claim 1, characterized in that: The rotary drive mechanism comprises a first bevel gear (17), an output shaft (18) and a motor (19); A first bevel gear (17) fixed on the surface of the drive shaft (16); The output shaft (18) and the drive shaft (16) are perpendicular to each other, and the output shaft (18) and the drive shaft (16) are meshed with each other through the first bevel gear (17); The motor (19) is connected to the output shaft (18) to control the rotation of the output shaft (18).

7. The autonomous obstacle avoidance wheelchair for visually impaired people based on artificial intelligence according to claim 1 or 6, characterized in that: The steering control mechanism comprises a docking block (20), a docking groove (21), a return spring (22), a connecting plate (23), a second retractor (24) and a fitting block (25); A docking block (20) is arranged at the left and right ends of the driving shaft (16), and a left-right sliding structure is formed between the docking block (20) and the driving shaft (16); A docking groove (21) is provided at the inner end of the transmission shaft (15), and a concave-convex matching structure is formed between the docking groove (21) and the docking block (20); A return spring (22) is arranged at the inner end of the docking block (20) to provide an outward thrust for the docking block (20); A connecting plate (23) fixed on the surface of the docking block (20); A second retractor (24), arranged on the outer side of the connecting disk (23) to push the connecting disk (23) to move; The laminating block (25) is arranged at the inner end of the second retractor (24), and a ball bearing is arranged on the surface of the laminating block (25). The laminating block (25) is laminating with the connecting plate (23) via the ball bearing.

8. The autonomous obstacle-avoiding wheelchair for visually impaired people based on artificial intelligence according to claim 7, characterized in that: The manual control mechanism comprises a manual control block (27), a control rope (28), a reel (29), a second bevel gear (30) and a steering control shaft (31); A manual control block (27) is arranged on the inner side of the connection disk (23) to provide pulling control for the connection disk (23), and a left-right sliding structure is formed between the manual control block (27) and the mounting seat (13); A control rope (28) fixed to the inner side of the manual control block (27); A reel (29) is rotatably mounted inside the wheelchair body (1), and the reel (29) is connected to the upper end of the control rope (28); A second bevel gear (30) is arranged at the front end of the winding shaft (29); The steering control shaft (31) is rotatably mounted on the inner side of the wheelchair body (1), and the steering control shaft (31) is meshed with the winding shaft (29) via the second bevel gear (30).

9. The autonomous obstacle avoidance wheelchair for visually impaired people based on artificial intelligence according to claim 8, characterized in that: A connector (26) is fixed to the outer end of the manual control block (27); the end of the connector (26) is designed to be an enlarged structure, and an annular groove is provided on the outer side of the connector (26) and is opened on the surface of the connection disk (23); the connector (26) is slidably connected to the connection disk (23) through the annular groove.

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