Intelligent wheelchair with multi-sensor detection function

Abstract

The invention relates to the technical field of intelligent wheelchairs, in particular to an intelligent wheelchair with a multi-sensing detection function. A first air bag is arranged between the two sliding blocks, so that the sliding blocks can drive the first air bag to reciprocate, a sponge material is arranged between the rectangular groove and the upper end of the seat, and the sponge material is a soft material, so that when the first air bag reciprocates in the rectangular groove, the first air bag does not fall off; the first air bag can massage the buttocks and thighs of the patient; the discomfort caused by long-time sitting of the patient is relieved; the two first air bags are arranged in the rectangular groove, a gap is formed between the two first air bags, in the process that the two first air bags reciprocate along with the sliding block, the two first air bags can drive air flow in the space in the rectangular groove to circulate, the sponge material is a breathable material, and therefore when air in the space in the rectangular groove flows, the air flow in the rectangular groove can be blocked. Flowing air can be transmitted to the buttocks and the thighs of the patient through a sponge material, so that the buttocks and the legs of the patient are ventilated.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent wheelchairs, and in particular to an intelligent wheelchair with multi-sensor detection functions. Background Art

[0002] A wheelchair is a vehicle used to assist people with limited mobility; it consists of a frame with wheels and can be powered manually or electrically; the main purpose of a wheelchair is to enable people who are unable or have difficulty walking to move independently or with assistance, thereby improving their quality of life and autonomy; With the development of society, traditional wheelchairs can no longer meet the daily travel and life needs of people who cannot walk. Based on conventional wheelchairs, people install various sensors and systems on wheelchairs, making wheelchairs gradually intelligent, and deriving smart wheelchairs; Smart wheelchairs refer to a new type of wheelchair that integrates modern intelligent technology on the basis of traditional wheelchairs, making it more functional, more autonomous, safer and more reliable. It can be considered as an upgraded version of the "electric wheelchair", but the difference lies in the word "smart"; and the smart wheelchair can realize the function of networking based on various sensors and receivers set on it; When a person with limited mobility uses a smart wheelchair, the wheelchair can monitor and provide feedback on the user's body data based on the data shared by the medical and health big data. After monitoring the body data, the wheelchair can compare the monitored data with the corresponding data on the medical and health big data, and feedback the comparison information to the guardian, so that the guardian can actively respond to the diseases and risks generated by the monitoring data; However, existing smart wheelchairs usually feed back abnormal signals to the guardian when abnormal data is detected during the monitoring process of users with limited mobility, and the guardian then massages the patient to relieve the discomfort. For example, if a patient is monitored to be in a sedentary state for a long time, the smart wheelchair can compare the sitting time and the possible consequences of sitting with the medical health big data, and feedback the comparison results to the guardian, who can massage the patient's legs or buttocks according to the results to relieve discomfort symptoms. However, the patient needs to be moved in the process, and the patient's family members need to massage the patient manually. The smart wheelchair cannot automatically relieve the patient's discomfort symptoms.

[0003] In summary, in order to solve the technical problem raised in this article, the present invention proposes an intelligent wheelchair with multi-sensor detection function. Summary of the invention

[0004] The present invention proposes an intelligent wheelchair with multi-sensor detection function, the intelligent wheelchair comprises a wheelchair body; the wheelchair body comprises a seat, a backrest, a leg rest and a pedal; the wheelchair body is provided with; LiDAR, which is used to scan the surrounding environment and create a three-dimensional model; Ultrasonic sensor: Ultrasonic sensor is used for close-range obstacle detection and obstacle avoidance; Positioning and navigation system, used to determine the direction of the wheelchair and provide feedback on the position of the wheelchair; Pressure sensors built into the seat and backrest to monitor the occupant's riding time; A heart rate sensor, which is used to monitor the heart rate of the passenger and detect abnormalities in a timely manner; an electromyography sensor for monitoring muscle activity; A rectangular groove is provided inside the seat, and inner walls on both sides of the rectangular groove are slidably connected with sliding blocks via an electric telescopic rod, and the electric telescopic rod is electrically connected to the pressure sensor; the area between the seat surface and the rectangular groove is made of sponge material; An airbag No. 1 is laid inside the rectangular groove, the interior of the airbag No. 1 is filled with fluid, and an opening is arranged at one end of the airbag No. 1; and the two ends of the airbag No. 1 are respectively connected to the sliding blocks at both sides of the rectangular groove.

[0005] As a preferred solution of the present application, in the initial state, there is a gap between the two No. 1 airbags.

[0006] As a preferred solution of the present application, a No. 2 airbag is arranged between the two No. 1 airbags, and a plurality of through holes are opened at the upper end of the No. 2 airbag.

[0007] As a preferred solution of the present application, the second airbag is a stacked airbag.

[0008] As a preferred solution of the present application; a plurality of elastic bands are wrapped between the No. 1 airbag and the No. 2 airbag, and the elastic bands wrap the No. 1 airbag and the No. 2 airbag therein, and the elastic bands do not close the through holes on the surface of the No. 2 airbag; a plurality of spherical protrusions are provided on the outer surface of the elastic band, and the spherical protrusions are located between the elastic band and the upper surface of the seat.

[0009] As a preferred solution of the present application; a horizontal sensor is provided on the wheelchair body; the horizontal sensor is electrically connected to the laser radar and the ultrasonic sensor; the end of the seat close to the backrest is rotatably connected to the wheelchair body, and a hydraulic telescopic cylinder is hinged below the end of the seat away from the backrest, and the hydraulic telescopic cylinder at the lower end of the seat is hinged to the seat body; a hydraulic telescopic cylinder is hinged at the end of the backrest away from the seat, and the hydraulic telescopic cylinder on the backrest is hinged to the seat body, and both of the hydraulic telescopic cylinders are connected to the horizontal sensor.

[0010] As a preferred solution of the present application; a mounting block is provided on the wheelchair body, the mounting block is located below the seat, and the hydraulic telescopic cylinder below the seat is hinged above the mounting block; sliding grooves are provided at both ends of the mounting block, a telescopic plate is slidably connected inside the sliding groove, and an auxiliary wheel is installed on the end of the telescopic plate away from the inside of the sliding groove.

[0011] As a preferred solution of the present application, in a horizontal state, there is a gap between the auxiliary wheel and the ground, and the gap between the auxiliary wheel and the telescopic plate is greater than 90 degrees.

[0012] The beneficial effects of the present invention are as follows: An airbag No. 1 is arranged between the two sliding blocks, so the sliding block will drive the airbag No. 1 to perform reciprocating motion. Since the rectangular groove and the upper end of the seat are provided with sponge material, which is a soft material, the airbag No. 1 will massage the patient's buttocks and thighs during the reciprocating motion of the airbag No. 1 inside the rectangular groove, thereby relieving the discomfort caused by long-term sitting of the patient. There is also a gap between the two airbags No. 1, so that when the two airbags No. 1 perform reciprocating motion with the sliding block, the two airbags No. 1 will drive the airflow in the space inside the rectangular groove, and the sponge material is a breathable material, so when the gas in the space inside the rectangular groove flows, the flowing gas will be transferred to the patient's buttocks and thighs through the sponge material, thereby ventilating the patient's buttocks and legs. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a three-dimensional diagram of the wheelchair body of the present invention; Figure 2 is a cross-sectional view of the seat of the present invention; Figure 3 It is a structural diagram of the hydraulic telescopic cylinder in the present invention; Figure 4 is a cross-sectional view of the seat of the present invention from another perspective; Figure 5 is a top view of the interior of the seat of the present invention; Figure 6 It is a structural view of the slideway and the telescopic plate in the present invention; Figure 7 It is a structural view of the No. 1 airbag and the No. 2 airbag in the present invention; Figure 8 It is a structural view of the telescopic rod and auxiliary wheels in the present invention.

[0014] In the figure: wheelchair body 1, seat 11, backrest 12, leg rest 13, pedal 14, rectangular groove 15, electric telescopic rod 151, sliding block 152, airbag No. 153, airbag No. 2 154, through hole 155, elastic belt 156, spherical protrusion 157, hydraulic telescopic cylinder 16, mounting block 17, slide groove 171, telescopic plate 172, auxiliary wheel 173. DETAILED DESCRIPTION

[0015] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0016] Embodiment 1: like Figures 1 to 7 As shown; an intelligent wheelchair with multi-sensor detection function, the intelligent wheelchair comprises a wheelchair body 1; the wheelchair body 1 comprises a seat 11, a backrest 12, a leg rest 13 and a pedal 14; it is characterized in that; the wheelchair body 1 is provided with; LiDAR, which is used to scan the surrounding environment and create a three-dimensional model; Ultrasonic sensor: Ultrasonic sensor is used for close-range obstacle detection and obstacle avoidance; Positioning and navigation system, used to determine the direction of the wheelchair and provide feedback on the position of the wheelchair; A pressure sensor, which is built into the seat 11 and the backrest 12 to monitor the pressure distribution of the occupant; A heart rate sensor, which is used to monitor the heart rate of the passenger and detect abnormalities in a timely manner; an electromyography sensor for monitoring muscle activity; A rectangular groove 15 is provided inside the seat 11, and the inner walls on both sides of the rectangular groove 15 are slidably connected with sliding blocks 152 through an electric telescopic rod 151, and the electric telescopic rod 151 is electrically connected to the pressure sensor; the area between the surface of the seat 11 and the rectangular groove 15 is made of sponge material; The interior of the rectangular groove 15 is provided with a first airbag 153, the interior of the first airbag 153 is filled with fluid, and one end of the first airbag 153 is provided with an opening; and the two ends of the first airbag 153 are respectively connected to the sliding blocks 152 on both sides of the rectangular groove 15; In the initial state, there is a gap between the two No. 1 airbags 153 .

[0017] The specific workflow is as follows: When a patient with limited mobility uses a smart wheelchair, when the patient sits on the wheelchair body 1, the laser radar, ultrasonic sensor, etc. provided on the wheelchair body 1 are turned on, the laser radar scans the surrounding environment, and creates a three-dimensional model based on the scanned data to facilitate the movement of the smart wheelchair, and the ultrasonic sensor detects obstacles at close range, so that the smart wheelchair can automatically avoid obstacles during the movement; and the positioning navigation system can travel according to the destination set by the patient, and in the process, the real-time position of the wheelchair is fed back to the patient's family; When the patient sits on the seat 11 of the smart wheelchair, the pressure sensor on the seat 11 is activated and the time the patient sits on the seat 11 is recorded until the time the patient leaves the seat 11. In this process, the pressure sensor is compared with the sedentary time in the medical health big data. When the pressure sensor is under pressure for a predetermined time, such as sitting for 3 hours, the sedentary information will be transmitted to the patient's family members' mobile phones through the Internet of Things signal. In this process, since the patient cannot leave the seat 11 by himself, the data of the pressure sensor is transmitted to the electric telescopic rod 151 in the seat 11 through the control system provided inside the wheelchair body 1. The electric telescopic rod 151 is located inside the rectangular groove 15 inside the seat 11. When the electric telescopic rod 151 receives the signal, it starts to work. The working time of the electric telescopic rod 151 is 10 minutes. The specific work is that the electric telescopic rod 151 reciprocates and extends and contracts on both side walls of the rectangular groove 15. During the extension and contraction of the electric telescopic rod 151, The electric telescopic rod 151 pushes the sliding block 152 to reciprocate inside the rectangular groove 15. During the reciprocating motion, since the No. 1 airbag 153 is arranged between the two sliding blocks 152, the sliding block 152 will drive the No. 1 airbag 153 to reciprocate. Since the space between the rectangular groove 15 and the upper end of the seat 11 is made of sponge material, which is a soft material, the No. 1 airbag 153 will massage the patient's buttocks and thighs during the reciprocating motion of the No. 1 airbag 153 inside the rectangular groove 15, thereby relieving the discomfort caused by long-term sitting of the patient. There is also a gap between the two No. 1 airbags 153. When the two No. 1 airbags 153 reciprocate with the sliding block 152, the two No. 1 airbags 153 will drive the airflow in the space inside the rectangular groove 15. Since the sponge material is a breathable material, when the gas in the internal space of the rectangular groove 15 flows, the flowing gas will be transferred to the patient's buttocks and thighs through the sponge material, so that the patient's buttocks and legs are ventilated. When the pressure sensor detects that the patient is in a sedentary state, the electric telescopic rod 151 drives the sliding block 152 and the first airbag 153 to reciprocate, thereby massaging the patient's buttocks, thereby preventing the blood in the buttocks and legs from being compressed and unable to circulate when the patient is sitting for a long time, thereby preventing the skin tissue from ulcerating and necrosis of the skin, subcutaneous tissue and muscles due to pressure, and the first airbag 153 reciprocatingly massaging the patient's buttocks and legs can also improve the patient's comfort. And by injecting fluid into the interior of the No. 1 airbag 153, the fluid can be water; in winter, the patient's family can inject hot water into the interior of the No. 1 airbag 153, so that the hot air of the hot water can be transferred to the patient, playing the effect of keeping the patient warm; and in summer, cold water can be injected into the No. 1 airbag 153, so that the patient has a cool feeling; and the No. 1 airbag 153 is used to fill the bottom of the seat 11, thereby reducing the thickness of the sponge, so that the breeding of bacteria and mites inside the seat 11 can be reduced; and when the No. 1 airbag 153 reciprocates, the air flow inside the sponge material is circulated, the air circulation inside the sponge material is improved, and when the No. 1 airbag 153 is filled with hot water, it is impossible to meet the breeding environment of mites, thereby improving the cleaning effect of the sponge material; In the process of the pressure sensor monitoring the patient's long-term sitting, the heart rate sensor will also monitor the patient's heart rate, and provide feedback on the patient's heart rate by comparing it with the medical and health big data. When an abnormality occurs, it will be immediately fed back to the patient's family's mobile phone. In addition, the electromyography sensor can synchronously detect the patient's buttocks and leg muscle activity, and the electromyography sensor is synchronously connected to the electric telescopic rod 151. When it is detected that the buttocks and leg muscle activity is reduced, the electric telescopic rod 151 can also be started, so that the electric telescopic rod 151 drives the sliding block 152 and the No. 1 airbag 153 to work.

[0018] Embodiment 2: like Figures 2 to 7 As shown; a second airbag 154 is disposed between the two first airbags 153, and a plurality of through holes 155 are provided at the upper end of the second airbag 154; The second airbag 154 is a stacked airbag.

[0019] The specific workflow is as follows: On the basis of the above embodiment, a No. 2 airbag 154 is arranged between the two No. 1 airbags 153, and the No. 2 airbag 154 is a stacked airbag, and a plurality of through holes 155 are provided at the upper end of the No. 2 airbag 154; when the two No. 1 airbags 153 move away from and approach each other, the No. 2 airbag 154 will be squeezed by the two No. 1 airbags 153, and the No. 2 airbag 154 will be compressed, and the gas in the No. 2 airbag 154 will be ejected from the through holes 155, and the through holes 155 of the No. 2 airbag 154 are located above it, that is, the through holes 155 of the No. 2 airbag 154 are directly opposite to the sponge material above, so that the gas inside the No. 2 airbag 154 can fully pass through the seat 11 to ventilate the patient's buttocks and legs; Furthermore, by arranging the No. 2 airbag 154 between the No. 1 airbag 153 and the No. 2 airbag 154 , the suspension state between the two No. 1 airbags 153 can be avoided to a certain extent, thereby improving the comfort of the patient sitting on the seat 11 .

[0020] Embodiment three: like Figures 2 to 6 As shown; a plurality of elastic bands 156 are wound between the No. 1 airbag 153 and the No. 2 airbag 154, and the elastic bands 156 wrap the No. 1 airbag 153 and the No. 2 airbag 154 therein, and the elastic bands 156 do not close the through hole 155 on the surface of the No. 2 airbag 154; a plurality of spherical protrusions 157 are provided on the outer surface of the elastic band 156, and the spherical protrusions 157 are located between the elastic band 156 and the upper surface of the seat 11.

[0021] The specific workflow is as follows: A plurality of elastic bands 156 are wound between the No. 1 airbag 153 and the No. 2 airbag 154, and the elastic bands 156 include the No. 1 airbag 153 and the No. 2 airbag 154, and the elastic bands 156 do not close the through hole 155 on the surface of the No. 2 airbag 154, and a plurality of spherical protrusions 157 are arranged on the outer surface of the elastic band 156, and the spherical protrusions 157 are located between the elastic band 156 and the upper surface of the seat 11; the elastic band 156 is an elastic woven band; When the patient sits on the seat 11, since the water medium is not injected into the interior of the No. 2 airbag 154 arranged between the two No. 1 airbags 153, the hardness of the No. 2 airbag 154 is smaller than that of the two No. 1 airbags 153. Therefore, when the patient sits between the two No. 1 airbags 153, the No. 2 airbag 154 will be concave in the middle and the middle parts of the multiple elastic bands 156 will be concave inward; so that when the two No. 1 airbags 153 approach and move away from each other, the two No. 1 airbags 153 have a better massage effect on the patient's buttocks, and when the two No. 1 airbags 153 approach and move away from each other, the elastic band 156 can also move, and the spherical protrusions 157 on the surface of the elastic band 156 improve the massage effect on the patient's buttocks; and at the same time, the multiple elastic bands 156 support the patient's buttocks, thereby improving the comfort of the patient sitting on the seat 11.

[0022] Embodiment 4: like Figures 3 to 7 As shown; a horizontal sensor is provided on the wheelchair body 1; the horizontal sensor is electrically connected to the laser radar and the ultrasonic sensor; the end of the seat 11 close to the backrest 12 is rotatably connected to the wheelchair body 1, and a hydraulic telescopic cylinder 16 is hinged below the end of the seat 11 away from the backrest 12, and the hydraulic telescopic cylinder 16 at the lower end of the seat 11 is hinged to the seat 11 body; the end of the backrest 12 away from the seat 11 is hinged to the hydraulic telescopic cylinder 16, and the hydraulic telescopic cylinder 16 on the backrest 12 is hinged to the seat 11 body, and the two hydraulic telescopic cylinders 16 are connected to the horizontal sensor.

[0023] The specific workflow is as follows: A level sensor is provided on the wheelchair body 1, and the level sensor is connected to the laser radar and the ultrasonic sensor through electrical signals. When the laser radar and the ultrasonic sensor detect that the front is in a downhill state, the hydraulic telescopic cylinder 16 at the lower end of the seat 11 and the hydraulic telescopic cylinder 16 on the backrest 12 work synchronously. Specifically, when the front is in a downhill state, the hydraulic telescopic cylinder 16 under the seat 11 extends to push the end of the seat 11 away from the backrest 12 upward, and the seat 11 rotates. During the process, the hydraulic telescopic cylinder 16 at the end of the backrest 12 away from the seat 11 is retracted. The backrest 12 is retracted, and during the process, the angle between the seat 11 and the backrest 12 is the same as that on the plane, but the angle between the seat 11 and the sloped ground is increased, so that when the seat 11 goes downhill, the seat 11 is still in a state parallel to the horizontal plane, avoiding the problem that the seat 11 tends to be parallel to the slope, which makes it easy for the patient to slip off the seat 11; when moving to a flat road surface, the hydraulic telescopic cylinder 16 at the lower end of the seat 11 contracts, and the hydraulic telescopic cylinder 16 on the backrest 12 extends, and the seat 11 and the backrest 12 are reset, thereby improving the patient's use effect of the wheelchair.

[0024] Embodiment five: like Figures 1 to 7 As shown; the wheelchair body 1 is provided with a mounting block 17, the mounting block 17 is located below the seat 11, and the hydraulic telescopic cylinder 16 below the seat 11 is hinged above the mounting block 17; both ends of the mounting block 17 are provided with a slide groove 171, the interior of the slide groove 171 is slidably connected with a telescopic plate 172, and an auxiliary wheel 173 is installed at one end of the telescopic plate 172 away from the interior of the slide groove 171; In a horizontal state, there is a gap between the auxiliary wheel 173 and the ground; and the auxiliary wheel 173 and the telescopic plate 172 are arranged obliquely, and the angle between the auxiliary wheel 173 and the telescopic plate 172 is greater than 90 degrees.

[0025] The specific workflow is as follows: On the basis of the above-mentioned fourth embodiment, a mounting block 17 is provided on the wheelchair body 1, and the mounting block 17 is located below the seat 11, and slide grooves 171 are provided on both sides of the mounting block 17, and a telescopic plate 172 is slidably connected inside the slide groove 171, and the telescopic plate 172 is electrically telescopic, and an auxiliary wheel 173 is installed at one end of the telescopic plate 172 away from the slide groove 171; when the wheelchair body 1 touches the slope, the side of the wheelchair body 1 will tilt, and the horizontal sensor will sense that the seat 11 is tilted, and at this time, the telescopic plate 172 inside the slide groove 171 at one end of the mounting block 17 in the tilting direction extends, and the telescopic plate 172 The auxiliary wheels 173 are pushed out. During the process, since there is a gap between the auxiliary wheels 173 and the ground in the horizontal state, the auxiliary wheels 173 do not contact the ground when extended. At this time, if the seat 11 tips over, the auxiliary wheels 173 will contact the ground. The auxiliary wheels 173 and the telescopic plate 172 work together to support the wheelchair body 1 to prevent the wheelchair body 1 from tipping over. The angle between the auxiliary wheels 173 and the telescopic plate 172 is greater than 90 degrees, which improves the supporting effect of the telescopic plate 172, and then improves the supporting effect of the wheelchair body 1. When moving to a flat road surface, the telescopic plate 172 shrinks to the inside of the slide groove 171.

[0026] The above shows and describes the basic principles, main features and advantages of the present invention; those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An intelligent wheelchair with a multi-sensor detection function, the intelligent wheelchair comprising a wheelchair body (1); the wheelchair body (1) comprises a seat (11), a backrest (12), a leg rest (13) and a pedal (14); characterized in that: The wheelchair body (1) is provided with: LiDAR, which is used to scan the surrounding environment and create a three-dimensional model; Ultrasonic sensor: Ultrasonic sensor is used for close-range obstacle detection and obstacle avoidance; A positioning navigation system, used to determine the direction of the wheelchair body (1) and provide feedback on the position of the wheelchair body (1); A pressure sensor, which is built into the seat (11) and the backrest (12) to monitor the riding time of the occupant; A heart rate sensor, which is used to monitor the heart rate of the passenger and detect abnormalities in a timely manner; an electromyography sensor for monitoring muscle activity; A rectangular groove (15) is provided inside the seat (11), and the inner walls on both sides of the rectangular groove (15) are slidably connected to sliding blocks (152) via an electric telescopic rod (151), and the electric telescopic rod (151) is electrically connected to the pressure sensor; the area between the surface of the seat (11) and the rectangular groove (15) is made of sponge material; A first airbag (153) is provided inside the rectangular groove (15), the interior of the first airbag (153) is filled with fluid, and an opening is provided on the first airbag (153); and the two ends of the first airbag (153) are respectively connected to the sliding blocks (152) on both sides of the rectangular groove (15).

2. The intelligent wheelchair with multi-sensor detection function as claimed in claim 1, characterized in that: In the initial state, there is a gap between the two No. 1 airbags (153).

3. The intelligent wheelchair with multi-sensor detection function as claimed in claim 2, characterized in that: A No. 2 airbag (154) is arranged between the two No. 1 airbags (153), and a plurality of through holes (155) are opened at the upper end of the No. 2 airbag (154).

4. The intelligent wheelchair with multi-sensor detection function as claimed in claim 3, characterized in that: The second airbag (154) is a stacked airbag.

5. The intelligent wheelchair with multi-sensor detection function as claimed in claim 3, characterized in that: A plurality of elastic bands (156) are wound between the first airbag (153) and the second airbag (154), and the elastic bands (156) wrap the first airbag (153) and the second airbag (154) therein. The elastic band (156) does not close the through hole (155) on the surface of the second airbag (154); the outer surface of the elastic band (156) is provided with a plurality of spherical protrusions (157), and the spherical protrusions (157) are located between the elastic band (156) and the upper surface of the seat (11).

6. The intelligent wheelchair with multi-sensor detection function as claimed in claim 1, characterized in that: The wheelchair body (1) is provided with a level sensor; the level sensor is electrically connected to the laser radar and the ultrasonic sensor; the end of the seat (11) close to the backrest (12) is rotatably connected to the wheelchair body (1), and a hydraulic telescopic cylinder (16) is hinged below the end of the seat (11) away from the backrest (12), and the hydraulic telescopic cylinder (16) at the lower end of the seat (11) is hinged to the seat (11) body; the end of the backrest (12) away from the seat (11) is hinged to the hydraulic telescopic cylinder (16), and the hydraulic telescopic cylinder (16) on the backrest (12) is hinged to the seat (11) body, and both of the two hydraulic telescopic cylinders (16) are connected to the level sensor.

7. The intelligent wheelchair with multi-sensor detection function as claimed in claim 1, characterized in that: The wheelchair body (1) is provided with a mounting block (17), the mounting block (17) is located below the seat (11), and the hydraulic telescopic cylinder (16) below the seat (11) is hinged above the mounting block (17); both ends of the mounting block (17) are provided with sliding grooves (171), the interior of the sliding groove (171) is slidably connected with a telescopic plate (172), and an auxiliary wheel (173) is installed at one end of the telescopic plate (172) away from the interior of the sliding groove (171).

8. The intelligent wheelchair with multi-sensor detection function as claimed in claim 2, characterized in that: In a horizontal state, there is a gap between the auxiliary wheel (173) and the ground, and the angle between the auxiliary wheel (173) and the telescopic plate (172) is greater than 90 degrees.

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