Intelligent wheelchair with multi-sensing detection function

Abstract

The application relates to the technical field of intelligent wheelchairs, in particular to an intelligent wheelchair with multiple sensing detection functions; a first air bag is arranged between two sliding blocks, so the sliding blocks drive the first air bag to reciprocate, the upper end between the rectangular groove and the seat is made of sponge material, the sponge material is soft, so the first air bag massages the patient's hip and thigh during reciprocation in the rectangular groove; the discomfort caused by long-time sitting of the patient is relieved; and gaps are arranged between the two first air bags, the two first air bags drive the airflow in the space in the rectangular groove to circulate during reciprocation of the sliding blocks, the sponge material is breathable, so when the gas in the space in the rectangular groove flows, the flowing gas is transmitted to the patient's hip and thigh through the sponge material, and the patient's hip and thigh are ventilated.

Description

Technical Field

[0001] This invention relates to the field of intelligent wheelchair technology, specifically to an intelligent wheelchair with multi-sensor detection functions. Background Technology

[0002] A wheelchair is a means of transportation used to assist people with mobility impairments in moving around; it consists of a frame with wheels and can be manually or electrically driven; the main purpose of a wheelchair is to enable people who cannot walk 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 have installed various sensors and systems on wheelchairs, making wheelchairs gradually intelligent and giving rise to smart wheelchairs. A smart wheelchair is a new type of wheelchair that integrates modern smart technology into the traditional wheelchair, giving it more functions, greater autonomy, and greater safety and reliability. It can be considered an upgraded version of an "electric wheelchair," but the difference lies in the word "smart." Smart wheelchairs can also connect to the internet using various sensors and receivers installed on them. When people with mobility impairments use smart wheelchairs, the wheelchairs can monitor and provide feedback on the user's physical data based on data shared in the medical and health big data system. After monitoring the human body data, the monitored data is compared with the corresponding data in the medical and health big data system, and the comparison information is fed back to the caregiver, enabling the caregiver to actively respond to diseases and dangers caused by the monitored data. However, existing smart wheelchairs, when monitoring users with mobility impairments, typically send abnormal signals back to the caregiver when abnormal data is detected. The caregiver then massages the patient to relieve the discomfort. For example, if a patient is in a prolonged sitting state, a smart wheelchair can compare the duration of sitting and the potential consequences of prolonged sitting with medical and health big data, and feed the comparison results back to the caregiver. The caregiver can then massage the patient's legs or buttocks based on the results to relieve discomfort. However, this process requires moving the patient, and the patient's family members need to manually massage the patient. The smart wheelchair cannot automatically relieve the patient's discomfort.

[0003] In summary, to address the technical problems raised in this paper, this invention proposes an intelligent wheelchair with multi-sensor detection capabilities. Summary of the Invention

[0004] This invention proposes an intelligent wheelchair with multi-sensor detection function. The intelligent wheelchair includes a wheelchair body; the wheelchair body includes a seat, backrest, leg rest, and footrest; and the wheelchair body is provided with; LiDAR, which is used to scan the surrounding environment and create a three-dimensional model; Ultrasonic sensors are used for close-range obstacle detection and obstacle avoidance. The positioning and navigation system is used to determine the direction of the wheelchair and provide feedback on the wheelchair's position. A pressure sensor, which is built into the seat and backrest, monitors the occupant's sitting time; A heart rate sensor, used to monitor the passenger's heart rate and detect abnormalities in a timely manner; An electromyography (EMG) sensor, the EMG sensor being used to monitor muscle activity; The seat has a rectangular groove inside, and the inner walls of the rectangular groove are slidably connected to sliding blocks via an electric telescopic rod. 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 is installed inside the rectangular groove. The airbag is filled with fluid and has an opening at one end. The two ends of the airbag are connected to sliding blocks on both sides of the rectangular groove.

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

[0006] As a preferred embodiment of this application, a second airbag is disposed between the two first airbags, and the upper end of the second airbag is provided with several through holes.

[0007] As a preferred embodiment of this application, the second airbag is a stacked airbag.

[0008] As a preferred embodiment of this application, multiple elastic bands are wound between the first airbag and the second airbag, the elastic bands wrapping the first airbag and the second airbag within them, the elastic bands not sealing the through holes on the surface of the second airbag; the outer surface of the elastic bands is provided with multiple spherical protrusions, the spherical protrusions being located between the elastic bands and the upper surface of the seat.

[0009] As a preferred embodiment of this application; a level sensor is provided on the wheelchair body; the level sensor is electrically connected to a lidar and an ultrasonic sensor; the end of the seat near the backrest is rotatably connected to the wheelchair body, and a hydraulic telescopic cylinder is hinged to the lower part of the seat away from the backrest, with the lower hydraulic telescopic cylinder of the seat hinged to the seat body; a hydraulic telescopic cylinder is hinged to the end of the backrest away from the seat, with the hydraulic telescopic cylinder on the backrest hinged to the seat body, and both hydraulic telescopic cylinders are connected to the level sensor.

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

[0011] As a preferred embodiment of this application, in a horizontal state, the auxiliary wheel has a gap with the ground, and the gap between the auxiliary wheel and the telescopic plate is greater than 90 degrees.

[0012] The beneficial effects of this invention are as follows: An airbag is positioned between the two sliding blocks. The sliding blocks cause the airbag to reciprocate. Because the space between the rectangular groove and the upper part of the seat is made of soft foam, the airbag massages the patient's buttocks and thighs during its reciprocating motion within the rectangular groove, relieving discomfort caused by prolonged sitting. The gap between the two airbags allows for airflow within the rectangular groove as they reciprocate with the sliding blocks. The breathable foam material also facilitates ventilation of these areas by transferring the flowing air through the foam to the patient's buttocks and thighs. Attached Figure Description

[0013] Figure 1 This is a perspective view of the wheelchair body in this invention; Figure 2 This is a cross-sectional view of the seat in this invention; Figure 3 This is a structural diagram of the hydraulic telescopic cylinder in this invention; Figure 4 This is a cross-sectional view of the seat in this invention from another perspective; Figure 5 This is a top view of the interior of the seat in this invention; Figure 6 This is a structural view of the chute and telescopic plate in this invention; Figure 7 This is a structural view of the No. 1 and No. 2 airbags in this invention; Figure 8 This is a structural view of the telescopic rod and auxiliary wheel in this invention.

[0014] In the diagram: wheelchair body 1, seat 11, backrest 12, leg rest 13, footrest 14, rectangular groove 15, electric telescopic rod 151, sliding block 152, first airbag 153, second airbag 154, through hole 155, elastic band 156, spherical protrusion 157, hydraulic telescopic cylinder 16, mounting block 17, slide groove 171, telescopic plate 172, auxiliary wheel 173. Detailed Implementation

[0015] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0016] Example 1: like Figures 1 to 7 As shown; an intelligent wheelchair with multi-sensor detection function, the intelligent wheelchair includes a wheelchair body 1; the wheelchair body 1 includes a seat 11, a backrest 12, a leg rest 13 and a footrest 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 sensors are used for close-range obstacle detection and obstacle avoidance. The positioning and navigation system is used to determine the direction of the wheelchair and provide feedback on the wheelchair's position. A pressure sensor, which is built into the seat 11 and the backrest 12, monitors the pressure distribution of the occupant; A heart rate sensor, used to monitor the passenger's heart rate and detect abnormalities in a timely manner; An electromyography (EMG) sensor, the EMG sensor being used to monitor muscle activity; The seat 11 has a rectangular groove 15 inside. The inner walls of the two sides of the rectangular groove 15 are slidably connected to sliding blocks 152 via an electric telescopic rod 151. The electric telescopic rod 151 is electrically connected to the pressure sensor. The part between the surface of the seat 11 and the rectangular groove 15 is made of sponge material. An airbag 153 is laid inside the rectangular groove 15. The airbag 153 is filled with fluid and has an opening at one end. The two ends of the 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 mobility impairment uses the smart wheelchair, the lidar and ultrasonic sensors installed on the wheelchair body 1 are activated when the patient sits on the wheelchair body 1. The lidar scans the surrounding environment and creates a 3D model based on the scan data to facilitate the movement of the smart wheelchair. The ultrasonic sensors detect nearby obstacles, enabling the smart wheelchair to automatically avoid obstacles during movement. The positioning and navigation system can travel according to the destination set by the patient and provide real-time feedback on the wheelchair's location to the patient's family during the process. When the patient sits on seat 11 of the smart wheelchair, the pressure sensor on seat 11 is activated and records the time the patient sits on seat 11 until the patient gets off seat 11. During this process, the pressure sensor compares the sitting duration with the medical and health big data. When the pressure sensor reaches a predetermined value, such as sitting for 3 hours, the sitting information will be transmitted to the patient's family member's mobile phone via IoT signal. During this process, since the patient cannot get off seat 11 on their own, the pressure sensor data is transmitted to the electric telescopic rod 151 in seat 11 through the control system inside the wheelchair body 1. The electric telescopic rod 151 is located inside the rectangular groove 15 inside seat 11. When the electric telescopic rod 151 receives the signal, it starts to work. The working time of electric telescopic rod 151 is 10 minutes. Specifically, the electric telescopic rod 151 extends and retracts back and forth on both sides of the rectangular groove 15. During the extension and retraction of 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 an airbag 153 is set between the two sliding blocks 152, the sliding block 152 will drive the airbag 153 to reciprocate. Since the upper part of the rectangular groove 15 and the seat 11 is made of sponge material, which is a soft material, the airbag 153 will massage the patient's buttocks and thighs during the reciprocating motion inside the rectangular groove 15, relieving the discomfort caused by prolonged sitting. It also creates a gap between the two airbags 153. When the two airbags 153 reciprocate with the sliding block 152, they will drive the airflow inside the rectangular groove 15. Since the sponge material is breathable, when the air flows inside the rectangular groove 15, it will be transmitted to the patient's buttocks and thighs through the sponge material, thus ventilating the patient's buttocks and legs. When the pressure sensor detects that the patient is in a prolonged sitting state, the electric telescopic rod 151 drives the sliding block 152 and the first airbag 153 to reciprocate, which massages the patient's buttocks. This prevents the blood from being unable to circulate properly in the buttocks and legs due to pressure when the patient is sitting for a long time, which can lead to skin, subcutaneous tissue and muscle ulceration and necrosis. The reciprocating massage of the first airbag 153 on the patient's buttocks and legs can also improve the patient's comfort. Furthermore, by injecting fluid, such as water, into the No. 1 airbag 153, family members can inject hot water into the No. 1 airbag 153 in winter, allowing the heat to be transferred to the patient for warmth. In summer, cool water can be injected into the No. 1 airbag 153 to provide a cooling sensation. The No. 1 airbag 153 fills the space under the seat 11, reducing the thickness of the sponge and thus reducing the growth of bacteria and mites inside the seat 11. The reciprocating motion of the No. 1 airbag 153 also improves airflow within the sponge material, and the presence of hot water inside the No. 1 airbag 153 prevents the growth of mites, thereby enhancing the cleaning effect of the sponge material. Furthermore, while the pressure sensor monitors the patient's prolonged sitting, the heart rate sensor also monitors the patient's heart rate and provides feedback on the patient's heart rate status by comparing it with medical and health big data. When an abnormality is detected, feedback is immediately sent to the patient's family member's mobile phone. In addition, the electromyography sensor can simultaneously detect the muscle activity of the patient's buttocks and legs. The electromyography sensor is also connected to the electric telescopic rod 151. When the detection of reduced muscle activity in the buttocks and legs, the electric telescopic rod 151 can be activated, causing the electric telescopic rod 151 to drive the sliding block 152 and the first airbag 153 to work.

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

[0019] The specific workflow is as follows: Based on the above embodiment, a second airbag 154 is provided between the two first airbags 153, and the second airbag 154 is a stacked airbag, with several through holes 155 opened at the upper end of the second airbag 154; when the two first airbags 153 move away from each other and move closer to each other, the second airbag 154 will be squeezed by the two first airbags 153, and the second airbag 154 will be compressed, and the gas in the second airbag 154 will be ejected from the through holes 155. The through holes 155 of the second airbag 154 are located above it, that is, the through holes 155 of the second airbag 154 are directly facing the sponge material above, so that the gas inside the second airbag 154 can fully pass through the seat 11 to ventilate the patient's buttocks and legs; Furthermore, by placing the second airbag 154 between the first airbag 153 and the second airbag 154, the two first airbags 153 are prevented from being suspended in mid-air to a certain extent, thus improving the patient's comfort while sitting in the seat 11.

[0020] Example 3: like Figures 2 to 6 As shown; multiple elastic bands 156 are wrapped between the first airbag 153 and the second airbag 154, the elastic bands 156 wrap the first airbag 153 and the second airbag 154 within them, the elastic bands 156 do not seal the through holes 155 on the surface of the second airbag 154; multiple spherical protrusions 157 are provided on the outer surface of the elastic bands 156, the spherical protrusions 157 are located between the elastic bands 156 and the upper surface of the seat 11.

[0021] The specific workflow is as follows: Multiple elastic bands 156 are wrapped between the first airbag 153 and the second airbag 154, and the elastic bands 156 include the first airbag 153 and the second airbag 154. The elastic bands 156 do not close the through holes 155 on the surface of the second airbag 154. Multiple spherical protrusions 157 are provided on the outer surface of the elastic bands 156, and the spherical protrusions 157 are located between the elastic bands 156 and the upper surface of the seat 11. The elastic bands 156 are elastic braided bands. When the patient sits on seat 11, because the second airbag 154, located between the two first airbags 153, is not filled with water, its hardness is less than that of the two first airbags 153. Therefore, when the patient sits between the two first airbags 153, the second airbag 154 will indent towards the center, and the middle of the multiple elastic bands 156 will also indent inward. This makes the massage effect of the two first airbags 153 on the patient's buttocks better when the two first airbags 153 move closer and further away. At the same time, the elastic bands 156 can also move when the two first airbags 153 move closer and further away. At this time, the spherical protrusions 157 on the surface of the elastic bands 156 enhance the massage effect on the patient's buttocks. In addition, the multiple elastic bands 156 support the patient's buttocks, improving the patient's comfort when sitting on seat 11.

[0022] Example 4: like Figures 3 to 7 As shown; a level sensor is provided on the wheelchair body 1; the level sensor is electrically connected to a lidar and an ultrasonic sensor; the end of the seat 11 near the backrest 12 is rotatably connected to the wheelchair body 1, and a hydraulic telescopic cylinder 16 is hinged to the lower end of the seat 11 away from the backrest 12, and the lower end of the seat 11 hydraulic telescopic cylinder 16 is hinged to the seat 11 body; a hydraulic telescopic cylinder 16 is hinged to the end of the backrest 12 away from the seat 11, and the hydraulic telescopic cylinder 16 on the backrest 12 is hinged to the seat 11 body, and both hydraulic telescopic cylinders 16 are connected to the level sensor.

[0023] The specific workflow is as follows: A level sensor is installed on the wheelchair body 1, and the level sensor is connected to the lidar and ultrasonic sensors via electrical signals. When the lidar and ultrasonic sensors detect that the front is in a downhill state, the hydraulic telescopic cylinders 16 at the lower end of the seat 11 and the hydraulic telescopic cylinders 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, pushing the end of the seat 11 away from the backrest 12 upward, causing the seat 11 to rotate. During this process, the hydraulic telescopic cylinder 16 at the end of the backrest 12 away from the seat 11 retracts. The retraction mechanism causes the backrest 12 to tilt backward, resulting in the same angle between the seat 11 and the backrest 12 as on a flat surface, but an increased angle between the seat 11 and the sloping ground. This ensures that the seat 11 remains parallel to the horizontal plane when descending the slope, preventing the seat 11 from becoming too parallel to the slope and thus avoiding the problem of the patient easily slipping off the seat 11. When the vehicle reaches a flat surface, the hydraulic telescopic cylinder 16 at the lower end of the seat 11 retracts, and the hydraulic telescopic cylinder 16 on the backrest 12 extends, returning the seat 11 and backrest 12 to their original positions, thus improving the patient's use of the wheelchair.

[0024] Example 5: like Figures 1 to 7 As shown; the wheelchair body 1 is provided with a mounting block 17, which is located below the seat 11, and the hydraulic telescopic cylinder 16 below the seat 11 is hinged to the top of the mounting block 17; the mounting block 17 has grooves 171 at both ends, and a telescopic plate 172 is slidably connected inside the grooves 171, and an auxiliary wheel 173 is installed at the end of the telescopic plate 172 away from the inside of the grooves 171; In a horizontal position, the auxiliary wheel 173 has a gap with the ground; and the auxiliary wheel 173 and the telescopic plate 172 are inclined together, with the included angle between the auxiliary wheel 173 and the telescopic plate 172 being greater than 90 degrees.

[0025] The specific workflow is as follows: Based on the above embodiment four, a mounting block 17 is provided on the wheelchair body 1, and the mounting block 17 is located below the seat 11. Slide grooves 171 are formed on both sides of the mounting block 17, and a telescopic plate 172 is slidably connected inside the slide grooves 171. The telescopic plate 172 is electrically telescopic, and an auxiliary wheel 173 is installed at the end of the telescopic plate 172 away from the slide grooves 171. When the wheelchair body 1 encounters a slope, the side of the wheelchair body 1 will tilt. At this time, the level sensor detects that the seat 11 is tilted. Then, at the tilting end of the mounting block 17, the telescopic plate 172 inside the slide grooves 171 extends, and the telescopic plate 172... When the auxiliary wheel 173 is extended, since there is a gap between the auxiliary wheel 173 and the ground in the horizontal state, the auxiliary wheel 173 does not contact the ground when it is extended. If the seat 11 tilts at this time, the auxiliary wheel 173 will contact the ground. The auxiliary wheel 173 and the telescopic plate 172 work together to support the wheelchair body 1 and prevent the wheelchair body 1 from tilting. The angle between the auxiliary wheel 173 and the telescopic plate 172 is greater than 90 degrees, which improves the support effect of the telescopic plate 172 and thus improves the support effect of the wheelchair body 1. When the wheelchair moves to a flat surface, the telescopic plate 172 retracts into the groove 171.

[0026] The foregoing has shown and described 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. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A smart wheelchair with multi-sensor detection function, the smart wheelchair comprising a wheelchair body (1); the wheelchair body (1) comprising a seat (11), a backrest (12), a leg rest (13), and a footrest (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 sensors are used for close-range obstacle detection and obstacle avoidance. A positioning and navigation system is 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 backrest (12), monitors the occupant's sitting time; A heart rate sensor, used to monitor the passenger's heart rate and detect abnormalities in a timely manner; An electromyography (EMG) sensor, used to monitor muscle activity; The seat (11) has a rectangular groove (15) inside. The inner walls of the rectangular groove (15) are slidably connected to sliding blocks (152) through an electric telescopic rod (151). The electric telescopic rod (151) is electrically connected to the pressure sensor. The part between the surface of the seat (11) and the rectangular groove (15) is made of sponge material. An airbag (153) is laid inside the rectangular groove (15). The airbag (153) is filled with fluid and has an opening. The two ends of the airbag (153) are 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); a No. 2 airbag (154) is provided between the two No. 1 airbags (153), and the upper end of the No. 2 airbag (154) is provided with several through holes (155). Multiple elastic bands (156) are wrapped around the first airbag (153) and the second airbag (154). The elastic bands (156) wrap the first airbag (153) and the second airbag (154) within them. The elastic bands (156) do not seal the through holes (155) on the surface of the second airbag (154). Multiple spherical protrusions (157) are provided on the outer surface of the elastic bands (156). The spherical protrusions (157) are located between the elastic bands (156) and the upper surface of the seat (11).

2. The intelligent wheelchair with multi-sensor detection function as described in claim 1, characterized in that: The second airbag (154) is a stacked airbag.

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

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

5. The intelligent wheelchair with multi-sensor detection function as described in claim 1, characterized in that: In a horizontal position, the auxiliary wheel (173) has a gap with the ground, and the angle between the auxiliary wheel (173) and the telescopic plate (172) is greater than 90 degrees.

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