Electric wheelchair control method, cloud server and electric wheelchair control system

Abstract

The invention discloses an electric wheelchair control method, a cloud server and an electric wheelchair control system. The method comprises the following steps: acquiring operation data and identity information of each electric wheelchair in real time; for each electric wheelchair, generating a speed curve of the current electric wheelchair according to the speed information, and generating a driving path of the current electric wheelchair according to the speed curve and the position information; determining the current running state of the electric wheelchair according to the electric parameters; when the current electric wheelchair is in the fault state, the fault type of the current electric wheelchair is determined according to the electric parameters, and then fault warning information is generated according to the fault type; and according to the identity information, sending the operation data, the driving path and the fault alarm information to the current electric wheelchair and each client bound with the current electric wheelchair. And when the current electric wheelchair is in a non-fault state, sending the operation data and the driving path to the current electric wheelchair and each client according to the identity information. According to the invention, the safety of using the electric wheelchair can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric scooter control, and in particular to an electric wheelchair control method, a cloud server and an electric wheelchair control system. Background Art

[0002] An electric wheelchair is a special medical assistive device that uses electricity to drive the wheelchair forward, backward, and turn, providing convenient mobility support for users with limited mobility. Currently, the electric wheelchairs on the market can only achieve simple basic driving functions such as forward, backward, and turn, and there is a lack of monitoring of equipment safety issues that exist during the operation of electric wheelchairs. Summary of the invention

[0003] The embodiments of the present invention provide an electric wheelchair control method, a cloud server and an electric wheelchair control system, which can effectively solve the problem of lack of safety monitoring of the use of electric wheelchairs in the prior art and improve the safety of using electric wheelchairs.

[0004] An embodiment of the present invention provides an electric wheelchair control method, comprising:

[0005] Acquire the operation data and identity information of each electric wheelchair in real time; wherein the operation data includes: position information, speed information and electrical parameters;

[0006] For each electric wheelchair, a speed curve of the current electric wheelchair is generated according to the speed information, and a travel path of the current electric wheelchair is generated according to the speed curve and the position information;

[0007] Determine the current operating state of the electric wheelchair according to the electrical parameters; wherein the operating state includes: a non-fault state and a fault state;

[0008] When the current electric wheelchair is in a fault state, determining the fault type of the current electric wheelchair according to the electrical parameters, and then generating fault alarm information according to the fault type;

[0009] According to the identity information, the operating data, driving path and fault alarm information are sent to the current electric wheelchair and each client bound to the current electric wheelchair, so that the current electric wheelchair can visualize the operating data and driving path, and generate alarm text messages and alarm voice according to the fault alarm information; so that each client can visualize the operating data, driving path and fault alarm information.

[0010] When the current electric wheelchair is in a non-faulty state, the operation data and the driving path are sent to the current electric wheelchair and each client according to the identity information, so that the current electric wheelchair and each client can visualize the operation data and the driving path.

[0011] Furthermore, after the current driving path of the electric wheelchair is generated according to the speed curve and the position information, the method further includes:

[0012] Acquire each historical driving path of the current electric wheelchair according to the identity information of the current electric wheelchair;

[0013] Determine the current maximum historical activity area of ​​the electric wheelchair based on each historical driving path;

[0014] Determining the offset data of the current driving path according to the current driving path and the historical maximum activity area of ​​the electric wheelchair;

[0015] When the deviation data is greater than a preset deviation threshold, generating track deviation prompt information according to the current driving path and the deviation data;

[0016] The track deviation prompt information is sent to the current electric wheelchair and each client bound to the current electric wheelchair according to the identity information, so that the current electric wheelchair generates a track deviation voice prompt according to the track deviation prompt information; so that each client can visualize the track deviation prompt information.

[0017] Furthermore, it also includes:

[0018] Acquire the parameter information to be adjusted set by the user on the client; wherein the parameter information to be adjusted includes: identity information, target position information and target obstacle avoidance distance of the electric wheelchair to be adjusted;

[0019] Acquiring first current position information of the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted;

[0020] Generate a first to-be-traveled path according to first current position information and target position information of the electric wheelchair to be adjusted;

[0021] The first to-be-driven path and the target obstacle avoidance distance are sent to the to-be-driven electric wheelchair according to the identity information of the to-be-driven electric wheelchair, so that the to-be-driven electric wheelchair travels along the first to-be-driven path and detects obstacle information ahead during the driving process;

[0022] If there is an obstacle when traveling on the first path to be traveled, and the distance between the obstacle and the electric wheelchair to be adjusted is not greater than the target obstacle avoidance distance, obtaining the second current position information of the electric wheelchair to be adjusted, and generating an adjusted second path to be traveled according to the second current position information and the target position information;

[0023] The electric wheelchair to be adjusted is controlled to travel along the second path to be traveled, so that the electric wheelchair to be adjusted avoids the obstacle when traveling on the second path to be traveled.

[0024] Further, after obtaining the first current position information of the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted, the method further includes:

[0025] According to the identity information of the electric wheelchair to be adjusted, all historical travel paths of the electric wheelchair to be adjusted are obtained;

[0026] Inputting all historical driving paths of the electric wheelchair to be adjusted into the preference prediction model, so that the preference prediction model outputs each historical activity area of ​​the electric wheelchair to be adjusted and the driving preference of each historical activity area according to each historical driving path;

[0027] The step of generating a first to-be-traveled path according to the first current position information and the target position information of the electric wheelchair to be adjusted comprises:

[0028] According to the first current position information and the target position information of the electric wheelchair to be adjusted, a plurality of first driving paths to be decided are generated in combination with preset geographic map data;

[0029] The first to-be-decided driving path is outputted according to each historical activity area of ​​the electric wheelchair to be adjusted, the driving preference of each historical activity area, and each first to-be-decided driving path.

[0030] Furthermore, the construction of the preference prediction model includes:

[0031] Obtaining a historical driving path sequence of each electric wheelchair; wherein each historical driving path sequence includes a number of driving paths carrying timestamps;

[0032] For each electric wheelchair, construct an initial preference prediction model;

[0033] The current electric wheelchair-historical driving path sequence fragment is used as the input of the initial preference prediction model, and the activity area and the driving preference of the activity area corresponding to the current electric wheelchair-historical driving path sequence fragment are used as the output of the initial preference prediction model. The initial preference prediction model is iteratively trained until the initial preference prediction model converges to generate a preference prediction model.

[0034] Further, generating a second to-be-traveled path according to the second current position information and the target position information includes:

[0035] generating a plurality of second to-be-decided paths according to the second current location information, the target location information and the preset geographic map data;

[0036] Acquire path parameters of each second path to be decided; wherein the path parameters include: path length, path curvature and path slope;

[0037] A spatial rectangular coordinate system is established with the path length as the horizontal axis, the path curvature as the vertical axis, and the path slope as the vertical axis; wherein the horizontal axis and the vertical axis form a first coordinate plane, the horizontal axis and the vertical axis form a second coordinate plane, and the vertical axis and the vertical axis form a third coordinate plane;

[0038] For each second path to be decided, a first projection of the second path to be decided on the first coordinate plane is generated according to the path length and path curvature of the second path to be decided; a second projection of the second path to be decided on the second coordinate plane is generated according to the path length and path slope of the second path to be decided; a third projection of the second path to be decided on the third coordinate plane is generated according to the path curvature and path slope of the second path to be decided;

[0039] Superimposing the first projection, the second projection and the third projection of each second path to be decided to obtain the driving comfort of the second path to be decided;

[0040] The driving on the second to-be-decided route is determined according to the driving comfort of each second to-be-decided route.

[0041] Further, after obtaining the first current position information of the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted, the method further includes:

[0042] Determine the historical maximum activity area of ​​the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted;

[0043] Constructing a first three-dimensional geometric body in a spatial rectangular coordinate system according to the historical maximum activity area of ​​the electric wheelchair to be adjusted;

[0044] After the first projection, the second projection and the third projection of each second path to be decided are superimposed to obtain the driving comfort of the second path to be decided, the method further includes:

[0045] For each second path to be decided, construct a second three-dimensional geometric body in a spatial rectangular coordinate system according to the first projection, the second projection and the third projection;

[0046] Calculating the intersection area of ​​the first three-dimensional geometric body and the second three-dimensional geometric body, and determining the correlation between the second path to be decided and the historical activity area according to the intersection area;

[0047] The step of determining the second to-be-decided path for driving according to the driving comfort of each second to-be-decided path includes:

[0048] The driving of the second to-be-determined path is determined according to the driving comfort of each second to-be-determined path and the correlation between the second to-be-determined path and the historical activity area.

[0049] Further, determining the current operating state of the electric wheelchair according to the electrical parameters includes:

[0050] When there is no abnormality in the electrical parameters, the current running state of the electric wheelchair is a non-fault state;

[0051] When any electrical parameter is abnormal, the current operating state of the electric wheelchair is a fault state.

[0052] Furthermore, each of the electric wheelchairs comprises: a power supply, a left motor, a right motor, a left motor brake line, a right motor brake line, a controller and a joystick; wherein the controller comprises: an upper computer main control unit and a lower computer main control unit;

[0053] The power supply is respectively connected to the left motor, the right motor, the upper computer main control unit and the lower computer main control unit; the lower computer main control unit is respectively connected to the left motor, the right motor, the left motor brake line and the right motor brake line; the upper computer main control unit is respectively connected to the lower computer main control unit and the rocker;

[0054] The electrical parameters include:

[0055] The power supply voltage of the upper computer main control unit, the power supply voltage of the lower computer main control unit, the connection current between the upper computer main control unit and the lower computer main control unit, the voltage on the first side of the left motor, the voltage on the second side of the left motor, the current of the left motor, the voltage on the brake line of the left motor, the voltage on the first side of the right motor, the voltage on the second side of the right motor, the current of the right motor, the voltage on the brake line of the right motor, and the voltage on the joystick;

[0056] Determining the current fault type of the electric wheelchair according to the electrical parameters includes:

[0057] If the connection current between the upper computer main control unit and the lower computer main control unit is abnormal, the fault type is determined to be a controller fault;

[0058] If the power supply voltage of the host computer main control unit is abnormal or the power supply voltage of the host computer main control unit is abnormal, the fault type is power supply fault;

[0059] If the voltage on the first side of the left motor is abnormal or the voltage on the second side of the left motor is abnormal, the fault type is a left motor fault;

[0060] If the voltage on the first side of the right motor is abnormal or the voltage on the second side of the right motor is abnormal, the fault type is a right motor fault;

[0061] If the left motor current is abnormal or the right motor current is abnormal, the fault type is motor overcurrent fault; if the joystick voltage is abnormal, the fault type is joystick fault;

[0062] If the left motor brake line voltage is abnormal or the right motor brake line voltage is abnormal, the fault type is a brake fault.

[0063] Furthermore, the electric wheelchair further comprises: a display unit, a communication unit, a speaker and an alarm unit;

[0064] The host computer main control unit is connected to the display unit, the communication unit, the speaker and the alarm unit respectively;

[0065] The current electric wheelchair visualizes the operation data and the driving path, and generates an alarm text message according to the fault alarm information, including:

[0066] The current electric wheelchair receives operation data, driving path and fault warning information through the communication unit, and transmits the operation data, driving path and fault warning information to the upper computer main control unit, so that the upper computer main control unit sends the operation data and driving path to the display unit, and the operation data and driving path are visually displayed on the display unit;

[0067] Generate an alarm text message according to the fault alarm information, send the alarm text message to the alarm unit, and make the alarm unit transmit the alarm text message to each client bound to the current electric wheelchair;

[0068] Generate an alarm voice according to the fault alarm information, and play the alarm voice through a speaker.

[0069] Furthermore, after obtaining the identity information of each electric wheelchair, the method further includes:

[0070] For each electric wheelchair, a QR code is generated according to the identity information of the current electric wheelchair, and the generated QR code is sent to the current electric wheelchair, so that when the host computer main control unit of the current electric wheelchair receives the QR code, it will display the QR code through the display unit, so that each client can bind with the current electric wheelchair by scanning the QR code on the display unit.

[0071] Further, the circuit of the left motor includes: a left motor first side module circuit, a left motor second side module circuit and a left motor element; the circuit of the right motor includes: a right motor first side module circuit, a right motor second side module circuit and a right motor element;

[0072] The first end of the left motor element is connected to the first side module circuit of the left motor, and the second end of the left motor element is connected to the second side module circuit of the left motor;

[0073] The first end of the right motor element is connected to the first side module circuit of the right motor, and the second end of the right motor element is connected to the second side module circuit of the right motor.

[0074] Furthermore, the left motor first side module circuit comprises:

[0075] A first integrated circuit chip, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, a fifth capacitor, a sixth capacitor, a first diode, a first transistor, a second transistor and a first power supply; wherein the first integrated circuit chip comprises: a first low-side floating power input terminal, a first logic input terminal, a first enable signal terminal, a first low-side return terminal, a first high-side gate drive output terminal, a first high-side floating power input terminal, a first high-side gate floating power return terminal and a first low-side gate drive output terminal;

[0076] The circuit of the lower computer main control unit includes a first control chip, and the first control chip includes: a first output interface, a second output interface and a first input interface;

[0077] The first low-side floating power supply input terminal is connected to the first power supply;

[0078] The input end of the first diode is connected to the first power supply, the output end of the first diode is connected to the first end of the second capacitor, the first high-side floating power supply input end is connected to the output end of the first diode, and the second end of the second capacitor is connected to the first high-side gate floating power supply return end;

[0079] A first end of the first resistor is connected to the first output interface, and a second end of the first resistor is connected to the first logic input end;

[0080] A first end of the first capacitor is connected to the first power supply, a second end of the first capacitor is connected to the first end of the fourth capacitor, the first low-side return end is grounded, a first end of the fourth capacitor is connected to the input end of the second transistor, a second end of the fourth capacitor is connected to the second end of the second resistor, a first end of the second resistor is connected to the first low-side gate driver output end, a first output end of the second transistor is connected to the input end of the first transistor, and a second output end of the second transistor is connected to the second end of the fourth capacitor;

[0081] A first end of a fifth capacitor is connected to an input end of the second transistor, a second end of the fifth capacitor is connected to a first end of a fourth resistor, a first high-side gate floating power supply return end is connected to a first end of the fourth resistor, a first end of a left motor element is connected to a first end of the fourth resistor, a second end of the fourth resistor is connected to a first end of the fifth resistor, a first end of the fifth resistor is connected to a first end of a sixth resistor, a second end of the fifth resistor is connected to a first end of a sixth capacitor, a second end of the sixth capacitor is connected to the first input interface, and a second end of the sixth resistor is grounded;

[0082] The first enable signal terminal is connected to the second output interface;

[0083] The first high-side gate driving output terminal is connected to the first end of the third resistor, the second end of the third resistor is connected to the second output terminal of the first transistor, the second end of the third resistor is connected to the second end of the third capacitor, the first end of the third capacitor is connected to the first high-side gate floating power supply return terminal, the first end of the third capacitor is connected to the input terminal of the first transistor, and the first output terminal of the first transistor is connected to the first low-side floating power supply input terminal;

[0084] The step of obtaining the voltage on the first side of the left motor includes:

[0085] The voltage on the first side of the left motor is obtained through the first input interface.

[0086] Furthermore, the left motor second side module circuit comprises:

[0087] a second integrated circuit chip, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor, a seventh capacitor, an eighth capacitor, a ninth capacitor, a tenth capacitor, an eleventh capacitor, a twelfth capacitor, a second diode, a third transistor, a fourth transistor and a second power supply; wherein the second integrated circuit chip comprises: a second low-side floating power input terminal, a second logic input terminal, a second enable signal terminal, a second low-side return terminal, a second high-side gate driver output terminal, a second high-side floating power input terminal, a second high-side gate floating power return terminal and a second low-side gate driver output terminal;

[0088] The first control chip further includes: a third output interface, a fourth output interface and a second input interface;

[0089] The second low-side floating power supply input terminal is connected to the second power supply;

[0090] The input end of the second diode is connected to the second power supply, the output end of the second diode is connected to the first end of the eighth capacitor, the second high-side floating power supply input end is connected to the output end of the second diode, and the second end of the eighth capacitor is connected to the second high-side gate floating power supply return end;

[0091] A first end of the seventh resistor is connected to the third output interface, and a second end of the seventh resistor is connected to the second logic input end;

[0092] The first end of the seventh capacitor is connected to the second power supply, the second end of the seventh capacitor is connected to the first end of the tenth capacitor, the second low-side return end is grounded, the first end of the tenth capacitor is connected to the input end of the fourth transistor, the second end of the tenth capacitor is connected to the second end of the eighth resistor, the first end of the eighth resistor is connected to the second low-side gate driver output end, the first output end of the fourth transistor is connected to the input end of the third transistor, and the second output end of the fourth transistor is connected to the second end of the tenth capacitor;

[0093] A first end of an eleventh capacitor is connected to the input end of the fourth transistor, a second end of the eleventh capacitor is connected to the first end of the tenth resistor, a second high-side gate floating power supply return end is connected to the first end of the tenth resistor, a second end of the left motor element is connected to the first end of the tenth resistor, a second end of the tenth resistor is connected to the first end of the eleventh resistor, a first end of the eleventh resistor is connected to the first end of the twelfth resistor, a second end of the eleventh resistor is connected to the first end of the twelfth capacitor, a second end of the twelfth capacitor is connected to the second input interface, and a second end of the twelfth resistor is grounded;

[0094] The second enable signal terminal is connected to the fourth output interface;

[0095] The second high-side gate driving output terminal is connected to the first end of the ninth resistor, the second end of the ninth resistor is connected to the second output terminal of the third transistor, the second end of the ninth resistor is connected to the second end of the ninth capacitor, the first end of the ninth capacitor is connected to the second high-side gate floating power supply return terminal, the first end of the ninth capacitor is connected to the input terminal of the third transistor, and the first output terminal of the third transistor is connected to the second low-side floating power supply input terminal;

[0096] The step of obtaining the voltage on the second side of the left motor comprises:

[0097] The voltage on the second side of the left motor is obtained through the second input interface.

[0098] Furthermore, the right motor first side module circuit includes:

[0099] A third integrated circuit chip, a thirteenth resistor, a fourteenth resistor, a fifteenth resistor, a sixteenth resistor, a seventeenth resistor, an eighteenth resistor, a thirteenth capacitor, a fourteenth capacitor, a fifteenth capacitor, a sixteenth capacitor, a seventeenth capacitor, an eighteenth capacitor, a third diode, a fifth transistor, a sixth transistor and a third power supply; wherein the third integrated circuit chip comprises: a third low-side floating power input terminal, a third logic input terminal, a third enable signal terminal, a third low-side return terminal, a third high-side gate driver output terminal, a third high-side floating power input terminal, a third high-side gate floating power return terminal and a third low-side gate driver output terminal;

[0100] The first control chip further includes: a fifth output interface, a sixth output interface and a third input interface;

[0101] The third low-side floating power input terminal is connected to the third power supply;

[0102] The input end of the third diode is connected to the third power supply, the output end of the third diode is connected to the first end of the fourteenth capacitor, the third high-side floating power supply input end is connected to the output end of the third diode, and the second end of the fourteenth capacitor is connected to the third high-side gate floating power supply return end;

[0103] A first end of the thirteenth resistor is connected to the fifth output interface, and a second end of the thirteenth resistor is connected to the third logic input end;

[0104] A first end of a thirteenth capacitor is connected to a third power supply, a second end of the thirteenth capacitor is connected to a first end of a sixteenth capacitor, a third low-side return end is grounded, a first end of the sixteenth capacitor is connected to an input end of a sixth transistor, a second end of the sixteenth capacitor is connected to a second end of a fourteenth resistor, a first end of the fourteenth resistor is connected to a third low-side gate driver output end, a first output end of the sixth transistor is connected to an input end of the fifth transistor, and a second output end of the sixth transistor is connected to a second end of the sixteenth capacitor;

[0105] A first end of a seventeenth capacitor is connected to the input end of the sixth transistor, a second end of the seventeenth capacitor is connected to a first end of a sixteenth resistor, a third high-side gate floating power supply return end is connected to a first end of the sixteenth resistor, a first end of a right motor element is connected to a first end of the sixteenth resistor, a second end of the sixteenth resistor is connected to a first end of the seventeenth resistor, a first end of the seventeenth resistor is connected to a first end of an eighteenth resistor, a second end of the seventeenth resistor is connected to a first end of an eighteenth capacitor, a second end of the eighteenth capacitor is connected to the third input interface, and a second end of the eighteenth resistor is grounded;

[0106] The third enable signal terminal is connected to the sixth output interface;

[0107] The third high-side gate driving output terminal is connected to the first end of the fifteenth resistor, the second end of the fifteenth resistor is connected to the second output end of the fifth transistor, the second end of the fifteenth resistor is connected to the second end of the fifteenth capacitor, the first end of the fifteenth capacitor is connected to the third high-side gate floating power supply return terminal, the first end of the fifteenth capacitor is connected to the input end of the fifth transistor, and the first output end of the fifth transistor is connected to the third low-side floating power supply input terminal;

[0108] The step of obtaining the voltage on the first side of the right motor includes:

[0109] The voltage on the first side of the right motor is obtained through the third input interface.

[0110] Furthermore, the right motor second side module circuit includes:

[0111] a fourth integrated circuit chip, a nineteenth resistor, a twentieth resistor, a twenty-first resistor, a twenty-second resistor, a twenty-third resistor, a twenty-fourth resistor, a nineteenth capacitor, a twentieth capacitor, a twenty-first capacitor, a twenty-second capacitor, a twenty-third capacitor, a twenty-fourth capacitor, a fourth diode, a seventh transistor, an eighth transistor and a fourth power supply; wherein the fourth integrated circuit chip comprises: a fourth low-side floating power input terminal, a fourth logic input terminal, a fourth enable signal terminal, a fourth low-side return terminal, a fourth high-side gate driver output terminal, a fourth high-side floating power input terminal, a fourth high-side gate floating power return terminal and a fourth low-side gate driver output terminal;

[0112] The first control chip further includes: a seventh output interface, an eighth output interface and a fourth input interface;

[0113] The fourth low-side floating power input terminal is connected to a fourth power supply;

[0114] The input end of the fourth diode is connected to the fourth power supply, the output end of the fourth diode is connected to the first end of the twentieth capacitor, the fourth high-side floating power supply input end is connected to the output end of the fourth diode, and the second end of the twentieth capacitor is connected to the fourth high-side gate floating power supply return end;

[0115] A first end of a nineteenth resistor is connected to the seventh output interface, and a second end of the nineteenth resistor is connected to the fourth logic input end;

[0116] A first end of a nineteenth capacitor is connected to a fourth power supply, a second end of the nineteenth capacitor is connected to a first end of a twenty-second capacitor, a fourth low-side return end is grounded, a first end of the twenty-second capacitor is connected to an input end of the eighth transistor, a second end of the twenty-second capacitor is connected to a second end of a twentieth resistor, a first end of the twentieth resistor is connected to a fourth low-side gate driver output end, a first output end of the eighth transistor is connected to an input end of the seventh transistor, and a second output end of the eighth transistor is connected to a second end of the twenty-second capacitor;

[0117] A first end of a twenty-third capacitor is connected to the input end of the eighth transistor, a second end of the twenty-third capacitor is connected to the first end of a twenty-second resistor, a fourth high-side gate floating power supply return end is connected to the first end of the twenty-second resistor, a second end of the right motor element is connected to the first end of the twenty-second resistor, a second end of the twenty-second resistor is connected to the first end of the twenty-third resistor, a first end of the twenty-third resistor is connected to the first end of the twenty-fourth resistor, a second end of the twenty-third resistor is connected to the first end of the twenty-fourth capacitor, a second end of the twenty-fourth capacitor is connected to the fourth input interface, and a second end of the twenty-fourth resistor is grounded;

[0118] The fourth enable signal terminal is connected to the eighth output interface;

[0119] The fourth high-side gate driving output terminal is connected to the first end of the twenty-first resistor, the second end of the twenty-first resistor is connected to the second output end of the seventh transistor, the second end of the twenty-first resistor is connected to the second end of the twenty-first capacitor, the first end of the twenty-first capacitor is connected to the fourth high-side gate floating power supply return terminal, the first end of the twenty-first capacitor is connected to the input end of the seventh transistor, and the first output end of the seventh transistor is connected to the fourth low-side floating power supply input terminal;

[0120] The step of obtaining the voltage on the second side of the right motor comprises:

[0121] The voltage on the second side of the right motor is obtained through the fourth input interface.

[0122] Furthermore, the circuit of the brake line includes:

[0123] A twenty-fifth resistor, a twenty-sixth resistor, a twenty-seventh resistor, a twenty-eighth resistor, a twenty-ninth resistor, a left motor brake line interface, a right motor brake line interface, a twenty-fifth capacitor and a fifth power supply;

[0124] The first control chip further includes: a fifth input interface;

[0125] The first end of the 25th resistor is connected to the fifth power supply, the second end of the 25th resistor is connected to the right motor brake line interface, the second end of the 25th resistor is connected to the first end of the 26th resistor, the second end of the 26th resistor is connected to the first end of the 27th resistor, the second end of the 27th resistor is connected to the fifth input interface, and the right motor brake line interface is connected to the right motor;

[0126] The first end of the twenty-eighth resistor is connected to the fifth power supply, the second end of the twenty-eighth resistor is connected to the left motor brake line interface, the second end of the twenty-eighth resistor is connected to the first end of the twenty-ninth resistor, and the second end of the twenty-ninth resistor is connected to the first end of the twenty-seventh resistor; the first end of the twenty-fifth capacitor is connected to the second end of the twenty-ninth resistor, and the second end of the twenty-fifth capacitor is connected to the fifth input interface;

[0127] The step of obtaining the right motor brake line voltage and the left motor brake line voltage includes:

[0128] The right motor brake line voltage and the left motor brake line voltage are obtained through the fifth input interface.

[0129] Furthermore, the circuit of the joystick includes:

[0130] A joystick control chip, a 30th resistor, a 31st resistor, a 32nd resistor, a 33rd resistor, a 26th capacitor, a 27th capacitor and a 6th power supply; wherein the joystick control chip includes: a joystick X-axis interface, a joystick Y-axis interface, a joystick power interface and a joystick ground interface;

[0131] The circuit of the host computer main control unit includes a second control chip; wherein the second control chip includes a sixth input interface and a seventh input interface;

[0132] The rocker X-axis interface is connected to the first end of the 30th resistor, the second end of the 30th resistor is connected to the first end of the 31st resistor, the first end of the 31st resistor is connected to the first end of the 26th capacitor, the second end of the 31st resistor is connected to the sixth input interface, and the second end of the 26th capacitor is connected to the second end of the 31st resistor;

[0133] The joystick Y-axis interface is connected to the first end of the thirty-second resistor, the second end of the thirty-second resistor is connected to the first end of the thirty-third resistor, the first end of the thirty-third resistor is connected to the first end of the twenty-seventh capacitor, the second end of the thirty-third resistor is connected to the seventh input interface, and the second end of the twenty-seventh capacitor is connected to the second end of the thirty-third resistor;

[0134] The rocker power interface is connected to a sixth power source;

[0135] The joystick ground interface is grounded;

[0136] The step of obtaining the rocker voltage includes:

[0137] The joystick X-axis voltage is obtained through the sixth input interface, and the joystick Y-axis voltage is obtained through the seventh input interface.

[0138] Furthermore, the power supply circuit of the lower computer main control unit includes:

[0139] A thirty-fourth resistor, a thirty-fifth resistor, a twenty-eighth capacitor and a seventh power supply;

[0140] The first control chip further includes: an eighth input interface;

[0141] The first end of the thirty-fourth resistor is connected to the eighth input interface, the first end of the thirty-fourth resistor is connected to the first end of the thirty-fifth resistor, the second end of the thirty-fourth resistor is connected to the first end of the twenty-eighth capacitor, the second end of the twenty-eighth capacitor is connected to the first end of the thirty-fifth resistor, the first end of the twenty-eighth capacitor is grounded, and the second end of the thirty-fifth resistor is grounded;

[0142] The obtaining of the power supply voltage of the main control unit of the lower computer includes:

[0143] The power supply voltage of the main control unit of the lower computer is obtained through the eighth input interface.

[0144] Furthermore, the power supply circuit of the host computer main control unit includes:

[0145] A thirty-sixth resistor, a thirty-seventh resistor, a twenty-ninth capacitor and an eighth power supply;

[0146] The second control chip further includes: a ninth input interface;

[0147] The first end of the thirty-sixth resistor is connected to the eighth power supply, the second end of the thirty-sixth resistor is connected to the ninth input interface, the first end of the thirty-seventh resistor is connected to the ninth input interface, the second end of the thirty-seventh resistor is grounded, the first end of the twenty-ninth capacitor is connected to the ninth input interface, and the second end of the twenty-ninth capacitor is connected to the second end of the thirty-seventh resistor;

[0148] The obtaining of the power supply voltage of the host computer main control unit comprises:

[0149] The power supply voltage of the host computer main control unit is obtained through the ninth input interface.

[0150] Another embodiment of the present invention provides a cloud server, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, an electric wheelchair control method described in the above-mentioned embodiment of the invention is implemented.

[0151] Based on the above method embodiment, the present invention provides a corresponding system embodiment;

[0152] An embodiment of the present invention provides an electric wheelchair control system, including: a plurality of electric wheelchairs, a cloud server and a plurality of clients;

[0153] The cloud server is used to: obtain the operation data and identity information of each electric wheelchair in real time; wherein the operation data includes: position information, speed information and electrical parameters; for each electric wheelchair, generate the speed curve of the current electric wheelchair according to the speed information, and generate the driving path of the current electric wheelchair according to the speed curve and the position information; determine the operation state of the current electric wheelchair according to the electrical parameters; wherein the operation state includes: non-fault state and fault state; when the current electric wheelchair is in a fault state, determine the fault type of the current electric wheelchair according to the electrical parameters, and then generate fault alarm information according to the fault type; send the operation data, driving path and fault alarm information to the current electric wheelchair and each client bound to the current electric wheelchair according to the identity information; when the current electric wheelchair is in a non-fault state, send the operation data and driving path to the current electric wheelchair and each client according to the identity information;

[0154] Each of the electric wheelchairs is used to visualize the operating data and the driving path when the operating data and the driving path are received, and to generate a warning text message and a warning voice according to the fault warning information when the fault warning information is received;

[0155] Each of the clients is used to visualize the operating data, driving route and fault warning information when receiving the operating data, driving route and fault warning information.

[0156] The following beneficial effects are achieved by implementing the present invention:

[0157] The present invention provides an electric wheelchair control method, a cloud server and an electric wheelchair control system. The control method obtains the position information, speed information, electrical parameters and identity information of each electric wheelchair in real time, and then generates a speed curve according to the speed information of each electric wheelchair, generates the driving path of the electric wheelchair according to the speed curve and the position information, and sends the operation data and driving path of each electric wheelchair to the electric wheelchair and each client bound to the electric wheelchair according to the identity information for visual display, so that the electric wheelchair user and the associated client can intuitively and clearly obtain the information of the electric wheelchair. Furthermore, after obtaining the electrical parameters of the electric wheelchair, the operation state of the electric wheelchair is judged based on the electrical parameters. When the operation state is a fault state, the fault type of the electric wheelchair is further determined according to the electrical parameters, and the fault alarm information is generated according to the fault type and sent to the electric wheelchair and the client bound to the electric wheelchair, so that the electric wheelchair user and the associated client can timely grasp the fault information of the electric wheelchair, timely inspect and maintain the electric wheelchair, and improve the safety of using the electric wheelchair. BRIEF DESCRIPTION OF THE DRAWINGS

[0158] Figure 1 It is a first flow chart of an electric wheelchair control method provided by one embodiment of the present invention.

[0159] Figure 2 It is a schematic diagram of the structure of an electric wheelchair provided by one embodiment of the present invention.

[0160] Figure 3 This is a circuit diagram of a left motor provided by an embodiment of the present invention.

[0161] Figure 4 This is a circuit diagram of a lower computer main control unit provided by an embodiment of the present invention.

[0162] Figure 5 This is a circuit diagram of a right motor provided by an embodiment of the present invention.

[0163] Figure 6 4 is a circuit diagram of a brake line provided by an embodiment of the present invention.

[0164] Figure 7 4 is a circuit diagram of a joystick provided in accordance with an embodiment of the present invention.

[0165] Figure 8 The present invention provides a circuit diagram of a host computer main control unit according to an embodiment of the present invention.

[0166] Fig. 9 1 is a second flow chart of an electric wheelchair control method provided by an embodiment of the present invention.

[0167] Fig.10 It is a third flow chart of an electric wheelchair control method provided by an embodiment of the present invention.

[0168] Fig.11 It is a structural schematic diagram of an electric wheelchair control system provided by one embodiment of the present invention.

[0169] Description of the accompanying drawings:

[0170] Power supply 101, left motor 102, right motor 103, left motor brake line 104, right motor brake line 105, controller 106, joystick 107, upper computer main control unit 108, lower computer main control unit 109, display unit 110, communication unit 111, speaker 112, alarm unit 113. DETAILED DESCRIPTION

[0171] 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.

[0172] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0173] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0174] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0175] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0176] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0177] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0178] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0179] like Figure 1 As shown, a method for controlling an electric wheelchair provided by an embodiment of the present invention includes:

[0180] Step S1: acquiring the operation data and identity information of each electric wheelchair in real time; wherein the operation data includes: position information, speed information and electrical parameters;

[0181] Step S2: for each electric wheelchair, generating a speed curve of the current electric wheelchair according to the speed information, and generating a travel path of the current electric wheelchair according to the speed curve and the position information;

[0182] Step S3: determining the current operating state of the electric wheelchair according to the electrical parameters; wherein the operating state includes: a non-fault state and a fault state;

[0183] Step S4: when the current electric wheelchair is in a fault state, determining the fault type of the current electric wheelchair according to the electrical parameters, and then generating fault alarm information according to the fault type;

[0184] Step S5: The operating data, driving path and fault alarm information are sent to the current electric wheelchair and each client bound to the current electric wheelchair according to the identity information, so that the current electric wheelchair can visualize the operating data and driving path, and generate an alarm text message and alarm voice according to the fault alarm information; so that each client can visualize the operating data, driving path and fault alarm information.

[0185] Step S6: When the current electric wheelchair is in a normal state, the operation data and the driving path are sent to the current electric wheelchair and each client according to the identity information, so that the current electric wheelchair and each client can visualize the operation data and the driving path.

[0186] For step S1, the cloud server obtains the position information, speed information, electrical parameters and other operating data of each electric wheelchair and the identity information of each electric wheelchair in real time. The identity information of each electric wheelchair is the ID of the electric wheelchair, which is unique. The identity information is generated according to the serial number carried by the electric wheelchair when it is produced. For the operating data obtained in real time, after obtaining any operating data, the cloud server adds a timestamp to the operating data according to the acquisition time to distinguish the operating data obtained at different times.

[0187] For step S2, for each electric wheelchair, if the speed of the electric wheelchair is not 0, that is, the electric wheelchair is in motion, based on this principle, if the speed of the electric wheelchair increases from 0 to a value greater than 0, it is considered that the electric wheelchair is started and in an accelerating state at this time, and if the speed of the electric wheelchair decreases from a value greater than 0 to 0, it is considered that the electric wheelchair is in a decelerating state at this time, and the electric wheelchair stops moving when it decreases to 0. Then, the speed information and corresponding timestamps in the motion interval from the speed of the electric wheelchair increasing from 0 to a value greater than 0 to the speed of the electric wheelchair decreasing from a value greater than 0 to 0 can generate a corresponding speed curve. The speed curve can be used to monitor the speed of the electric wheelchair at each timestamp.

[0188] Furthermore, while the electric wheelchair generates speed information in the movement interval, since the electric wheelchair is in a non-stationary state, the position information of the electric wheelchair changes with the movement process, and the initial driving path of the electric wheelchair can be determined based on the position information of the electric wheelchair in the movement interval. In order to observe the driving speed of the electric wheelchair in each section on the initial driving path, the speed curve is superimposed on the initial driving path to reconstruct a driving path carrying speed information.

[0189] For step S3, for each electric wheelchair, it is possible to determine whether the current electric wheelchair is in a fault state based on the acquired electrical parameters, that is, to determine whether the current operating state of the electric wheelchair is a fault state or a non-fault state.

[0190] Specifically, in a preferred embodiment, determining the current operating state of the electric wheelchair based on electrical parameters includes: when there is no abnormality in all electrical parameters, the current operating state of the electric wheelchair is a non-fault state; when any electrical parameter is abnormal, the current operating state of the electric wheelchair is a fault state.

[0191] For step S4 and step S5, for each electric wheelchair, when the current electric wheelchair is in a faulty state, the fault type of the electric wheelchair is further determined based on the electrical parameters, so as to accurately locate the fault of the electric wheelchair in the faulty state. Fault warning information is then generated based on the specific fault type. With the identity information of the current electric wheelchair as an index, the position information, speed information, electrical parameters, driving path and fault warning information including the fault type of the current electric wheelchair are sent to the current electric wheelchair and each client bound to the current electric wheelchair.

[0192] When the current electric wheelchair receives the position information, speed information, electrical parameters and driving path, it displays the received information visually. When it receives the fault warning information, it generates the warning voice and warning SMS according to the fault warning information, and sends the generated warning SMS to each client bound to the current electric wheelchair. For each client bound to the current electric wheelchair, when it receives the position information, speed information, electrical parameters, driving path and fault warning information, it displays the received information visually.

[0193] For step S6, for each electric wheelchair, when the current electric wheelchair is in a non-faulty state, the identity information of the current electric wheelchair is used as an index to directly send the driving path, position information, speed information and electrical parameters of the current electric wheelchair to the current electric wheelchair and each client bound to the current electric wheelchair.

[0194] After receiving the driving path, position information, speed information and electrical parameters, the current electric wheelchair and each client bound to the current electric wheelchair perform a visual display of the received information.

[0195] In a preferred embodiment, each of the electric wheelchairs comprises: a power supply 101, a left motor 102, a right motor 103, a left motor brake line 104, a right motor brake line 105, a controller 106 and a joystick 107; wherein the controller 106 comprises an upper computer main control unit 108 and a lower computer main control unit 109; the power supply 101 is respectively connected to the left motor 102, the right motor 103, the upper computer main control unit 108 and the lower computer main control unit 109; the lower computer main control unit 109 is respectively connected to the left motor 102, the right motor 103, the left motor brake line 104 and the right motor brake line 105; the upper computer main control unit 108 is respectively connected to the lower computer main control unit 109 and the joystick 107;

[0196] The electrical parameters include: the power supply voltage of the upper computer main control unit, the power supply voltage of the lower computer main control unit, the connection current of the upper computer main control unit and the lower computer main control unit, the left motor first side voltage, the left motor second side voltage, the left motor current, the left motor brake line voltage, the right motor first side voltage, the right motor second side voltage, the right motor current, the right motor brake line voltage and the rocker voltage;

[0197] The method of determining the current fault type of the electric wheelchair according to the electrical parameters includes: if the connection current between the upper computer main control unit and the lower computer main control unit is abnormal, the fault type is determined to be a controller 106 fault; if the power supply voltage of the upper computer main control unit is abnormal or the power supply voltage of the lower computer main control unit is abnormal, the fault type is a power supply 101 fault; if the voltage on the first side of the left motor is abnormal or the voltage on the second side of the left motor is abnormal, the fault type is a left motor 102 fault; if the voltage on the first side of the right motor is abnormal or the voltage on the second side of the right motor is abnormal, the fault type is a right motor 103 fault; if the left motor current is abnormal or the right motor current is abnormal, the fault type is a motor overcurrent fault; if the rocker voltage is abnormal, the fault type is a rocker 107 fault; if the left motor brake line voltage is abnormal or the right motor brake line voltage is abnormal, the fault type is a brake fault.

[0198] Specifically, Figure 2As shown, each electric wheelchair includes: a power supply 101, a left motor 102, a right motor 103, a left motor brake line 104, a right motor brake line 105, a controller 106 and a joystick 107, wherein the controller 106 includes an upper computer main control unit 108 and a lower computer main control unit 109. The upper computer main control unit 108 is provided with a UART (Universal Asynchronous Receiver / Transmitter) communication interface, and the upper computer main control unit 108 is connected to the lower computer main control unit 109 through the UART communication connection. The upper computer main control unit 108 is connected to the power supply 101 and the joystick 107 through a GPIO (Genera lPurpose I nput / Output) interface. The lower computer main control unit 109 is respectively connected to the power supply 101 , the left motor 102 , the right motor 103 , the left motor brake line 104 and the right motor brake line 105 ; the left motor 102 and the right motor 103 are respectively connected to the power supply 101 .

[0199] Based on the above structure, the electrical parameters that can be obtained include: the power supply voltage of the upper computer main control unit, the power supply voltage of the lower computer main control unit, the connection current between the upper computer main control unit and the lower computer main control unit, the left motor first side voltage, the left motor second side voltage, the left motor current, the left motor brake line voltage, the right motor first side voltage, the right motor second side voltage, the right motor current, the right motor brake line voltage and the joystick voltage.

[0200] When there is no abnormality in the above electrical parameters, the electric wheelchair is considered to be in a normal state. When there is an abnormality in any electrical parameter, the electric wheelchair is considered to be abnormal, and the fault type is determined based on the abnormal electrical parameter.

[0201] Specifically, if the connection current between the upper computer main control unit and the lower computer main control unit exceeds the preset connection current range, it is considered that the connection current is abnormal, and the fault type is determined to be a controller fault. Preferably, in addition to detecting the connection current data, the controller fault can also be determined by detecting the communication connection between the upper computer main control unit and the lower computer main control unit. If the communication between the upper computer main control unit and the lower computer main control unit is abnormal, it is considered that the controller is faulty, and the fault type is a controller 106 fault.

[0202] If the host computer main control unit 108 detects that the power supply voltage exceeds the preset power supply voltage range, it is considered that the power supply 101 is abnormal, and the fault type is power supply fault. If the lower computer main control unit 109 detects that the power supply voltage exceeds the preset power supply voltage range, it is considered that the power supply 101 is abnormal, and the fault type is power supply fault. If the voltage on the first side of the left motor 102 exceeds the preset motor voltage range or the voltage on the second side of the left motor 102 exceeds the preset motor voltage range, it is considered that the left motor 102 is abnormal, and the fault type is left motor fault. If the voltage on the first side of the right motor 103 exceeds the preset motor voltage range or the voltage on the second side of the right motor 103 exceeds the preset motor voltage range, it is considered that the right motor 103 is abnormal, and the fault type is right motor fault. If the left motor current exceeds the preset motor current range or the right motor current exceeds the preset motor current range, it is considered that the left motor 102 or the right motor 103 has an overcurrent condition, and the fault type is motor overcurrent fault. If the rocker voltage exceeds the preset rocker voltage range, it is considered that the rocker 107 is faulty, and the corresponding fault type is rocker fault. If the left motor brake line voltage exceeds the preset brake line voltage range or the right motor brake line voltage exceeds the preset brake line voltage range, it is considered that the left motor brake line 104 or the right motor brake line 105 is abnormal, and the fault type is a brake fault. Among them, the above-mentioned preset connection current range, preset power supply voltage range, preset motor voltage range, preset motor current range, preset rocker voltage range and preset brake line voltage range can be specifically limited according to actual scenarios, and the specific values ​​are not limited in the present invention.

[0203] By judging each electrical parameter separately, when there is a fault in the electric wheelchair, one or more fault types can be quickly located, and when the fault alarm information containing the fault type is sent to the electric wheelchair and each client bound to the electric wheelchair, the fault data of the electric wheelchair can be accurately and comprehensively fed back, which is conducive to the electric wheelchair user to stop using the electric wheelchair in time according to the fault alarm information, so that the users of each client bound to the electric wheelchair can send the electric wheelchair for inspection and repair in time according to the fault alarm information, thereby ensuring the safety of the electric wheelchair during use. In addition, the specific fault type is fed back to the maintenance engineer of the electric wheelchair during the inspection process, which can facilitate the engineer to quickly locate the fault point and help improve the maintenance efficiency of the electric wheelchair.

[0204] In a preferred embodiment, the electric wheelchair further comprises: a display unit 110, a communication unit 111, a speaker 112 and an alarm unit 113; the host computer main control unit 108 is connected to the display unit 110, the communication unit 111, the speaker 112 and the alarm unit 113 respectively;

[0205] The current electric wheelchair displays the operation data and the driving path visually, and generates an alarm text message according to the fault alarm information, including: the current electric wheelchair receives the operation data, the driving path and the fault alarm information through the communication unit 111, and transmits the operation data, the driving path and the fault alarm information to the upper computer main control unit 108, so that the upper computer main control unit 108 sends the operation data and the driving path to the display unit 110, and displays the operation data and the driving path visually on the display unit 110; generates an alarm text message according to the fault alarm information, sends the alarm text message to the alarm unit 113, so that the alarm unit 113 transmits the alarm text message to each client bound to the current electric wheelchair; generates an alarm voice according to the fault alarm information, and plays the alarm voice through the speaker 112.

[0206] Specifically, Figure 2 As shown, each electric wheelchair also includes a display unit 110, a communication unit 111, a speaker 112 and an alarm unit 113. The host computer main control unit 108 is connected to the speaker 112 and the alarm unit 113 respectively through the GPIO interface, and the host computer main control unit 108 is connected to the display unit 110 and the communication unit 111 respectively through the UART communication connection. For each electric wheelchair, the operation data, driving path and fault alarm information sent by the cloud server are received through the communication unit 111, and the position information, speed information, electrical parameters, driving path and fault alarm information in the operation data are transmitted to the host computer main control unit 108 through the UART connection. The host computer main control unit 108 transmits the position information, speed information, electrical parameters and driving path to the display unit 110, and displays them visually on the screen of the display unit 110. The host computer main control unit 108 generates an alarm voice and an alarm text message containing the fault type according to the fault alarm information, and sends the alarm text message to the alarm unit 113, which sends the alarm text message to each client bound to the current electric wheelchair. The alarm voice is played through the speaker 112.

[0207] By means of voice broadcast, the electric wheelchair user can be informed of the fault type of the electric wheelchair in a timely and clear manner when a fault occurs in the electric wheelchair. By sending alarm text messages to each bound client, the electric wheelchair user can be notified in a timely and accurate manner, and the electric wheelchair can be sent for inspection and maintenance in a timely manner.

[0208] Preferably, the communication unit 111 includes a Bluetooth antenna, a 4G antenna and a GPS antenna, and can support Bluetooth connection and 4G communication connection, and can obtain 4G signal strength through the 4G antenna, obtain GPS signal strength through the GPS antenna, and transmit the 4G signal strength and GPS signal strength to the host computer main control unit 108, and then transmit them to the display unit 110, and visualize them on the display screen of the display unit 110. The display unit 110 can be a TFT display unit or an LED display unit. The host computer main control unit 108 transmits information to the display unit, and visualizes data with different layouts according to the TFT display unit or the LED display unit. In addition, the host computer main control unit 108 can obtain the power information of the power supply and visualize the power information through the display unit 110, so that the electric wheelchair user can monitor the power information of the electric wheelchair in time.

[0209] The display unit 110 also includes a breathing light, which is divided into two blocks. The first block of the breathing light is used to display different colors according to the different speeds of the electric wheelchair. For example, when the speed is lower than 4.0 km / h, the first block of the breathing light displays green; when the speed is higher than 6.0 km / h, the first block of the breathing light displays red; when the speed is between 4.0 km / h and 6.0 km / h, the first block of the breathing light displays yellow. The second block of the breathing light is used to display different colors according to the battery level of the electric wheelchair. For example, when the battery level is less than 20%, the second block of the breathing light displays red; when the battery level is between 20% and 39%, the second block of the breathing light displays yellow; when the battery level is greater than 40%, the second block of the breathing light displays green.

[0210] When the speaker 112 is making voice announcements, the announcement voice can be personalized in the client bound to the current electric wheelchair, and male voice announcement, female voice announcement or general prompt tone announcement can be selected. In addition to the announcement of fault alarm information, the reminder tone and reminder time for taking medicine can also be set in the client bound to the current electric wheelchair.

[0211] In a preferred embodiment, after obtaining the identity information of each electric wheelchair, it also includes: for each electric wheelchair, a QR code is generated according to the identity information of the current electric wheelchair, and the generated QR code is sent to the current electric wheelchair, so that when the host computer main control unit of the current electric wheelchair receives the QR code, the QR code is displayed through the display unit, so that each client can bind with the current electric wheelchair by scanning the QR code on the display unit.

[0212] Specifically, in the cloud server, a QR code (Quick Response Code) uniquely corresponding to the identity information is generated according to the identity information of each electric wheelchair, that is, a two-dimensional code carrying the identity information. The generated QR code is transmitted to the corresponding electric wheelchair according to the identity information of each electric wheelchair, and is visually displayed on the display unit 110 of the electric wheelchair. Each client can bind to the electric wheelchair through the electric wheelchair applet or APP on the client by scanning the QR code on the display unit 110. Each client can bind to multiple electric wheelchairs, and each electric wheelchair can also be bound by multiple clients.

[0213] By generating a QR code and displaying it visually, convenient binding between the client and the electric wheelchair can be achieved. After the electric wheelchair and the client establish a binding relationship, the data of the electric wheelchair and the client can be synchronized, improving the intelligence and convenience of the management and use of the electric wheelchair.

[0214] In a preferred embodiment, the circuit of the left motor 102 includes: a left motor first side module circuit, a left motor second side module circuit and a left motor element; the circuit of the right motor 103 includes: a right motor first side module circuit, a right motor second side module circuit and a right motor element; the first end of the left motor element is connected to the left motor first side module circuit, and the second end of the left motor element is connected to the left motor second side module circuit; the first end of the right motor element is connected to the right motor first side module circuit, and the second end of the right motor element is connected to the right motor second side module circuit.

[0215] In a preferred embodiment, Figure 3 As shown, the left motor first side module circuit includes:

[0216] A first integrated circuit chip IC6, a first resistor R21, a second resistor R48, a third resistor R49, a fourth resistor R56, a fifth resistor R22, a sixth resistor R65, a first capacitor C2, a second capacitor C6, a third capacitor C10, a fourth capacitor C11, a fifth capacitor C1, a sixth capacitor C12, a first diode D4, a first transistor LMOS6, a second transistor LMOS5 and a first power supply; wherein the first power supply is a 12V power supply, and the first integrated circuit chip is an IR2184S chip, including: a first low-side floating power input terminal VCC_1, a first logic input terminal I N_1, a first enable signal terminal SD_1, a first low-side return terminal COM_1, a first high-side gate driver output terminal HO_1, a first high-side floating power input terminal VB_1, a first high-side gate floating power return terminal VS_1 and a first low-side gate driver output terminal LO_1;

[0217] like Figure 4As shown, the circuit of the lower computer main control unit 109 includes a first control chip U3, and the first control chip U3 includes: a first output interface PC7, a second output interface LCS2 and a first input interface PA1;

[0218] The first low-side floating power input terminal VCC_1 is connected to the first power supply;

[0219] The input end of the first diode D4 is connected to the first power supply, the output end of the first diode D4 is connected to the first end of the second capacitor C6, the first high-side floating power supply input end VB_1 is connected to the output end of the first diode D4, and the second end of the second capacitor C6 is connected to the first high-side gate floating power supply return end VS_1;

[0220] A first end of the first resistor R21 is connected to the first output interface PC7, and a second end of the first resistor R21 is connected to the first logic input terminal I N_1;

[0221] A first end of the first capacitor C2 is connected to the first power supply, a second end of the first capacitor C2 is connected to a first end of the fourth capacitor C11, the first low-side return terminal COM_1 is grounded, a first end of the fourth capacitor C11 is connected to an input end of the second transistor LMOS5, a second end of the fourth capacitor C11 is connected to a second end of the second resistor R48, a first end of the second resistor R48 is connected to a first low-side gate drive output terminal LO_1, a first output end of the second transistor LMOS5 is connected to an input end of the first transistor LMOS6, and a second output end of the second transistor LMOS5 is connected to a second end of the fourth capacitor C11;

[0222] A first end of the fifth capacitor C1 is connected to the input end of the second transistor LMOS5, a second end of the fifth capacitor C1 is connected to a first end of the fourth resistor R56, a first high-side gate floating power supply return end VS_1 is connected to a first end of the fourth resistor R56, a first end (P end) of the left motor element is connected to a first end of the fourth resistor R56, a second end of the fourth resistor R56 is connected to a first end of the fifth resistor R22, a first end of the fifth resistor R22 is connected to a first end of the sixth resistor R65, a second end of the fifth resistor R22 is connected to a first end of the sixth capacitor C12, a second end of the sixth capacitor C12 is connected to the first input interface PA1, and a second end of the sixth resistor R65 is grounded;

[0223] The first enable signal terminal SD_1 is connected to the second output interface LCS2;

[0224] The first high-side gate driving output terminal HO_1 is connected to the first end of the third resistor R49, the second end of the third resistor R49 is connected to the second output end of the first transistor LMOS6, the second end of the third resistor R49 is connected to the second end of the third capacitor C10, the first end of the third capacitor C10 is connected to the first high-side gate floating power supply return terminal VS_1, the first end of the third capacitor C10 is connected to the input end of the first transistor LMOS6, and the first output end of the first transistor LMOS6 is connected to the first low-side floating power supply input terminal VCC_1;

[0225] The step of obtaining the voltage on the first side of the left motor includes:

[0226] The lower computer main control unit 109 obtains the first side voltage of the left motor through the first input interface PA1 on the first control chip U3.

[0227] In a preferred embodiment, Figure 3 As shown, the left motor second side module circuit includes:

[0228] a second integrated circuit chip IC4, a seventh resistor R26, an eighth resistor R50, a ninth resistor R47, a tenth resistor R58, an eleventh resistor R28, a twelfth resistor R66, a seventh capacitor C3, an eighth capacitor C7, a ninth capacitor C13, a tenth capacitor C16, an eleventh capacitor C4, a twelfth capacitor C18, a second diode D3, a third transistor LMOS7, a fourth transistor LMOS8 and a second power supply; wherein the second power supply is a 12V power supply, and the second integrated circuit chip is an IR2184S chip, including: a second low-side floating power input terminal VCC_2, a second logic input terminal I N_2, a second enable signal terminal SD_2, a second low-side return terminal COM_2, a second high-side gate driver output terminal HO_2, a second high-side floating power input terminal VB_2, a second high-side gate floating power return terminal VS_2 and a second low-side gate driver output terminal LO_2;

[0229] The first control chip U3 also includes: a third output interface PC6, a fourth output interface LCS1 and a second input interface PA0;

[0230] The second low-side floating power input terminal VCC_2 is connected to the second power supply;

[0231] The input end of the second diode D3 is connected to the second power supply, the output end of the second diode D3 is connected to the first end of the eighth capacitor C7, the second high-side floating power supply input end VB_2 is connected to the output end of the second diode D3, and the second end of the eighth capacitor C7 is connected to the second high-side gate floating power supply return end VS_2;

[0232] A first end of the seventh resistor R26 is connected to the third output interface PC6, and a second end of the seventh resistor R26 is connected to the second logic input terminal I N_2;

[0233] A first end of the seventh capacitor C3 is connected to the second power supply, a second end of the seventh capacitor C3 is connected to a first end of the tenth capacitor C16, the second low-side return end COM_2 is grounded, a first end of the tenth capacitor C16 is connected to an input end of the fourth transistor LMOS8, a second end of the tenth capacitor C16 is connected to a second end of the eighth resistor R50, a first end of the eighth resistor R50 is connected to the second low-side gate drive output end LO_2, a first output end of the fourth transistor LMOS8 is connected to an input end of the third transistor LMOS7, and a second output end of the fourth transistor LMOS8 is connected to a second end of the tenth capacitor C16;

[0234] A first end of the eleventh capacitor C4 is connected to the input end of the fourth transistor LMOS8, a second end of the eleventh capacitor C4 is connected to a first end of the tenth resistor R58, a second high-side gate floating power supply return end VS_2 is connected to a first end of the tenth resistor R58, a second end (W end) of the left motor element is connected to a first end of the tenth resistor R58, a second end of the tenth resistor R58 is connected to a first end of the eleventh resistor R28, a first end of the eleventh resistor R28 is connected to a first end of the twelfth resistor R66, a second end of the eleventh resistor R28 is connected to a first end of the twelfth capacitor C18, a second end of the twelfth capacitor C18 is connected to the second input interface PA0, and a second end of the twelfth resistor R66 is grounded;

[0235] The second enable signal terminal SD_2 is connected to the fourth output interface LCS1;

[0236] The second high-side gate driving output terminal HO_2 is connected to the first end of the ninth resistor R47, the second end of the ninth resistor R47 is connected to the second output end of the third transistor LMOS7, the second end of the ninth resistor R47 is connected to the second end of the ninth capacitor C13, the first end of the ninth capacitor C13 is connected to the second high-side gate floating power supply return terminal VS_2, the first end of the ninth capacitor C13 is connected to the input end of the third transistor LMOS7, and the first output end of the third transistor LMOS7 is connected to the second low-side floating power supply input terminal VCC_2;

[0237] The obtaining of the voltage on the second side of the left motor includes: the lower computer main control unit 109 obtains the voltage on the second side of the left motor through the second input interface PA0 on the first control chip U3.

[0238] Preferably, the current of the left motor can be calculated based on the voltage on the first side of the left motor, the voltage on the second side of the left motor and the motor parameters of the left motor.

[0239] In a preferred embodiment, Figure 5 As shown, the first side module circuit of the right motor includes:

[0240] a third integrated circuit chip IC7, a thirteenth resistor R1, a fourteenth resistor R51, a fifteenth resistor R52, a sixteenth resistor R57, a seventeenth resistor R27, an eighteenth resistor R67, a thirteenth capacitor C5, a fourteenth capacitor C9, a fifteenth capacitor C14, a sixteenth capacitor C33, a seventeenth capacitor C15, an eighteenth capacitor C22, a third diode D5, a fifth transistor RMOS6, a sixth transistor RMOS5 and a third power supply; wherein the third power supply is a 12V power supply, and the third integrated circuit chip is an IR2184S chip, including: a third low-side floating power input terminal VCC_3, a third logic input terminal I N_3, a third enable signal terminal SD_3, a third low-side return terminal COM_3, a third high-side gate driver output terminal HO_3, a third high-side floating power input terminal VB_3, a third high-side gate floating power return terminal VS_3 and a third low-side gate driver output terminal LO_3;

[0241] The first control chip U3 also includes: a fifth output interface PC9, a sixth output interface RCS2 and a third input interface PA5;

[0242] The third low-side floating power input terminal VCC_3 is connected to the third power supply;

[0243] The input end of the third diode D5 is connected to the third power supply, the output end of the third diode D5 is connected to the first end of the fourteenth capacitor C9, the third high-side floating power input end VB_3 is connected to the output end of the third diode D5, and the second end of the fourteenth capacitor C9 is connected to the third high-side gate floating power return end VS_3;

[0244] A first end of the thirteenth resistor R1 is connected to the fifth output interface PC9, and a second end of the thirteenth resistor R1 is connected to the third logic input terminal I N_3;

[0245] A first end of the thirteenth capacitor C5 is connected to the third power supply, a second end of the thirteenth capacitor C5 is connected to a first end of the sixteenth capacitor C33, the third low-side return terminal COM_3 is grounded, a first end of the sixteenth capacitor C33 is connected to an input end of the sixth transistor RMOS5, a second end of the sixteenth capacitor C33 is connected to a second end of the fourteenth resistor R51, a first end of the fourteenth resistor R51 is connected to the third low-side gate drive output end LO_3, a first output end of the sixth transistor RMOS5 is connected to an input end of the fifth transistor RMOS6, and a second output end of the sixth transistor RMOS5 is connected to a second end of the sixteenth capacitor C33;

[0246] A first end of the seventeenth capacitor C15 is connected to the input end of the sixth transistor RMOS5, a second end of the seventeenth capacitor C15 is connected to a first end of a sixteenth resistor R57, a third high-side gate floating power supply return end VS_3 is connected to a first end of the sixteenth resistor R57, a first end (Y end) of the right motor element is connected to a first end of the sixteenth resistor R57, a second end of the sixteenth resistor R57 is connected to a first end of a seventeenth resistor R27, a first end of the seventeenth resistor R27 is connected to a first end of an eighteenth resistor R67, a second end of the seventeenth resistor R27 is connected to a first end of an eighteenth capacitor C22, a second end of the eighteenth capacitor C22 is connected to the third input interface PA5, and a second end of the eighteenth resistor R67 is grounded;

[0247] The third enable signal terminal SD_3 is connected to the sixth output interface RCS2;

[0248] The third high-side gate driving output terminal HO_3 is connected to the first end of the fifteenth resistor R52, the second end of the fifteenth resistor R52 is connected to the second output end of the fifth transistor RMOS6, the second end of the fifteenth resistor R52 is connected to the second end of the fifteenth capacitor C14, the first end of the fifteenth capacitor C14 is connected to the third high-side gate floating power supply return terminal VS_3, the first end of the fifteenth capacitor C14 is connected to the input end of the fifth transistor RMOS6, and the first output end of the fifth transistor RMOS6 is connected to the third low-side floating power supply input terminal VCC_3;

[0249] The obtaining of the voltage on the first side of the right motor includes: the lower computer main control unit 109 obtains the voltage on the first side of the right motor through the third input interface PA5 on the first control chip U3.

[0250] In a preferred embodiment, Figure 5 As shown, the second side module circuit of the right motor includes:

[0251] a fourth integrated circuit chip IC8, a nineteenth resistor R31, a twentieth resistor R54, a twenty-first resistor R53, a twenty-second resistor R59, a twenty-third resistor R32, a twenty-fourth resistor R68, a nineteenth capacitor C8, a twentieth capacitor C17, a twenty-first capacitor C19, a twenty-second capacitor C20, a twenty-third capacitor C28, a twenty-fourth capacitor C26, a fourth diode D15, a seventh transistor RMOS8, an eighth transistor RMOS7 and a fourth power supply; wherein the fourth power supply is a 12V power supply, and the fourth integrated circuit chip is an IR2184S chip, including: a fourth low-side floating power input terminal VCC_4, a fourth logic input terminal I N_4, a fourth enable signal terminal SD_4, a fourth low-side return terminal COM_4, a fourth high-side gate driver output terminal HO_4, a fourth high-side floating power input terminal VB_4, a fourth high-side gate floating power return terminal VS_4 and a fourth low-side gate driver output terminal LO_4;

[0252] The first control chip U3 also includes: a seventh output interface PC8, an eighth output interface RCS1 and a fourth input interface PA4;

[0253] The fourth low-side floating power input terminal VCC_4 is connected to the fourth power supply;

[0254] The input end of the fourth diode D15 is connected to the fourth power supply, the output end of the fourth diode D15 is connected to the first end of the twentieth capacitor C17, the fourth high-side floating power input end VB_4 is connected to the output end of the fourth diode D15, and the second end of the twentieth capacitor C17 is connected to the fourth high-side gate floating power return end VS_4;

[0255] A first end of a nineteenth resistor R31 is connected to the seventh output interface PC8, and a second end of the nineteenth resistor R31 is connected to the fourth logic input terminal I N_4;

[0256] A first end of a nineteenth capacitor C8 is connected to a fourth power supply, a second end of the nineteenth capacitor C8 is connected to a first end of a twenty-second capacitor C20, a fourth low-side return terminal COM_4 is grounded, a first end of the twenty-second capacitor C20 is connected to an input end of an eighth transistor RMOS7, a second end of the twenty-second capacitor C20 is connected to a second end of a twentieth resistor R54, a first end of the twentieth resistor R54 is connected to a fourth low-side gate drive output end LO_4, a first output end of the eighth transistor RMOS7 is connected to an input end of a seventh transistor RMOS8, and a second output end of the eighth transistor RMOS7 is connected to a second end of the twenty-second capacitor C20;

[0257] A first end of a twenty-third capacitor C28 is connected to the input end of the eighth transistor RMOS7, a second end of the twenty-third capacitor C28 is connected to a first end of a twenty-second resistor R59, a fourth high-side gate floating power supply return end VS_4 is connected to a first end of a twenty-second resistor R59, a second end (O end) of the right motor element is connected to a first end of a twenty-second resistor R59, a second end of the twenty-second resistor R59 is connected to a first end of a twenty-third resistor R32, a first end of the twenty-third resistor R32 is connected to a first end of a twenty-fourth resistor R68, a second end of the twenty-third resistor R32 is connected to a first end of a twenty-fourth capacitor C26, a second end of the twenty-fourth capacitor C26 is connected to a fourth input interface PA4, and a second end of the twenty-fourth resistor R68 is grounded;

[0258] The fourth enable signal terminal SD_4 is connected to the eighth output interface RCS1;

[0259] The fourth high-side gate driving output terminal HO_4 is connected to the first end of the twenty-first resistor R53, the second end of the twenty-first resistor R53 is connected to the second output end of the seventh transistor RMOS8, the second end of the twenty-first resistor R53 is connected to the second end of the twenty-first capacitor C19, the first end of the twenty-first capacitor C19 is connected to the fourth high-side gate floating power supply return terminal VS_4, the first end of the twenty-first capacitor C19 is connected to the input end of the seventh transistor RMOS8, and the first output end of the seventh transistor RMOS8 is connected to the fourth low-side floating power supply input terminal VCC_4;

[0260] The obtaining of the voltage on the second side of the right motor comprises: the lower computer main control unit 109 obtains the voltage on the second side of the right motor through the fourth input interface PA4 on the first control chip U3.

[0261] Preferably, the current of the right motor can be calculated based on the voltage on the first side of the right motor, the voltage on the second side of the right motor and the motor parameters of the right motor.

[0262] In a preferred embodiment, Figure 6 As shown, the circuit of the brake line includes:

[0263] The twenty-fifth resistor R74, the twenty-sixth resistor R45, the twenty-seventh resistor R15, the twenty-eighth resistor R75, the twenty-ninth resistor R77, the left motor brake line interface BK-L CON1, the right motor brake line interface BK-RCON1, the twenty-fifth capacitor C36 and the fifth power supply; wherein the fifth power supply is a 24V power supply.

[0264] The first control chip U3 also includes: a fifth input interface PC5;

[0265] The first end of the 25th resistor R74 is connected to the fifth power supply, the second end of the 25th resistor R74 is connected to the right motor brake line interface BK-R CON1, the second end of the 25th resistor R74 is connected to the first end of the 26th resistor R45, the second end of the 26th resistor R45 is connected to the first end of the 27th resistor R15, the second end of the 27th resistor R15 is connected to the fifth input interface PC5, and the right motor brake line interface BK-R CON1 is connected to the right motor;

[0266] A first end of a twenty-eighth resistor R75 is connected to the fifth power supply, a second end of the twenty-eighth resistor R75 is connected to the left motor brake line interface BK-L CON1, a second end of the twenty-eighth resistor R75 is connected to a first end of a twenty-ninth resistor R77, a second end of the twenty-ninth resistor R77 is connected to a first end of a twenty-seventh resistor R15; a first end of a twenty-fifth capacitor C36 is connected to a second end of the twenty-ninth resistor R77, a second end of the twenty-fifth capacitor C36 is connected to the fifth input interface PC5;

[0267] The obtaining of the right motor brake line voltage and the left motor brake line voltage comprises: the lower computer main control unit 109 obtains the right motor brake line voltage and the left motor brake line voltage through the fifth input interface PC5 on the first control chip U3.

[0268] In a preferred embodiment, Figure 7 As shown, the circuit of the joystick includes:

[0269] A joystick control chip H3, a 30th resistor R80, a 31st resistor R81, a 32nd resistor R82, a 33rd resistor R83, a 26th capacitor C75, a 27th capacitor C74 and a sixth power supply; wherein the sixth power supply is a 5V power supply, and the joystick control chip H3 includes: a joystick X-axis interface H3_1, a joystick Y-axis interface H3_2, a joystick ground interface H3_3 and a joystick power supply interface H3_4.

[0270] like Figure 8 As shown, the circuit of the host computer main control unit 108 includes a second control chip U2; wherein, the second control chip U2 includes a sixth input interface P1 and a seventh input interface P2;

[0271] The joystick X-axis interface H3_1 is connected to a first end of a 30th resistor R80, a second end of the 30th resistor R80 is connected to a first end of a 31st resistor R81, a first end of the 31st resistor R81 is connected to a first end of a 26th capacitor C75, a second end of the 31st resistor R81 is connected to the sixth input interface P1, and a second end of the 26th capacitor C75 is connected to a second end of the 31st resistor R81;

[0272] The joystick Y-axis interface H3_2 is connected to the first end of the thirty-second resistor R82, the second end of the thirty-second resistor R82 is connected to the first end of the thirty-third resistor R83, the first end of the thirty-third resistor R83 is connected to the first end of the twenty-seventh capacitor C74, the second end of the thirty-third resistor R83 is connected to the seventh input interface P2, and the second end of the twenty-seventh capacitor C74 is connected to the second end of the thirty-third resistor R83;

[0273] The rocker power interface H3_4 is connected to the sixth power supply;

[0274] The joystick grounding interface H3_3 is grounded;

[0275] The obtaining of the rocker voltage includes: the host computer main control unit 108 obtains the rocker X-axis voltage through the sixth input interface P1 on the second control chip U2, and obtains the rocker Y-axis voltage through the seventh input interface P2.

[0276] In a preferred embodiment, Figure 8 As shown, the power supply circuit of the lower computer main control unit 109 includes:

[0277] a thirty-fourth resistor R38, a thirty-fifth resistor R39, a twenty-eighth capacitor C56 and a seventh power supply; wherein the seventh power supply is a 24V power supply.

[0278] The first control chip U3 further includes: an eighth input interface PB1;

[0279] A first end of the thirty-fourth resistor R38 is connected to the eighth input interface PB1, a first end of the thirty-fourth resistor R38 is connected to a first end of the thirty-fifth resistor R39, a second end of the thirty-fourth resistor R38 is connected to a first end of the twenty-eighth capacitor C56, a second end of the twenty-eighth capacitor C56 is connected to a first end of the thirty-fifth resistor R39, a first end of the twenty-eighth capacitor C56 is grounded, and a second end of the thirty-fifth resistor R39 is grounded;

[0280] The obtaining of the power supply voltage of the lower machine main control unit 109 includes: the lower machine main control unit 109 obtains the power supply voltage of the lower machine main control unit 109 through the eighth input interface PB1 on the first control chip U3.

[0281] In a preferred embodiment, Figure 8 As shown, the power supply circuit of the host computer main control unit 108 includes:

[0282] a thirty-sixth resistor R84, a thirty-seventh resistor R85, a twenty-ninth capacitor C73 and an eighth power supply; wherein the eighth power supply is a 5V power supply.

[0283] The second control chip U2 further includes: a ninth input interface PA7;

[0284] A first end of the thirty-sixth resistor R84 is connected to the eighth power supply, a second end of the thirty-sixth resistor R84 is connected to the ninth input interface PA7, a first end of the thirty-seventh resistor R85 is connected to the ninth input interface PA7, a second end of the thirty-seventh resistor R85 is grounded, a first end of the twenty-ninth capacitor C73 is connected to the ninth input interface PA7, and a second end of the twenty-ninth capacitor C73 is connected to the second end of the thirty-seventh resistor R85;

[0285] The obtaining of the power supply voltage of the host computer main control unit 108 includes: the host computer main control unit 108 obtains the power supply voltage of the host computer main control unit through a ninth input interface on the second control chip U2.

[0286] In a preferred embodiment, the situation where the electric wheelchair exceeds the normal use area during use is considered, such as Fig. 9 As shown, after generating the current driving path of the electric wheelchair according to the speed curve and the position information, it also includes:

[0287] Step S7: acquiring each historical driving path of the current electric wheelchair according to the identity information of the current electric wheelchair;

[0288] Step S8: determining the historical maximum activity area of ​​the current electric wheelchair according to each historical driving path;

[0289] Step S9: determining the offset data of the current driving path according to the current driving path and the historical maximum activity area of ​​the electric wheelchair;

[0290] Step S10: when the deviation data is greater than a preset deviation threshold, generating track deviation prompt information according to the current driving path and the deviation data;

[0291] Step S11: sending the track deviation prompt information to the current electric wheelchair and each client bound to the current electric wheelchair according to the identity information, so that the current electric wheelchair generates a track deviation voice prompt according to the track deviation prompt information; so that each client can visualize the track deviation prompt information.

[0292] In step S7, for each electric wheelchair, the driving path generated during each movement of the electric wheelchair is stored based on the identity information, and all historical driving paths of each electric wheelchair are stored in the cloud server. After the remaining driving paths except the first driving path are generated, multiple historical driving paths of the current electric wheelchair are obtained according to the identity information of the current electric wheelchair.

[0293] For step S8, after obtaining multiple historical driving paths of the current electric wheelchair, all historical driving paths are superimposed to obtain a superimposed historical driving path, and the historical maximum activity area of ​​the current electric wheelchair is obtained according to all areas involved in the superimposed historical driving path.

[0294] In step S9, according to the overlapping relationship between the current driving path of the current electric wheelchair and the historical maximum activity area, the offset data between the current driving path and the historical maximum activity area is determined.

[0295] For step S10, if the offset data between the current driving path and the historical maximum activity area is not greater than the preset offset threshold, it is considered that the current driving path is still around the historical maximum activity area, and it can be considered that the current electric wheelchair user has not walked too many roads that he does not usually walk during driving, and no prompt is required at this time. If the offset data between the current driving path and the historical maximum activity area is greater than the preset offset threshold, it is considered that the current driving path is significantly different from the regular driving path of the current electric wheelchair user, and there may be a certain risk of driving on the wrong path or getting lost. At this time, the trajectory offset prompt information is generated based on the offset data and the current electric wheelchair driving path.

[0296] In step S11, the cloud server sends the track deviation prompt information to the current electric wheelchair according to the identity information of the current electric wheelchair, so that when the current electric wheelchair receives the track deviation prompt information, it generates a track deviation voice prompt according to the track deviation prompt information, and plays the track deviation voice prompt through the speaker 112. The cloud server sends the track deviation prompt information to each client bound to the current electric wheelchair according to the identity information of the current electric wheelchair, and each client bound to the current electric wheelchair visually displays the track deviation prompt information after receiving the track deviation prompt information.

[0297] Since most of the users of electric wheelchairs are people with limited mobility or the elderly, they usually move around in a fixed area with a relatively limited range of activities, and the clients bound to the electric wheelchairs usually include relatives of the electric wheelchair users. By comparing the driving trajectory generated by the current electric wheelchair with the historical maximum activity area of ​​the current electric wheelchair, and then determining the offset data between the current driving trajectory and the historical maximum activity area, the unconventional use of the electric wheelchair users can be monitored in a timely manner based on the offset data, thereby improving the monitoring of the unconventional use of the electric wheelchair by the clients bound to the electric wheelchair users, and improving the user experience of the corresponding users of each client and the safety of the electric wheelchair during use.

[0298] In a preferred embodiment, consider the situation where the electric wheelchair is controlled by the client and the client cannot make timely adjustments according to obstacles encountered during the use of the electric wheelchair, such as Fig.10 As shown, it also includes:

[0299] Step S12: obtaining parameter information to be adjusted set by the user on the client; wherein the parameter information to be adjusted includes: identity information, target position information and target obstacle avoidance distance of the electric wheelchair to be adjusted;

[0300] Step S13: acquiring first current position information of the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted;

[0301] Step S14: generating a first to-be-traveled path according to the first current position information and the target position information of the electric wheelchair to be adjusted;

[0302] Step S15: sending the first to-be-traveled path and the target obstacle avoidance distance to the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted, so that the electric wheelchair to be adjusted travels along the first to-be-traveled path and detects the obstacle information ahead during the travel;

[0303] Step S16: if there is an obstacle when traveling on the first path to be traveled, and the distance between the obstacle and the electric wheelchair to be adjusted is not greater than the target obstacle avoidance distance, obtaining the second current position information of the electric wheelchair to be adjusted, and generating an adjusted second path to be traveled according to the second current position information and the target position information;

[0304] Step S17: controlling the electric wheelchair to be adjusted to travel along the second path to be traveled, so that the electric wheelchair to be adjusted avoids the obstacle when traveling on the second path to be traveled.

[0305] For step S12, the parameter information to be adjusted set by the user on a client is obtained, and the parameter information to be adjusted includes the identity information, target position information and target obstacle avoidance distance of the electric wheelchair to be adjusted. When the user sets it on the client, he only needs to set the target position information and the target obstacle avoidance distance. After the setting is completed, when the client uploads the target position information and the target obstacle avoidance distance to the cloud server, it will carry the identity information of the electric wheelchair bound to the client, which is used to indicate the electric wheelchair to be adjusted.

[0306] For steps S13 and S14, after receiving the identity signal, target position information and target obstacle avoidance distance of the electric wheelchair to be adjusted, the cloud server obtains the first current position information of the electric wheelchair to be adjusted through the GPS positioning system of the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted. According to the first current position information and the target position information of the electric wheelchair to be adjusted.

[0307] In a preferred embodiment, after obtaining the first current position information of the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted, it also includes: obtaining all historical driving paths of the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted; inputting all historical driving paths of the electric wheelchair to be adjusted into a preference prediction model, so that the preference prediction model outputs each historical activity area of ​​the electric wheelchair to be adjusted and the driving preferences of each historical activity area according to each historical driving path; generating the first path to be driven according to the first current position information and target position information of the electric wheelchair to be adjusted includes: generating a plurality of first driving paths to be decided according to the first current position information and target position information of the electric wheelchair to be adjusted in combination with preset geographic map data; outputting the first path to be driven according to each historical activity area of ​​the electric wheelchair to be adjusted, the driving preferences of each historical activity area and each first driving path to be decided.

[0308] Specifically, after obtaining the first current position information of the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted, all historical driving paths of the electric wheelchair to be adjusted are also obtained, and all historical driving paths of the electric wheelchair to be adjusted are input into the preference prediction model, so that the preference prediction model outputs all historical activity areas of the electric wheelchair to be adjusted and the driving preference of the electric wheelchair to be adjusted in each historical activity area according to all the input historical driving paths. Based on the first current position information and the target position information of the electric wheelchair to be adjusted, the open source 3D geographic map data (i.e., the above-mentioned preset geographic map data) is called through the API interface to determine all drivable paths from the first current position to the target position, and the drivable path is preferably a crosswalk, and a non-motorized vehicle lane can be obtained when there is no crosswalk. All the above-mentioned drivable paths are used as a number of first driving paths to be decided. According to the historical activity areas of the electric wheelchair to be adjusted and the driving preferences of each historical activity area, a first driving path to be decided that intersects the most with each historical activity area of ​​the electric wheelchair to be adjusted and is closest to the driving preferences of each historical activity area is selected from all the first driving paths to be decided as the first driving path to be decided.

[0309] By combining all historical driving paths of the electric wheelchair when generating the first path to be driven, a first path to be driven that is more suitable for the electric wheelchair user can be generated based on the driving preferences and commonly used activity areas of the electric wheelchair user, thereby improving the automatic driving experience of the electric wheelchair.

[0310] In a preferred embodiment, the construction of the preference prediction model includes: obtaining the historical driving path sequence of each electric wheelchair; wherein each historical driving path sequence includes a number of driving paths with timestamps; and constructing an initial preference prediction model for each electric wheelchair. The current electric wheelchair-historical driving path sequence fragment is used as the input of the initial preference prediction model, and the activity area and the driving preference of the activity area corresponding to the current electric wheelchair-historical driving path sequence fragment are used as the output of the initial preference prediction model. The initial preference prediction model is iteratively trained until the initial preference prediction model converges to generate a preference prediction model.

[0311] Specifically, for each electric wheelchair, a historical driving path sequence is constructed according to the historical driving paths and the timestamps corresponding to each historical driving path. An initial preference prediction model is constructed based on the long short-term memory network. For each electric wheelchair, the activity area and the driving preference of the activity area corresponding to a historical driving path sequence segment of the current electric wheelchair are used as the output of the initial preference prediction model, and the initial preference prediction model is iteratively trained until the initial preference prediction model converges when the loss function of the initial preference prediction model is minimized or the maximum number of iterations is reached. The initial preference prediction model at the time of convergence is used as the preference prediction model. After the preference prediction models of each electric wheelchair are trained, the preference prediction model corresponding to each electric wheelchair can be obtained. The preference prediction model corresponding to each electric wheelchair is bound according to the identity information of the electric wheelchair. When used for the prediction of each historical activity area and the driving preference of each historical activity area of ​​the above-mentioned electric wheelchair to be adjusted, all historical driving paths of the electric wheelchair to be adjusted are input into the preference prediction model corresponding to the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted, so as to realize the driving preference of each historical activity area and each historical activity area of ​​the electric wheelchair to be adjusted.

[0312] By building a preference prediction model for each electric wheelchair on the cloud server based on the user's frequently used activity areas and driving preferences within each activity area, when generating the user's first to-be-traveled path, the user's frequently used activity areas and driving preferences within each activity area can be combined to generate a first to-be-traveled path that is more in line with the user's usage habits.

[0313] For step S15, the first path to be traveled and the target obstacle avoidance distance are sent to the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted, so that the electric wheelchair to be adjusted travels along the first path to be traveled, and detects the obstacle information in front during the travel (the obstacle is an obstacle not recorded in the preset geographic map data, such as an obstacle caused by temporary construction or unloading when the road is impassable). The obstacle detection method can be achieved by building an ultrasonic sensor into the electric wheelchair, emitting ultrasonic signals at regular intervals and detecting the return of ultrasonic signals. Or it can be achieved by installing a miniature camera on the electric wheelchair, turning on the camera at regular intervals to collect the environmental information image of the road in front, and then performing object detection on the environmental information image.

[0314] For step S16 and step S17, if it is detected that there is an obstacle when traveling on the first path to be traveled and the distance between the obstacle and the electric wheelchair to be adjusted is not greater than the target obstacle avoidance distance, in order to prevent the electric wheelchair to be adjusted from continuing to travel forward and causing a collision with the obstacle, it is necessary to obtain the second current position information of the electric wheelchair to be adjusted, re-plan the travel path according to the second current position information and the target position information, generate an adjusted second path to be traveled, and control the electric wheelchair to be adjusted to travel along the second path to be traveled, so that the electric wheelchair to be adjusted avoids the obstacle when traveling on the second path to be traveled.

[0315] In a preferred embodiment, the generating of the second to-be-traveled path according to the second current position information and the target position information comprises: generating a plurality of second to-be-decided paths according to the second current position information, the target position information and preset geographic map data; obtaining path parameters of each second to-be-decided path; wherein the path parameters comprise: path length, path curvature and path slope; establishing a spatial rectangular coordinate system with the path length as the horizontal axis, the path curvature as the vertical axis and the path slope as the vertical axis; wherein the horizontal axis and the vertical axis form a first coordinate plane, the horizontal axis and the vertical axis form a second coordinate plane, and the vertical axis and the vertical axis form a second coordinate plane. Three-coordinate planes; for each second path to be decided, generating a first projection of the second path to be decided on the first coordinate plane according to the path length and path curvature of the second path to be decided; generating a second projection of the second path to be decided on the second coordinate plane according to the path length and path slope of the second path to be decided; generating a third projection of the second path to be decided on the third coordinate plane according to the path curvature and path slope of the second path to be decided; superimposing the first projection, the second projection and the third projection of each second path to be decided to obtain the driving comfort of the second path to be decided; determining the driving of the second path to be decided according to the driving comfort of each second path to be decided.

[0316] Specifically, multiple drivable paths from the second current position to the target position are determined based on the second current position information, the target position information and the open source 3D geographic map data, and are used as several second paths to be decided. The path parameters of each second path to be decided are obtained based on the open source 3D geographic map data, and the path parameters include: path length, path curvature and path slope. Among them, the path length is associated with the travel time of the electric wheelchair, the path curvature is associated with the use experience of the electric wheelchair, and the path slope is associated with the climbing and descending safety of the electric wheelchair. On the basis of considering these three dimensions, a spatial rectangular coordinate system is established with the path length as the horizontal axis, the path curvature as the vertical axis, and the path slope as the vertical axis. Then, the first projection of the second path to be decided on the first coordinate plane is generated according to the path length and path curvature of the second path to be decided; the second projection of the second path to be decided on the second coordinate plane is generated according to the path length and path slope of the second path to be decided; the third projection of the second path to be decided on the third coordinate plane is generated according to the path curvature and path slope of the second path to be decided. Thus, the driving comfort of the second path to be decided is determined based on the first projection of the second path to be decided when the path length and path curvature are taken into account; the driving comfort of the second path to be decided is determined based on the second projection of the second path to be decided when the path length and path slope are taken into account; the driving comfort of the second path to be decided when the path curvature and path slope are taken into account is determined based on the third projection of the second path to be decided. The projections obtained at each considered angle are superimposed to obtain the driving comfort of the second path to be decided when the path length, path curvature and path slope are comprehensively considered. Finally, according to the driving comfort of each second path to be decided, a second path to be decided with the highest driving comfort is selected from each second path to be decided as the second path to be driven.

[0317] After generating each second path to be decided, a spatial rectangular coordinate system is established to conduct a multi-dimensional analysis of the second paths to be decided based on the path length, path curvature and path slope issues that need to be paid attention to during the driving of the electric wheelchair, so as to obtain accurate driving comfort of each second path to be decided. After making a decision on each second path to be decided based on the driving comfort, a path with the highest driving comfort is selected as the second path to be driven, which can achieve optimal path selection and improve the driving experience of the electric wheelchair to be adjusted when driving on the second path to be driven and the user experience of the electric wheelchair to be adjusted.

[0318] In a preferred embodiment, after obtaining the first current position information of the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted, it also includes: determining the historical maximum activity area of ​​the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted; constructing a first three-dimensional geometric body in a spatial rectangular coordinate system according to the historical maximum activity area of ​​the electric wheelchair to be adjusted; after superimposing the first projection, the second projection and the third projection of each second path to be decided to obtain the driving comfort of the second path to be decided, it also includes: for each second path to be decided, constructing a second three-dimensional geometric body in a spatial rectangular coordinate system according to the first projection, the second projection and the third projection; calculating the intersection area of ​​the first three-dimensional geometric body and the second three-dimensional geometric body, and determining the correlation between the second path to be decided and the historical activity area according to the intersection area; the determining the driving of the second path to be decided according to the driving comfort of each second path to be decided includes: determining the driving of the second path to be decided according to the driving comfort of each second path to be decided and the correlation between the second path to be decided and the historical activity area.

[0319] Specifically, in addition to considering the driving comfort, the second path to be driven is further determined in combination with the historical maximum activity area of ​​the electric wheelchair to be adjusted. After determining the historical maximum activity area of ​​the electric wheelchair to be adjusted, a first three-dimensional geometric body is constructed in the above-established spatial rectangular coordinate system according to the historical maximum activity area of ​​the electric wheelchair to be adjusted. According to the historical maximum activity area, the first three-dimensional geometric body can be a sphere or an irregular three-dimensional geometric body. For each second path to be decided, a second three-dimensional geometric body is constructed in the spatial rectangular coordinate system according to the first projection, the second projection and the third projection. The second three-dimensional geometric body is generated according to the projection and is mainly in the form of a cube. The first three-dimensional geometric body and the second three-dimensional geometric body are aligned according to the position information, and the intersection area of ​​the first three-dimensional geometric body and the second three-dimensional geometric body is calculated, that is, the section area or the wrapping area of ​​the first three-dimensional geometric body to the second three-dimensional geometric body. The correlation between the second path to be decided and the historical activity area is determined according to the intersection area. The larger the intersection area, the greater the correlation. Finally, the second path to be decided with the highest comprehensive correlation between the driving comfort of the second path to be decided and the historical activity area is used as the second path to be driven.

[0320] By combining the historical maximum activity area of ​​the electric wheelchair to be adjusted and the driving comfort of the second path to be decided, a collaborative decision is made on the second path to be decided, so that the final second path to be driven can be as close to the user's regular activity area requirements as possible on the basis of ensuring driving comfort, avoiding panic when the user encounters unfamiliar roads during use, and improving the user experience.

[0321] Based on the above method item embodiments, the present invention provides a corresponding cloud server item embodiment.

[0322] An embodiment of the present invention provides a cloud server, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, an electric wheelchair control method described in any one of the present invention is implemented.

[0323] Based on the above method embodiments, the present invention provides corresponding system embodiments.

[0324] like Fig.11 As shown, an embodiment of the present invention provides an electric wheelchair control system including: a plurality of electric wheelchairs, a cloud server and a plurality of clients;

[0325] The cloud server is used to: obtain the operation data and identity information of each electric wheelchair in real time; wherein the operation data includes: position information, speed information and electrical parameters; for each electric wheelchair, generate the speed curve of the current electric wheelchair according to the speed information, and generate the driving path of the current electric wheelchair according to the speed curve and the position information; determine the operation state of the current electric wheelchair according to the electrical parameters; wherein the operation state includes: non-fault state and fault state; when the current electric wheelchair is in a fault state, determine the fault type of the current electric wheelchair according to the electrical parameters, and then generate fault alarm information according to the fault type; send the operation data, driving path and fault alarm information to the current electric wheelchair and each client bound to the current electric wheelchair according to the identity information; when the current electric wheelchair is in a non-fault state, send the operation data and driving path to the current electric wheelchair and each client according to the identity information;

[0326] Each of the electric wheelchairs is used to visualize the operating data and the driving path when the operating data and the driving path are received, and to generate a warning text message and a warning voice according to the fault warning information when the fault warning information is received;

[0327] Each of the clients is used to visualize the operating data, driving route and fault warning information when receiving the operating data, driving route and fault warning information.

[0328] It should be noted that the system embodiment described above is merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the system embodiment provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0329] Those skilled in the art can clearly understand that for the sake of convenience and brevity, the specific working process of the system described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0330] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for controlling an electric wheelchair, characterized in that: include: Acquire the operation data and identity information of each electric wheelchair in real time; wherein the operation data includes: position information, speed information and electrical parameters; For each electric wheelchair, a speed curve of the current electric wheelchair is generated according to the speed information, and a travel path of the current electric wheelchair is generated according to the speed curve and the position information; Determine the current operating state of the electric wheelchair according to the electrical parameters; wherein the operating state includes: a non-fault state and a fault state; When the current electric wheelchair is in a fault state, determining the fault type of the current electric wheelchair according to the electrical parameters, and then generating fault alarm information according to the fault type; The operation data, driving path and fault alarm information are sent to the current electric wheelchair and each client bound to the current electric wheelchair according to the identity information, so that the current electric wheelchair can visualize the operation data and driving path, and generate alarm text messages and alarm voice according to the fault alarm information; so that each client can visualize the operation data, driving path and fault alarm information; When the current electric wheelchair is in a non-faulty state, the operation data and the driving path are sent to the current electric wheelchair and each client according to the identity information, so that the current electric wheelchair and each client can visualize the operation data and the driving path.

2. The electric wheelchair control method according to claim 1, characterized in that: After generating the current driving path of the electric wheelchair according to the speed curve and position information, it also includes: Acquire each historical driving path of the current electric wheelchair according to the identity information of the current electric wheelchair; Determine the current maximum historical activity area of ​​the electric wheelchair based on each historical driving path; Determining the offset data of the current driving path according to the current driving path and the historical maximum activity area of ​​the electric wheelchair; When the deviation data is greater than a preset deviation threshold, generating track deviation prompt information according to the current driving path and the deviation data; The track deviation prompt information is sent to the current electric wheelchair and each client bound to the current electric wheelchair according to the identity information, so that the current electric wheelchair generates a track deviation voice prompt according to the track deviation prompt information; so that each client can visualize the track deviation prompt information.

3. The electric wheelchair control method according to claim 2, characterized in that: Also includes: Acquire the parameter information to be adjusted set by the user on the client; wherein the parameter information to be adjusted includes: identity information, target position information and target obstacle avoidance distance of the electric wheelchair to be adjusted; Acquiring first current position information of the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted; Generate a first to-be-traveled path according to first current position information and target position information of the electric wheelchair to be adjusted; The first to-be-driven path and the target obstacle avoidance distance are sent to the to-be-driven electric wheelchair according to the identity information of the to-be-driven electric wheelchair, so that the to-be-driven electric wheelchair travels along the first to-be-driven path and detects obstacle information ahead during the driving process; If there is an obstacle when traveling on the first path to be traveled, and the distance between the obstacle and the electric wheelchair to be adjusted is not greater than the target obstacle avoidance distance, obtaining the second current position information of the electric wheelchair to be adjusted, and generating an adjusted second path to be traveled according to the second current position information and the target position information; The electric wheelchair to be adjusted is controlled to travel along the second path to be traveled, so that the electric wheelchair to be adjusted avoids the obstacle when traveling on the second path to be traveled.

4. The electric wheelchair control method according to claim 3, characterized in that: After obtaining the first current position information of the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted, the method further includes: According to the identity information of the electric wheelchair to be adjusted, all historical travel paths of the electric wheelchair to be adjusted are obtained; Inputting all historical driving paths of the electric wheelchair to be adjusted into the preference prediction model, so that the preference prediction model outputs each historical activity area of ​​the electric wheelchair to be adjusted and the driving preference of each historical activity area according to each historical driving path; The step of generating a first to-be-traveled path according to the first current position information and the target position information of the electric wheelchair to be adjusted comprises: According to the first current position information and the target position information of the electric wheelchair to be adjusted, a plurality of first driving paths to be decided are generated in combination with preset geographic map data; The first to-be-decided driving path is outputted according to each historical activity area of ​​the electric wheelchair to be adjusted, the driving preference of each historical activity area, and each first to-be-decided driving path.

5. The electric wheelchair control method according to claim 4, characterized in that: The construction of the preference prediction model includes: Obtaining a historical driving path sequence of each electric wheelchair; wherein each historical driving path sequence includes a number of driving paths carrying timestamps; For each electric wheelchair, construct an initial preference prediction model; The current electric wheelchair-historical driving path sequence fragment is used as the input of the initial preference prediction model, and the activity area and the driving preference of the activity area corresponding to the current electric wheelchair-historical driving path sequence fragment are used as the output of the initial preference prediction model. The initial preference prediction model is iteratively trained until the initial preference prediction model converges to generate a preference prediction model.

6. The electric wheelchair control method according to claim 5, characterized in that: The generating of the second to-be-traveled path according to the second current position information and the target position information includes: generating a plurality of second to-be-decided paths according to the second current location information, the target location information and the preset geographic map data; Acquire path parameters of each second path to be decided; wherein the path parameters include: path length, path curvature and path slope; A spatial rectangular coordinate system is established with the path length as the horizontal axis, the path curvature as the vertical axis, and the path slope as the vertical axis; wherein the horizontal axis and the vertical axis form a first coordinate plane, the horizontal axis and the vertical axis form a second coordinate plane, and the vertical axis and the vertical axis form a third coordinate plane; For each second path to be decided, a first projection of the second path to be decided on the first coordinate plane is generated according to the path length and path curvature of the second path to be decided; a second projection of the second path to be decided on the second coordinate plane is generated according to the path length and path slope of the second path to be decided; a third projection of the second path to be decided on the third coordinate plane is generated according to the path curvature and path slope of the second path to be decided; Superimposing the first projection, the second projection and the third projection of each second path to be decided to obtain the driving comfort of the second path to be decided; The driving on the second to-be-decided route is determined according to the driving comfort of each second to-be-decided route.

7. The electric wheelchair control method according to claim 6, characterized in that: After obtaining the first current position information of the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted, the method further includes: Determine the historical maximum activity area of ​​the electric wheelchair to be adjusted according to the identity information of the electric wheelchair to be adjusted; Constructing a first three-dimensional geometric body in a spatial rectangular coordinate system according to the historical maximum activity area of ​​the electric wheelchair to be adjusted; After the first projection, the second projection and the third projection of each second path to be decided are superimposed to obtain the driving comfort of the second path to be decided, the method further includes: For each second path to be decided, construct a second three-dimensional geometric body in a spatial rectangular coordinate system according to the first projection, the second projection and the third projection; calculating an intersection area between the first three-dimensional geometric body and the second three-dimensional geometric body, and determining a correlation between the second path to be decided and the historical activity area according to the intersection area; The step of determining the second to-be-decided path for driving according to the driving comfort of each second to-be-decided path includes: The driving of the second to-be-determined path is determined according to the driving comfort of each second to-be-determined path and the correlation between the second to-be-determined path and the historical activity area.

8. The electric wheelchair control method according to claim 7, characterized in that: Determining the current operating state of the electric wheelchair according to the electrical parameters includes: When there is no abnormality in the electrical parameters, the current running state of the electric wheelchair is a non-fault state; When any electrical parameter is abnormal, the current operating state of the electric wheelchair is a fault state.

9. The electric wheelchair control method according to claim 8, characterized in that: Each of the electric wheelchairs comprises: a power supply, a left motor, a right motor, a left motor brake line, a right motor brake line, a controller and a joystick; wherein the controller comprises: an upper computer main control unit and a lower computer main control unit; The power supply is respectively connected to the left motor, the right motor, the upper computer main control unit and the lower computer main control unit; the lower computer main control unit is respectively connected to the left motor, the right motor, the left motor brake line and the right motor brake line; the upper computer main control unit is respectively connected to the lower computer main control unit and the rocker; The electrical parameters include: The power supply voltage of the upper computer main control unit, the power supply voltage of the lower computer main control unit, the connection current between the upper computer main control unit and the lower computer main control unit, the voltage on the first side of the left motor, the voltage on the second side of the left motor, the current of the left motor, the voltage on the brake line of the left motor, the voltage on the first side of the right motor, the voltage on the second side of the right motor, the current of the right motor, the voltage on the brake line of the right motor, and the voltage on the joystick; Determining the current fault type of the electric wheelchair according to the electrical parameters includes: If the connection current between the upper computer main control unit and the lower computer main control unit is abnormal, the fault type is determined to be a controller fault; If the power supply voltage of the host computer main control unit is abnormal or the power supply voltage of the host computer main control unit is abnormal, the fault type is power supply fault; If the voltage on the first side of the left motor is abnormal or the voltage on the second side of the left motor is abnormal, the fault type is a left motor fault; If the voltage on the first side of the right motor is abnormal or the voltage on the second side of the right motor is abnormal, the fault type is a right motor fault; If the left motor current is abnormal or the right motor current is abnormal, the fault type is motor overcurrent fault; If the joystick voltage is abnormal, the fault type is joystick fault; If the left motor brake line voltage is abnormal or the right motor brake line voltage is abnormal, the fault type is a brake fault.

10. The electric wheelchair control method according to claim 9, characterized in that: The electric wheelchair also includes: a display unit, a communication unit, a speaker and an alarm unit; The host computer main control unit is connected to the display unit, the communication unit, the speaker and the alarm unit respectively; The current electric wheelchair visualizes the operation data and the driving path, and generates an alarm text message according to the fault alarm information, including: The current electric wheelchair receives operation data, driving path and fault warning information through the communication unit, and transmits the operation data, driving path and fault warning information to the upper computer main control unit, so that the upper computer main control unit sends the operation data and driving path to the display unit, and the operation data and driving path are visually displayed on the display unit; Generate an alarm text message according to the fault alarm information, send the alarm text message to the alarm unit, and make the alarm unit transmit the alarm text message to each client bound to the current electric wheelchair; Generate an alarm voice according to the fault alarm information, and play the alarm voice through a speaker.

11. The electric wheelchair control method according to claim 10, characterized in that: After obtaining the identity information of each electric wheelchair, it also includes: For each electric wheelchair, a QR code is generated according to the identity information of the current electric wheelchair, and the generated QR code is sent to the current electric wheelchair, so that when the host computer main control unit of the current electric wheelchair receives the QR code, it will display the QR code through the display unit, so that each client can bind with the current electric wheelchair by scanning the QR code on the display unit.

12. The electric wheelchair control method according to claim 9, characterized in that: The circuit of the left motor includes: a left motor first side module circuit, a left motor second side module circuit and a left motor element; the circuit of the right motor includes: a right motor first side module circuit, a right motor second side module circuit and a right motor element; The first end of the left motor element is connected to the first side module circuit of the left motor, and the second end of the left motor element is connected to the second side module circuit of the left motor; The first end of the right motor element is connected to the first side module circuit of the right motor, and the second end of the right motor element is connected to the second side module circuit of the right motor.

13. The electric wheelchair control method according to claim 12, characterized in that: The left motor first side module circuit comprises: A first integrated circuit chip, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, a fifth capacitor, a sixth capacitor, a first diode, a first transistor, a second transistor and a first power supply; wherein the first integrated circuit chip comprises: a first low-side floating power input terminal, a first logic input terminal, a first enable signal terminal, a first low-side return terminal, a first high-side gate drive output terminal, a first high-side floating power input terminal, a first high-side gate floating power return terminal and a first low-side gate drive output terminal; The circuit of the lower computer main control unit includes a first control chip, and the first control chip includes: a first output interface, a second output interface and a first input interface; The first low-side floating power supply input terminal is connected to the first power supply; The input end of the first diode is connected to the first power supply, the output end of the first diode is connected to the first end of the second capacitor, the first high-side floating power supply input end is connected to the output end of the first diode, and the second end of the second capacitor is connected to the first high-side gate floating power supply return end; A first end of the first resistor is connected to the first output interface, and a second end of the first resistor is connected to the first logic input end; A first end of the first capacitor is connected to the first power supply, a second end of the first capacitor is connected to the first end of the fourth capacitor, the first low-side return end is grounded, a first end of the fourth capacitor is connected to the input end of the second transistor, a second end of the fourth capacitor is connected to the second end of the second resistor, a first end of the second resistor is connected to the first low-side gate driver output end, a first output end of the second transistor is connected to the input end of the first transistor, and a second output end of the second transistor is connected to the second end of the fourth capacitor; A first end of a fifth capacitor is connected to an input end of the second transistor, a second end of the fifth capacitor is connected to a first end of a fourth resistor, a first high-side gate floating power supply return end is connected to a first end of the fourth resistor, a first end of a left motor element is connected to a first end of the fourth resistor, a second end of the fourth resistor is connected to a first end of the fifth resistor, a first end of the fifth resistor is connected to a first end of a sixth resistor, a second end of the fifth resistor is connected to a first end of a sixth capacitor, a second end of the sixth capacitor is connected to the first input interface, and a second end of the sixth resistor is grounded; The first enable signal terminal is connected to the second output interface; The first high-side gate driving output terminal is connected to the first end of the third resistor, the second end of the third resistor is connected to the second output terminal of the first transistor, the second end of the third resistor is connected to the second end of the third capacitor, the first end of the third capacitor is connected to the first high-side gate floating power supply return terminal, the first end of the third capacitor is connected to the input terminal of the first transistor, and the first output terminal of the first transistor is connected to the first low-side floating power supply input terminal; The step of obtaining the voltage on the first side of the left motor includes: The voltage on the first side of the left motor is obtained through the first input interface.

14. The electric wheelchair control method according to claim 12, characterized in that: The left motor second side module circuit comprises: a second integrated circuit chip, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor, a seventh capacitor, an eighth capacitor, a ninth capacitor, a tenth capacitor, an eleventh capacitor, a twelfth capacitor, a second diode, a third transistor, a fourth transistor and a second power supply; wherein the second integrated circuit chip comprises: a second low-side floating power input terminal, a second logic input terminal, a second enable signal terminal, a second low-side return terminal, a second high-side gate driver output terminal, a second high-side floating power input terminal, a second high-side gate floating power return terminal and a second low-side gate driver output terminal; The first control chip further includes: a third output interface, a fourth output interface and a second input interface; The second low-side floating power supply input terminal is connected to the second power supply; The input end of the second diode is connected to the second power supply, the output end of the second diode is connected to the first end of the eighth capacitor, the second high-side floating power supply input end is connected to the output end of the second diode, and the second end of the eighth capacitor is connected to the second high-side gate floating power supply return end; A first end of the seventh resistor is connected to the third output interface, and a second end of the seventh resistor is connected to the second logic input end; The first end of the seventh capacitor is connected to the second power supply, the second end of the seventh capacitor is connected to the first end of the tenth capacitor, the second low-side return end is grounded, the first end of the tenth capacitor is connected to the input end of the fourth transistor, the second end of the tenth capacitor is connected to the second end of the eighth resistor, the first end of the eighth resistor is connected to the second low-side gate driver output end, the first output end of the fourth transistor is connected to the input end of the third transistor, and the second output end of the fourth transistor is connected to the second end of the tenth capacitor; A first end of an eleventh capacitor is connected to the input end of the fourth transistor, a second end of the eleventh capacitor is connected to the first end of the tenth resistor, a second high-side gate floating power supply return end is connected to the first end of the tenth resistor, a second end of the left motor element is connected to the first end of the tenth resistor, a second end of the tenth resistor is connected to the first end of the eleventh resistor, a first end of the eleventh resistor is connected to the first end of the twelfth resistor, a second end of the eleventh resistor is connected to the first end of the twelfth capacitor, a second end of the twelfth capacitor is connected to the second input interface, and a second end of the twelfth resistor is grounded; The second enable signal terminal is connected to the fourth output interface; The second high-side gate driving output terminal is connected to the first end of the ninth resistor, the second end of the ninth resistor is connected to the second output terminal of the third transistor, the second end of the ninth resistor is connected to the second end of the ninth capacitor, the first end of the ninth capacitor is connected to the second high-side gate floating power supply return terminal, the first end of the ninth capacitor is connected to the input terminal of the third transistor, and the first output terminal of the third transistor is connected to the second low-side floating power supply input terminal; The step of obtaining the voltage on the second side of the left motor comprises: The voltage on the second side of the left motor is obtained through the second input interface.

15. The electric wheelchair control method according to claim 12, characterized in that: The right motor first side module circuit comprises: A third integrated circuit chip, a thirteenth resistor, a fourteenth resistor, a fifteenth resistor, a sixteenth resistor, a seventeenth resistor, an eighteenth resistor, a thirteenth capacitor, a fourteenth capacitor, a fifteenth capacitor, a sixteenth capacitor, a seventeenth capacitor, an eighteenth capacitor, a third diode, a fifth transistor, a sixth transistor and a third power supply; wherein the third integrated circuit chip comprises: a third low-side floating power input terminal, a third logic input terminal, a third enable signal terminal, a third low-side return terminal, a third high-side gate driver output terminal, a third high-side floating power input terminal, a third high-side gate floating power return terminal and a third low-side gate driver output terminal; The first control chip further includes: a fifth output interface, a sixth output interface and a third input interface; The third low-side floating power input terminal is connected to the third power supply; The input end of the third diode is connected to the third power supply, the output end of the third diode is connected to the first end of the fourteenth capacitor, the third high-side floating power supply input end is connected to the output end of the third diode, and the second end of the fourteenth capacitor is connected to the third high-side gate floating power supply return end; A first end of the thirteenth resistor is connected to the fifth output interface, and a second end of the thirteenth resistor is connected to the third logic input end; A first end of a thirteenth capacitor is connected to a third power supply, a second end of the thirteenth capacitor is connected to a first end of a sixteenth capacitor, a third low-side return end is grounded, a first end of the sixteenth capacitor is connected to an input end of a sixth transistor, a second end of the sixteenth capacitor is connected to a second end of a fourteenth resistor, a first end of the fourteenth resistor is connected to a third low-side gate driver output end, a first output end of the sixth transistor is connected to an input end of the fifth transistor, and a second output end of the sixth transistor is connected to a second end of the sixteenth capacitor; A first end of a seventeenth capacitor is connected to the input end of the sixth transistor, a second end of the seventeenth capacitor is connected to a first end of a sixteenth resistor, a third high-side gate floating power supply return end is connected to a first end of the sixteenth resistor, a first end of a right motor element is connected to a first end of the sixteenth resistor, a second end of the sixteenth resistor is connected to a first end of the seventeenth resistor, a first end of the seventeenth resistor is connected to a first end of an eighteenth resistor, a second end of the seventeenth resistor is connected to a first end of an eighteenth capacitor, a second end of the eighteenth capacitor is connected to the third input interface, and a second end of the eighteenth resistor is grounded; The third enable signal terminal is connected to the sixth output interface; The third high-side gate driving output terminal is connected to the first end of the fifteenth resistor, the second end of the fifteenth resistor is connected to the second output end of the fifth transistor, the second end of the fifteenth resistor is connected to the second end of the fifteenth capacitor, the first end of the fifteenth capacitor is connected to the third high-side gate floating power supply return terminal, the first end of the fifteenth capacitor is connected to the input end of the fifth transistor, and the first output end of the fifth transistor is connected to the third low-side floating power supply input terminal; The step of obtaining the voltage on the first side of the right motor includes: The voltage on the first side of the right motor is obtained through the third input interface.

16. The electric wheelchair control method according to claim 12, characterized in that: The right motor second side module circuit comprises: a fourth integrated circuit chip, a nineteenth resistor, a twentieth resistor, a twenty-first resistor, a twenty-second resistor, a twenty-third resistor, a twenty-fourth resistor, a nineteenth capacitor, a twentieth capacitor, a twenty-first capacitor, a twenty-second capacitor, a twenty-third capacitor, a twenty-fourth capacitor, a fourth diode, a seventh transistor, an eighth transistor and a fourth power supply; wherein the fourth integrated circuit chip comprises: a fourth low-side floating power input terminal, a fourth logic input terminal, a fourth enable signal terminal, a fourth low-side return terminal, a fourth high-side gate driver output terminal, a fourth high-side floating power input terminal, a fourth high-side gate floating power return terminal and a fourth low-side gate driver output terminal; The first control chip further includes: a seventh output interface, an eighth output interface and a fourth input interface; The fourth low-side floating power input terminal is connected to a fourth power supply; The input end of the fourth diode is connected to the fourth power supply, the output end of the fourth diode is connected to the first end of the twentieth capacitor, the fourth high-side floating power supply input end is connected to the output end of the fourth diode, and the second end of the twentieth capacitor is connected to the fourth high-side gate floating power supply return end; A first end of a nineteenth resistor is connected to the seventh output interface, and a second end of the nineteenth resistor is connected to the fourth logic input end; A first end of a nineteenth capacitor is connected to a fourth power supply, a second end of the nineteenth capacitor is connected to a first end of a twenty-second capacitor, a fourth low-side return end is grounded, a first end of the twenty-second capacitor is connected to an input end of the eighth transistor, a second end of the twenty-second capacitor is connected to a second end of a twentieth resistor, a first end of the twentieth resistor is connected to a fourth low-side gate driver output end, a first output end of the eighth transistor is connected to an input end of the seventh transistor, and a second output end of the eighth transistor is connected to a second end of the twenty-second capacitor; A first end of a twenty-third capacitor is connected to the input end of the eighth transistor, a second end of the twenty-third capacitor is connected to the first end of a twenty-second resistor, a fourth high-side gate floating power supply return end is connected to the first end of the twenty-second resistor, a second end of the right motor element is connected to the first end of the twenty-second resistor, a second end of the twenty-second resistor is connected to the first end of the twenty-third resistor, a first end of the twenty-third resistor is connected to the first end of the twenty-fourth resistor, a second end of the twenty-third resistor is connected to the first end of the twenty-fourth capacitor, a second end of the twenty-fourth capacitor is connected to the fourth input interface, and a second end of the twenty-fourth resistor is grounded; The fourth enable signal terminal is connected to the eighth output interface; The fourth high-side gate driving output terminal is connected to the first end of the twenty-first resistor, the second end of the twenty-first resistor is connected to the second output end of the seventh transistor, the second end of the twenty-first resistor is connected to the second end of the twenty-first capacitor, the first end of the twenty-first capacitor is connected to the fourth high-side gate floating power supply return terminal, the first end of the twenty-first capacitor is connected to the input end of the seventh transistor, and the first output end of the seventh transistor is connected to the fourth low-side floating power supply input terminal; The step of obtaining the voltage on the second side of the right motor includes: The voltage on the second side of the right motor is obtained through the fourth input interface.

17. The electric wheelchair control method according to claim 12, characterized in that: The circuit of the brake line includes: A twenty-fifth resistor, a twenty-sixth resistor, a twenty-seventh resistor, a twenty-eighth resistor, a twenty-ninth resistor, a left motor brake line interface, a right motor brake line interface, a twenty-fifth capacitor and a fifth power supply; The first control chip further includes: a fifth input interface; The first end of the 25th resistor is connected to the fifth power supply, the second end of the 25th resistor is connected to the right motor brake line interface, the second end of the 25th resistor is connected to the first end of the 26th resistor, the second end of the 26th resistor is connected to the first end of the 27th resistor, the second end of the 27th resistor is connected to the fifth input interface, and the right motor brake line interface is connected to the right motor; The first end of the twenty-eighth resistor is connected to the fifth power supply, the second end of the twenty-eighth resistor is connected to the left motor brake line interface, the second end of the twenty-eighth resistor is connected to the first end of the twenty-ninth resistor, and the second end of the twenty-ninth resistor is connected to the first end of the twenty-seventh resistor; the first end of the twenty-fifth capacitor is connected to the second end of the twenty-ninth resistor, and the second end of the twenty-fifth capacitor is connected to the fifth input interface; The step of obtaining the right motor brake line voltage and the left motor brake line voltage includes: The right motor brake line voltage and the left motor brake line voltage are obtained through the fifth input interface.

18. The electric wheelchair control method according to claim 12, characterized in that: The joystick circuit includes: A joystick control chip, a 30th resistor, a 31st resistor, a 32nd resistor, a 33rd resistor, a 26th capacitor, a 27th capacitor and a 6th power supply; wherein the joystick control chip includes: a joystick X-axis interface, a joystick Y-axis interface, a joystick power interface and a joystick ground interface; The circuit of the host computer main control unit includes a second control chip; wherein the second control chip includes a sixth input interface and a seventh input interface; The rocker X-axis interface is connected to the first end of the 30th resistor, the second end of the 30th resistor is connected to the first end of the 31st resistor, the first end of the 31st resistor is connected to the first end of the 26th capacitor, the second end of the 31st resistor is connected to the sixth input interface, and the second end of the 26th capacitor is connected to the second end of the 31st resistor; The joystick Y-axis interface is connected to the first end of the thirty-second resistor, the second end of the thirty-second resistor is connected to the first end of the thirty-third resistor, the first end of the thirty-third resistor is connected to the first end of the twenty-seventh capacitor, the second end of the thirty-third resistor is connected to the seventh input interface, and the second end of the twenty-seventh capacitor is connected to the second end of the thirty-third resistor; The rocker power interface is connected to a sixth power source; The joystick ground interface is grounded; The step of obtaining the rocker voltage includes: The joystick X-axis voltage is obtained through the sixth input interface, and the joystick Y-axis voltage is obtained through the seventh input interface.

19. The electric wheelchair control method according to claim 12, characterized in that: The power supply circuit of the lower computer main control unit includes: A thirty-fourth resistor, a thirty-fifth resistor, a twenty-eighth capacitor and a seventh power supply; The first control chip further includes: an eighth input interface; The first end of the thirty-fourth resistor is connected to the eighth input interface, the first end of the thirty-fourth resistor is connected to the first end of the thirty-fifth resistor, the second end of the thirty-fourth resistor is connected to the first end of the twenty-eighth capacitor, the second end of the twenty-eighth capacitor is connected to the first end of the thirty-fifth resistor, the first end of the twenty-eighth capacitor is grounded, and the second end of the thirty-fifth resistor is grounded; The obtaining of the power supply voltage of the main control unit of the lower computer includes: The power supply voltage of the main control unit of the lower computer is obtained through the eighth input interface.

20. The electric wheelchair control method according to claim 12, characterized in that: The power supply circuit of the host computer main control unit includes: A thirty-sixth resistor, a thirty-seventh resistor, a twenty-ninth capacitor and an eighth power supply; The second control chip further includes: a ninth input interface; The first end of the thirty-sixth resistor is connected to the eighth power supply, the second end of the thirty-sixth resistor is connected to the ninth input interface, the first end of the thirty-seventh resistor is connected to the ninth input interface, the second end of the thirty-seventh resistor is grounded, the first end of the twenty-ninth capacitor is connected to the ninth input interface, and the second end of the twenty-ninth capacitor is connected to the second end of the thirty-seventh resistor; The obtaining of the power supply voltage of the host computer main control unit comprises: The power supply voltage of the host computer main control unit is obtained through the ninth input interface.

21. A cloud server, characterized in that: The invention comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, an electric wheelchair control method as claimed in any one of claims 1 to 20 is implemented.

22. An electric wheelchair control system, characterized in that: include: Several electric wheelchairs, cloud servers and several clients; The cloud server is used to: obtain the operation data and identity information of each electric wheelchair in real time; wherein the operation data includes: position information, speed information and electrical parameters; for each electric wheelchair, generate the speed curve of the current electric wheelchair according to the speed information, and generate the driving path of the current electric wheelchair according to the speed curve and the position information; determine the operation state of the current electric wheelchair according to the electrical parameters; wherein the operation state includes: non-fault state and fault state; when the current electric wheelchair is in a fault state, determine the fault type of the current electric wheelchair according to the electrical parameters, and then generate fault alarm information according to the fault type; send the operation data, driving path and fault alarm information to the current electric wheelchair and each client bound to the current electric wheelchair according to the identity information; when the current electric wheelchair is in a non-fault state, send the operation data and driving path to the current electric wheelchair and each client according to the identity information; Each of the electric wheelchairs is used to visualize the operating data and the driving path when the operating data and the driving path are received, and to generate a warning text message and a warning voice according to the fault warning information when the fault warning information is received; Each of the clients is used to visualize the operating data, driving route and fault warning information when receiving the operating data, driving route and fault warning information.

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