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

Abstract

The present invention discloses an electric wheelchair control method, a cloud server, and an electric wheelchair control system. The method includes: obtaining the operating data and identity information of each electric wheelchair in real time; for each electric wheelchair, generating a speed curve of the current electric wheelchair based on the speed information, and generating the driving path of the current electric wheelchair based on the speed curve and position information; determining the operating state of the current electric wheelchair based on electrical parameters; when the current electric wheelchair is in a fault state, determining the fault type of the current electric wheelchair based on the electrical parameters, and then generating fault alarm information based on the fault type; and sending the operating data, driving path, and fault alarm information to the current electric wheelchair and each client bound to the current electric wheelchair based on the identity information. When the current electric wheelchair is in a normal state, sending the operating data and driving path to the current electric wheelchair and each client based on the identity information. The implementation of the present invention can improve the safety of using electric wheelchairs.

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 specialized medical assistive device that uses electricity to propel the wheelchair forward, backward, and turn, providing convenient mobility support for users with limited mobility. Currently, electric wheelchairs on the market only offer basic driving functions such as forward, backward, and turn, and lack monitoring for safety issues associated with their operation. 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 electric wheelchair use in the prior art and improve the safety of electric wheelchair use.

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

[0005] Acquire the operating data and identity information of each electric wheelchair in real time; wherein the operating 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] 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;

[0008] When the electric wheelchair is in a fault state, determining the fault type of the 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 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.

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

[0012] Obtain the historical travel paths 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 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 trajectory 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; and each client visualizes the track deviation prompt information.

[0017] Furthermore, it also includes:

[0018] 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;

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

[0021] 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 information of obstacles ahead during the travel;

[0022] If an obstacle exists while 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 second current position information of the electric wheelchair to be adjusted, and generating an adjusted second path to be traveled based on 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] Furthermore, 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 preferences of each historical activity area according to each historical driving path;

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

[0028] generating a plurality of first to-be-decided driving paths based on the first current position information and the target position information of the electric wheelchair to be adjusted and in combination with preset geographic map data;

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

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

[0031] Obtain a historical driving path sequence of each electric wheelchair; wherein each historical driving path sequence includes a plurality of driving paths with timestamps;

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

[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] Furthermore, 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 paths to be decided based on the second current location information, the target location information, and the preset geographic map data;

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

[0037] 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 third coordinate plane;

[0038] For each second path to be decided, generating a first projection of the second path to be decided on the first coordinate plane based on 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 based on the path length and path slope of the second path to be decided; and generating a third projection of the second path to be decided on the third coordinate plane based on 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 second to-be-determined route is determined based on the driving comfort of each second to-be-determined route.

[0041] Furthermore, 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 based on 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 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 based on the intersection area;

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

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

[0049] Furthermore, 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 operating 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 electric wheelchair 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 connected to the left motor, the right motor, the upper computer main control unit and the lower computer main control unit respectively; the lower computer main control unit is connected to the left motor, the right motor, the left motor brake line and the right motor brake line respectively; the upper computer main control unit is connected to the lower computer main control unit and the rocker respectively;

[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 of the joystick;

[0056] Determining the current fault type of the electric wheelchair based on 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 slave 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 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 voltage of the left motor brake line is abnormal or the voltage of the right motor brake line 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, communication unit, speaker and alarm unit respectively;

[0065] The current electric wheelchair will visualize the operating data and driving path, and generate an alarm text message based on the fault alarm information, including:

[0066] Currently, the electric wheelchair receives operating data, driving path and fault alarm information through the communication unit, transmits the operating data, driving path and fault alarm information to the upper computer main control unit, so that the upper computer main control unit sends the operating data and driving path to the display unit, and the operating 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 following is also included:

[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, 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.

[0071] Furthermore, 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 includes:

[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 includes: 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 driver 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 driver 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 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 terminal;

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

[0081] A first end of a fifth capacitor is connected to the input end of the second transistor, a second end of the fifth capacitor is connected to the first end of the fourth resistor, a first high-side gate floating power supply return end is connected to the first end of the fourth resistor, a first end of the left motor element is connected to the first end of the fourth resistor, a second end of the fourth resistor is connected to the first end of the fifth resistor, a first end of the fifth resistor is connected to the first end of the sixth resistor, a second end of the fifth resistor is connected to the first end of the 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 driver 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 obtaining of the voltage at 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 includes:

[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 includes: 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 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 terminal;

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

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

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

[0095] The second high-side gate driver output terminal is connected to the first end of a 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 a 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 obtaining of the voltage on the second side of the left motor includes:

[0097] The second side voltage 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 includes: 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 terminal;

[0104] a first end of a thirteenth capacitor connected to the third power supply, a second end of the thirteenth capacitor connected to the first end of a sixteenth capacitor, the third low-side return terminal being grounded, a first end of the sixteenth capacitor connected to the input terminal of the sixth transistor, a second end of the sixteenth capacitor connected to the second end of a fourteenth resistor, a first end of the fourteenth resistor connected to the third low-side gate driver output terminal, a first output terminal of the sixth transistor connected to the input terminal of the fifth transistor, and a second output terminal of the sixth transistor connected to the 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 the first end of a sixteenth resistor, a third high-side gate floating power supply return end is connected to the first end of the sixteenth resistor, a first end of the right motor element is connected to the first end of the sixteenth resistor, a second end of the sixteenth resistor is connected to the first end of the seventeenth resistor, a first end of the seventeenth resistor is connected to the first end of the eighteenth resistor, a second end of the seventeenth resistor is connected to the first end of the 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 driver output terminal is connected to the first terminal of a fifteenth resistor, the second terminal of the fifteenth resistor is connected to the second output terminal of the fifth transistor, the second terminal of the fifteenth resistor is connected to the second terminal of a fifteenth capacitor, the first terminal of the fifteenth capacitor is connected to the third high-side gate floating power supply return terminal, the first terminal of the fifteenth capacitor is connected to the input terminal of the fifth transistor, and the first output terminal of the fifth transistor is connected to the third low-side floating power supply input terminal;

[0108] The obtaining of 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 includes: 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] An input end of a fourth diode is connected to a fourth power supply, an output end of the fourth diode is connected to a first end of a twentieth capacitor, an input end of a fourth high-side floating power supply is connected to an output end of the fourth diode, and a second end of the twentieth capacitor is connected to a return end of a fourth high-side gate floating power supply;

[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 terminal;

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

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

[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] A first end of the twenty-fifth resistor is connected to the fifth power supply, a second end of the twenty-fifth resistor is connected to the right motor brake line interface, a second end of the twenty-fifth resistor is connected to the first end of the twenty-sixth resistor, a second end of the twenty-sixth resistor is connected to the first end of the twenty-seventh resistor, a second end of the twenty-seventh resistor is connected to the fifth input interface, and the right motor brake line interface is connected to the right motor;

[0126] A first end of a twenty-eighth resistor is connected to the fifth power supply, a second end of the twenty-eighth resistor is connected to the left motor brake line interface, a second end of the twenty-eighth resistor is connected to the first end of a twenty-ninth resistor, and a second end of the twenty-ninth resistor is connected to the first end of a twenty-seventh resistor; a first end of a twenty-fifth capacitor is connected to the second end of the twenty-ninth resistor, and a 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 joystick circuit 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 joystick 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 joystick power interface is connected to a sixth power source;

[0135] The joystick ground interface is grounded;

[0136] The obtaining of 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] a first end of the thirty-fourth resistor is connected to the eighth input interface, a first end of the thirty-fourth resistor is connected to the first end of the thirty-fifth resistor, a second end of the thirty-fourth resistor is connected to the first end of the twenty-eighth capacitor, a 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 lower computer main control unit 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] A first end of the thirty-sixth resistor is connected to the eighth power supply, a second end of the thirty-sixth resistor is connected to the ninth input interface, a first end of the thirty-seventh resistor is connected to the ninth input interface, a second end of the thirty-seventh resistor is grounded, a first end of the twenty-ninth capacitor is connected to the ninth input interface, and a 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 includes:

[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, the 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 operating data and identity information of each electric wheelchair in real time; wherein the operating data includes: position information, speed information and electrical parameters; for each electric wheelchair, generate a 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 position information; determine the operating state of the current 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, 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 operating 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 operating data and driving path to the current electric wheelchair and each client according to the identity information;

[0154] Each of the electric wheelchairs is configured to visually display the operating data and the driving path upon receiving the operating data and the driving path, and to generate an alarm text message and an alarm voice according to the fault alarm information upon receiving the fault alarm information;

[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 acquires the position information, speed information, electrical parameters, and identity information of each electric wheelchair in real time, generates a speed curve based on the speed information of each electric wheelchair, generates a travel path for the electric wheelchair based on the speed curve and position information, and transmits the operating data and travel path of each electric wheelchair to the electric wheelchair and each client associated with the electric wheelchair for visual display based on the identity information. This allows the electric wheelchair user and its associated clients to intuitively and clearly obtain information about the electric wheelchair. Furthermore, after obtaining the electric wheelchair's electrical parameters, the operating status of the electric wheelchair is determined based on the electrical parameters. If the operating status is a faulty state, the fault type of the electric wheelchair is further determined based on the electrical parameters. A fault alarm is generated based on the fault type and transmitted to the electric wheelchair and its associated client. This allows the electric wheelchair user and its associated client to promptly obtain fault information about the electric wheelchair, perform timely inspection and maintenance on the electric wheelchair, and improve the safety of using the electric wheelchair. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0159] Figure 2 1 is a schematic structural diagram of an electric wheelchair provided in 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 one 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 This is a circuit diagram of a host computer main control unit provided by an embodiment of the present invention.

[0166] Figure 9 This is a second flow chart of a method for controlling an electric wheelchair provided by one embodiment of the present invention.

[0167] Figure 10 This is a third flow chart of a method for controlling an electric wheelchair provided by one embodiment of the present invention.

[0168] Figure 11 1 is a schematic structural 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0172] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only 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 making any creative efforts 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 those skilled in the art 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" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0174] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0175] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, 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 this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects 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 expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0179] like Figure 1 FIG. 1 is a diagram showing a method for controlling an electric wheelchair according to an embodiment of the present invention, comprising:

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

[0181] Step S2: For each electric wheelchair, generate a speed curve of the current electric wheelchair according to the speed information, and generate 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 electric wheelchair is in a fault state, determining the fault type of the 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 an 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] In step S1, the cloud server acquires real-time operational data, including the position, speed, and electrical parameters of each electric wheelchair, as well as the wheelchair's identity information. Each wheelchair's unique identity information is generated based on its serial number, which is assigned at the time of manufacture. After acquiring any piece of real-time operational data, the cloud server adds a timestamp based on the acquisition time to distinguish the data acquired at different times.

[0187] In step S2, for each electric wheelchair, if the electric wheelchair speed is non-zero, that is, the electric wheelchair is in motion. Based on this principle, if the electric wheelchair speed increases from 0 to a value greater than 0, it is considered to be in the acceleration state. If the electric wheelchair speed decreases from a value greater than 0 to 0, it is considered to be in the deceleration state. When the electric wheelchair speed decreases to 0, it is considered to be stopped. The electric wheelchair stops moving when it decreases to 0. The speed information and corresponding timestamps within the movement interval from the electric wheelchair speed increasing from 0 to a value greater than 0 to the electric wheelchair speed decreasing from a value greater than 0 to 0 can generate a corresponding speed curve. This 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 within this motion interval, its position information changes as it moves, as the electric wheelchair is not stationary. Based on this position information within this motion interval, the electric wheelchair's preliminary travel path can be determined. To observe the electric wheelchair's speed at each section along this preliminary travel path, a speed curve is superimposed on the preliminary travel path to reconstruct a travel path containing speed information.

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

[0190] Specifically, in a preferred embodiment, the determining of the current operating state of the electric wheelchair based on the electrical parameters includes: when all electrical parameters are normal, the operating state of the current electric wheelchair is a non-fault state; when any electrical parameter is abnormal, the operating state of the current electric wheelchair is a fault state.

[0191] In steps S4 and S5, for each electric wheelchair, if the current electric wheelchair is in a faulty state, the fault type is further determined based on the electrical parameters, accurately locating the fault in the faulty electric wheelchair. A fault warning message is then generated based on the specific fault type. Using the current electric wheelchair's identity information as an index, the current electric wheelchair's location information, speed information, electrical parameters, travel path, and fault warning message including the fault type are sent to the current electric wheelchair and each client associated with the current electric wheelchair.

[0192] When the electric wheelchair receives location information, speed information, electrical parameters, and driving path information, it displays the information visually. When it receives fault warning information, it generates a voice alarm and a text message based on the fault warning information and sends the generated text message to each client bound to the electric wheelchair. For each client bound to the electric wheelchair, when it receives location information, speed information, electrical parameters, driving path, and fault warning information, it displays the information visually.

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

[0197] The method of determining the current fault type of the electric wheelchair based on 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 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 voltage on the brake line of the left motor is abnormal or the voltage on the brake line of the right motor is abnormal, the fault type is a brake fault.

[0198] Specifically, such as 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. The controller 106 includes a host computer main control unit 108 and a slave computer main control unit 109. The host computer main control unit 108 is equipped with a UART (Universal Asynchronous Receiver / Transmitter) communication interface, and is connected to the slave computer main control unit 109 via the UART communication connection. The host computer main control unit 108 is connected to the power supply 101 and the joystick 107 via a GPIO (General Purpose Input / Output) interface. The lower computer main control unit 109 is 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 respectively; the left motor 102 and the right motor 103 are connected to the power supply 101 respectively.

[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] If all the above electrical parameters are normal, the electric wheelchair is considered to be in a normal state. If any of the electrical parameters is abnormal, 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 a 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 has a fault, and the fault type is a controller 106 fault.

[0202] If the upper computer main control unit 108 detects that the power supply voltage exceeds the preset power supply voltage range, it is considered that there is an abnormality in the power supply 101, 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 there is an abnormality in the power supply 101, 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 there is an abnormality in the left motor 102, 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 there is an abnormality in the right motor 103, 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 there is an overcurrent in the left motor 102 or the right motor 103, and the fault type is motor overcurrent fault. If the rocker voltage exceeds the preset rocker voltage range, it is considered that there is a fault in the rocker 107, 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 there is an abnormality in the left motor brake line 104 or the right motor brake line 105, and the fault type is a brake fault. The preset line current range, preset power supply voltage range, preset motor voltage range, preset motor current range, preset joystick voltage range, and preset brake line voltage range can all be specifically defined based on actual scenarios and are not limited to specific values ​​in the present invention.

[0203] By separately judging each electrical parameter, when an electric wheelchair has a fault, one or more fault types can be quickly located. When a fault warning message containing the fault type is sent to the electric wheelchair and each client bound to the electric wheelchair, accurate and comprehensive feedback of the electric wheelchair's fault data can be provided. This helps the electric wheelchair user to stop using the electric wheelchair in a timely manner based on the fault warning information, and enables users of each client bound to the electric wheelchair to promptly send the electric wheelchair for inspection and repair based on the fault warning information, thereby ensuring the safety of the electric wheelchair during use. In addition, the specific fault type is fed back to the electric wheelchair maintenance engineer during the inspection process, which allows 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 operating 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 operating data, the driving path and the fault alarm information through the communication unit 111, and transmits the operating 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 operating data and the driving path to the display unit 110, and displays the operating 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, such as 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 via GPIO interfaces, respectively. The host computer main control unit 108 is also connected to the display unit 110 and the communication unit 111 via UART communication lines. Each electric wheelchair receives operating data, driving paths, and fault alarm information from the cloud server via the communication unit 111. The position information, speed information, electrical parameters, driving paths, and fault alarm information in the operating data are transmitted to the host computer main control unit 108 via the UART connection. The host computer main control unit 108 then transmits the position information, speed information, electrical parameters, and driving paths to the display unit 110 for visual display 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. The alarm unit 113 sends the alarm text message to each client bound to the current electric wheelchair and plays the alarm voice 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 there is a fault 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 inspected and maintained in time.

[0208] Preferably, the communication unit 111 includes a Bluetooth antenna, a 4G antenna, and a GPS antenna, and can support Bluetooth and 4G communication connections. It can also obtain 4G signal strength through the 4G antenna and GPS signal strength through the GPS antenna. After transmitting the 4G signal strength and GPS signal strength to the host computer main control unit 108, it can be transmitted to the display unit 110 for visual display 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 the data is visualized in different layouts according to the TFT display unit or LED display unit. In addition, the host computer main control unit 108 can obtain the power level information of the power supply and visualize the power level information through the display unit 110, so that the electric wheelchair user can monitor the power level information of the electric wheelchair in a timely manner.

[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 less than 4.0 km / h, the first block of the breathing light displays green; when the speed is greater 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 currently bound to the electric wheelchair, and male voice announcement, female voice announcement, or universal prompt tone announcement can be selected. In addition to announcing fault alarm information, the reminder tone and time for taking medicine can also be set in the client currently bound to the electric wheelchair.

[0211] In a preferred embodiment, after obtaining the identity information of each electric wheelchair, it also includes: for each electric wheelchair, generating a QR code according to the identity information of the current electric wheelchair, and sending the generated QR code 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, the cloud server generates a QR code (Quick Response Code) uniquely corresponding to each electric wheelchair's identity information, i.e., a QR code carrying the identity information. The generated QR code is transmitted to the corresponding electric wheelchair based on its identity information and displayed visually on the wheelchair's display unit 110. Each client scans the QR code on the display unit 110 to bind the wheelchair to the wheelchair through the electric wheelchair mini-program or app on the client. Each client can be bound 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 the input terminal of the second transistor LMOS5, a second end of the fourth capacitor C11 is connected to the second end of the second resistor R48, a first end of the second resistor R48 is connected to the first low-side gate driver output terminal LO_1, a first output terminal of the second transistor LMOS5 is connected to the input terminal of the first transistor LMOS6, and a second output terminal of the second transistor LMOS5 is connected to the second end of the fourth capacitor C11;

[0222] A first end of a 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 a 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 a fifth resistor R22, a first end of the fifth resistor R22 is connected to a first end of a sixth resistor R65, a second end of the fifth resistor R22 is connected to a first end of a 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 driver 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 terminal 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 terminal of the first transistor LMOS6, and the first output terminal of the first transistor LMOS6 is connected to the first low-side floating power supply input terminal VCC_1;

[0225] The obtaining of the voltage at 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 IC chip IR2184S, including: a second low-side floating power input terminal VCC_2, a second logic input terminal IN_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 further 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 a seventh capacitor C3 connected to the second power supply, a second end of the seventh capacitor C3 connected to the first end of a tenth capacitor C16, the second low-side return terminal COM_2 is grounded, a first end of the tenth capacitor C16 connected to the input terminal of the fourth transistor LMOS8, a second end of the tenth capacitor C16 connected to the second end of the eighth resistor R50, a first end of the eighth resistor R50 connected to the second low-side gate driver output terminal LO_2, a first output terminal of the fourth transistor LMOS8 connected to the input terminal of the third transistor LMOS7, and a second output terminal of the fourth transistor LMOS8 connected to the second end of the tenth capacitor C16;

[0234] A first end of an 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 a 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 (end W) 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 an eleventh resistor R28, a first end of the eleventh resistor R28 is connected to a first end of a twelfth resistor R66, a second end of the eleventh resistor R28 is connected to a first end of a 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 driver output terminal HO_2 is connected to the first end of a 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 a 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 obtaining 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 further 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] An input end of the third diode D5 is connected to the third power supply, an output end of the third diode D5 is connected to a first end of a fourteenth capacitor C9, a third high-side floating power supply input end VB_3 is connected to the output end of the third diode D5, and a second end of the fourteenth capacitor C9 is connected to a third high-side gate floating power supply 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 a 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 a sixteenth capacitor C33, the third low-side return terminal COM_3 is grounded, a first end of the sixteenth capacitor C33 is connected to the input terminal of the sixth transistor RMOS5, a second end of the sixteenth capacitor C33 is connected to the second end of the fourteenth resistor R51, a first end of the fourteenth resistor R51 is connected to the third low-side gate driver output terminal LO_3, a first output terminal of the sixth transistor RMOS5 is connected to the input terminal of the fifth transistor RMOS6, and a second output terminal of the sixth transistor RMOS5 is connected to the second end of the sixteenth capacitor C33;

[0246] A first end of a 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 driver 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 obtaining 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, comprising: a fourth low-side floating power input terminal VCC_4, a fourth logic input terminal IN_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 further 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] An input end of the fourth diode D15 is connected to the fourth power supply, an output end of the fourth diode D15 is connected to a first end of a twentieth capacitor C17, a fourth high-side floating power supply input end VB_4 is connected to the output end of the fourth diode D15, and a second end of the twentieth capacitor C17 is connected to a fourth high-side gate floating power supply 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 the fourth power supply, a second end of the nineteenth capacitor C8 is connected to the first end of a twenty-second capacitor C20, the fourth low-side return terminal COM_4 is grounded, a first end of the twenty-second capacitor C20 is connected to the input terminal of the eighth transistor RMOS7, a second end of the twenty-second capacitor C20 is connected to the second end of the twentieth resistor R54, a first end of the twentieth resistor R54 is connected to the fourth low-side gate driver output terminal LO_4, a first output terminal of the eighth transistor RMOS7 is connected to the input terminal of the seventh transistor RMOS8, and a second output terminal of the eighth transistor RMOS7 is connected to the 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 the twenty-second resistor R59, a second end (end O) of the right motor element is connected to a first end of the 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 the 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] a fourth high-side gate driver output terminal HO_4 connected to a first end of a twenty-first resistor R53, a second end of the twenty-first resistor R53 connected to a second output end of the seventh transistor RMOS8, a second end of the twenty-first resistor R53 connected to a second end of a twenty-first capacitor C19, a first end of the twenty-first capacitor C19 connected to a fourth high-side gate floating power supply return terminal VS_4, a first end of the twenty-first capacitor C19 connected to an input end of the seventh transistor RMOS8, and a first output end of the seventh transistor RMOS8 connected to a fourth low-side floating power supply input terminal VCC_4;

[0260] The obtaining of the voltage on the second side of the right motor includes: the lower computer main control unit 109 obtaining 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 brake line circuit 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 further includes: a fifth input interface PC5;

[0265] A first end of the twenty-fifth resistor R74 is connected to the fifth power supply, a second end of the twenty-fifth resistor R74 is connected to the right motor brake line interface BK-R CON1, a second end of the twenty-fifth resistor R74 is connected to a first end of a twenty-sixth resistor R45, a second end of the twenty-sixth resistor R45 is connected to a first end of a twenty-seventh resistor R15, a second end of the twenty-seventh 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 the first end of a twenty-ninth resistor R77, and a second end of the twenty-ninth resistor R77 is connected to the first end of a twenty-seventh resistor R15; a first end of a twenty-fifth capacitor C36 is connected to the second end of the twenty-ninth resistor R77, and 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 includes: 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 joystick circuit 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, 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 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 the first end of the 30th resistor R80, the second end of the 30th resistor R80 is connected to the first end of the 31st resistor R81, the first end of the 31st resistor R81 is connected to the first end of the 26th capacitor C75, the second end of the 31st resistor R81 is connected to the sixth input interface P1, and the second end of the 26th capacitor C75 is connected to the second end of the 31st resistor R81;

[0272] The joystick Y-axis interface H3_2 is connected to the first end of the 32nd resistor R82, the second end of the 32nd resistor R82 is connected to the first end of the 33rd resistor R83, the first end of the 33rd resistor R83 is connected to the first end of the 27th capacitor C74, the second end of the 33rd resistor R83 is connected to the seventh input interface P2, and the second end of the 27th capacitor C74 is connected to the second end of the 33rd resistor R83.

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

[0274] The joystick ground interface H3_3 is grounded;

[0275] The obtaining of the joystick voltage includes: the host computer main control unit 108 obtaining the joystick X-axis voltage through the sixth input interface P1 on the second control chip U2, and obtaining the joystick 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 port 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 computer main control unit 109 includes: the lower computer main control unit 109 obtaining the power supply voltage of the lower computer 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 a 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 a 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 a 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 obtaining the power supply voltage of the host computer main control unit through the 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 Figure 9 As shown, after generating the current driving path of the electric wheelchair according to the speed curve and position information, it also includes:

[0287] Step S7: obtaining historical travel paths 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 based on 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 offset data is greater than a preset offset threshold, generating track offset prompt information according to the current driving path and the offset 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 visually display 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. The cloud server stores all historical driving paths of each electric wheelchair. After the remaining driving paths are generated except for the initial driving path, multiple historical driving paths of the current electric wheelchair are obtained based on the identity information of the current electric wheelchair.

[0293] In 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 based on all areas involved in the superimposed historical driving path.

[0294] In step S9, based on the overlapping relationship between the current driving path of the 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] In 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, the current driving path is considered to be within the vicinity of the historical maximum activity area, and it can be assumed that the current electric wheelchair user has not walked too much ground that they normally do not walk during driving. In this case, no prompt is required. If the offset data between the current driving path and the historical maximum activity area is greater than the preset offset threshold, the current driving path is considered to be significantly different from the current electric wheelchair user's regular driving path, and there may be a certain risk of driving on the wrong path or getting lost. In this case, a trajectory offset prompt information is generated based on the offset data and the current electric wheelchair's driving path.

[0296] In step S11, the cloud server sends the track deviation prompt information to the current electric wheelchair based on 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 based on 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 based on the identity information of the current electric wheelchair. After receiving the track deviation prompt information, each client bound to the current electric wheelchair visually displays 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 in a fixed area with a relatively limited range of activities. The clients bound to the electric wheelchairs usually include relatives of the electric wheelchair users. After the current electric wheelchair generates a driving trajectory, it is compared with the current electric wheelchair's historical maximum activity area, and then the offset data between the current driving trajectory and the historical maximum activity area is determined. Based on the offset data, the unconventional use of the electric wheelchair users can be monitored in a timely manner, 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 the obstacles encountered during the use of the electric wheelchair, such as Figure 10 As shown, it also includes:

[0299] Step S12: Acquire 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 path to be traveled 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 path to be traveled and detects information about obstacles ahead during travel;

[0303] Step S16: If an obstacle exists while 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 second current position information of the electric wheelchair to be adjusted, and generating an adjusted second path to be traveled based on 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 along the second path to be traveled.

[0305] In step S12, the parameter information to be adjusted, which is set by the user on a client, is obtained. 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 setting the parameters on the client, the user only needs to set the target position information and target obstacle avoidance distance. After the settings are completed, when the client uploads the target position information and target obstacle avoidance distance to the cloud server, the identity information of the electric wheelchair bound to the client is included, indicating the electric wheelchair to be adjusted.

[0306] In steps S13 and S14, after receiving the identity signal of the electric wheelchair to be adjusted, the target location information, and the target obstacle avoidance distance, the cloud server obtains the first current location 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 location information and the target location 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, the method further 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 several 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 location information of the electric wheelchair to be adjusted based on its identity information, all historical travel paths of the electric wheelchair to be adjusted are also obtained and input into a preference prediction model. The preference prediction model then outputs all historical activity areas of the electric wheelchair to be adjusted and the driving preferences of the electric wheelchair to be adjusted within each historical activity area based on all the input historical travel paths. Based on the first current location information and target location information of the electric wheelchair to be adjusted, open source 3D geographic map data (i.e., the aforementioned preset geographic map data) is accessed via an API interface to determine all drivable paths from the first current location to the target location. These drivable paths are preferably crosswalks; if no crosswalks are available, non-motorized vehicle lanes may be used. All of these drivable paths are used as a plurality of first travel paths to be determined. Based on the historical activity areas of the electric wheelchair to be adjusted and the driving preferences of each historical activity area, a first travel path to be determined that intersects the most with each historical activity area of ​​the electric wheelchair to be adjusted and is most consistent with the driving preferences of each historical activity area is selected from all first travel paths to be determined as the first travel path to be determined.

[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 a historical driving path sequence for each electric wheelchair; 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 initial preference prediction model uses a segment of the current electric wheelchair's historical driving path sequence as input, and the activity area and driving preference of the activity area corresponding to the segment of the current electric wheelchair's historical driving path sequence as output. The initial preference prediction model is iteratively trained until the initial preference prediction model converges, thereby generating a preference prediction model.

[0311] Specifically, for each electric wheelchair, a historical driving path sequence is constructed based on the historical driving paths and the timestamps corresponding to each historical driving path. An initial preference prediction model is constructed based on a 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. 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 model of each electric wheelchair is trained, a preference prediction model corresponding to each electric wheelchair is obtained. The preference prediction model corresponding to each electric wheelchair is bound according to the identity information of the electric wheelchair. When used to predict the historical activity areas and driving preferences of each historical activity area of ​​the 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, thereby realizing the historical activity areas and driving preferences of 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 route, the user's frequently used activity areas and driving preferences within each activity area can be combined to generate a first to-be-traveled route that is more in line with the user's usage habits.

[0313] In step S15, the first path to be traveled and the target obstacle avoidance distance are transmitted to the electric wheelchair to be adjusted based on 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 obstacle information ahead during travel (the obstacle is an obstacle not recorded in the preset geographic map data, such as an obstacle caused by a road being impassable due to temporary construction or unloading). Obstacle detection can be achieved by embedding an ultrasonic sensor in the electric wheelchair, periodically emitting ultrasonic signals, and detecting the return of the ultrasonic signals. Alternatively, the electric wheelchair can be equipped with a miniature camera, which is periodically activated to capture an image of the road ahead, and then performing object detection on the 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, replan 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 based on the second current position information and the target position information includes: generating a plurality of second to-be-determined paths based on the second current position information, the target position information and the preset geographic map data; obtaining path parameters of each second to-be-determined path; wherein the path parameters include: 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 plane; for each second path to be decided, generating a first projection of the second path to be decided on the first coordinate plane based on 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 based on 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 based on the path curvature and path slope of the second path to be decided; superimposing the first projection, second projection and third projection of each second path to be decided to obtain the driving comfort of the second path to be decided; and determining the driving of the second path to be decided based on the driving comfort of each second path to be decided.

[0316] Specifically, multiple drivable paths from the second current location to the target location are determined based on the second current location information, the target location information, and open-source 3D geographic map data, and these paths are used as multiple second paths to be determined. Path parameters for each second path to be determined are obtained based on the open-source 3D geographic map data. These path parameters include path length, path curvature, and path slope. Path length is associated with the travel time of an electric wheelchair, path curvature is associated with the user experience of an electric wheelchair, and path slope is associated with the climbing and descending safety of an electric wheelchair. Considering these three dimensions, a spatial rectangular coordinate system is established with path length as the horizontal axis, path curvature as the vertical axis, and path slope as the vertical axis. A first projection of the second path to be determined on a first coordinate plane is generated based on the path length and path curvature of the second path to be determined; a second projection of the second path to be determined on the second coordinate plane is generated based on the path length and path slope of the second path to be determined; and a third projection of the second path to be determined on a third coordinate plane is generated based on the path curvature and path slope of the second path to be determined. The first projection of the second path to be decided is used to determine the driving comfort of the second path to be decided, taking into account both path length and path curvature. The second projection of the second path to be decided is used to determine the driving comfort of the second path to be decided, taking into account both path length and path slope. The third projection of the second path to be decided is used to determine the driving comfort of the second path to be decided, taking into account both path curvature and path slope. The projections obtained at each considered angle are superimposed to determine the driving comfort of the second path to be decided, taking into account path length, path curvature, and path slope. Finally, based on the driving comfort of each second path to be decided, the second path to be decided with the highest driving comfort is selected from the second paths to be decided as the second path to be traveled.

[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 path 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 an 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. This 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, second projection and 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, second projection and 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 driving comfort, the second path to be traveled is further determined based on 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 aforementioned Cartesian coordinate system based on the historical maximum activity area of ​​the electric wheelchair to be adjusted. The first three-dimensional geometric body can be a sphere or an irregular three-dimensional geometric body based on the historical maximum activity area. For each second path to be decided, a second three-dimensional geometric body is constructed in the Cartesian coordinate system based on the first, second, and third projections. This second three-dimensional geometric body is generated based on the projections and is primarily in the form of a cube. The first and second three-dimensional geometric bodies are aligned based on the position information. The intersection area of ​​the first and second three-dimensional geometric bodies (i.e., the cross-sectional area or the area enclosed by the first three-dimensional geometric body over the second three-dimensional geometric body) is calculated. The correlation between the second path to be decided and the historical activity area is determined based on the intersection area. The larger the intersection area, the greater the correlation. Finally, the second path to be decided with the highest combined comfort and correlation between the second path to be decided and the historical activity area is selected as the second path to be decided.

[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. The final second path to be decided can be as close to the user's regular activity area requirements as possible while ensuring driving comfort, avoiding panic when the user encounters unfamiliar roads during use and improving the user experience.

[0321] Based on the above method embodiment, the present invention provides a corresponding cloud server 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 as described in any one of the present inventions is implemented.

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

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

[0325] The cloud server is used to: obtain the operating data and identity information of each electric wheelchair in real time; wherein the operating data includes: position information, speed information and electrical parameters; for each electric wheelchair, generate a 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 position information; determine the operating state of the current 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, 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 operating 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 operating data and driving path to the current electric wheelchair and each client according to the identity information;

[0326] Each of the electric wheelchairs is configured to visually display the operating data and the driving path upon receiving the operating data and the driving path, and to generate an alarm text message and an alarm voice according to the fault alarm information upon receiving the fault alarm information;

[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 separate, 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 across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present 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 can be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art can understand and implement the present invention without inventive work.

[0329] Those skilled in the art will 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 for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles 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 operating data and identity information of each electric wheelchair in real time; wherein the operating 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; 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; When the electric wheelchair is in a fault state, determining the fault type of the 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 an alarm text message and an 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 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; Obtain the parameter information to be adjusted set by the user on the client, including: the identity information of the electric wheelchair to be adjusted, the target position information and the target obstacle avoidance distance; Acquiring first current position information of the electric wheelchair to be adjusted according to the identity information; generating a first to-be-traveled route based on the first current position information and the target position information; sending the first path to be traveled and the target obstacle avoidance distance to the electric wheelchair to be adjusted according to the identity information, so that the electric wheelchair to be adjusted travels along the first path to be traveled and detects information of obstacles ahead during the travel; If an obstacle exists while traveling on the first to-be-traveled path, and the distance between the obstacle and the electric wheelchair to be adjusted is not greater than the target obstacle avoidance distance, obtaining second current position information of the electric wheelchair to be adjusted; Generate an adjusted second path to be driven based on the second current position information and the target position information, including: generating a plurality of second paths to be decided based on the second current position information, the target position information and the preset geographic map data; obtaining path parameters of each second path to be decided; wherein the path parameters include: path length, path curvature and path slope; establish 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 third coordinate plane 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, second, and third projections of each second path to be decided to obtain a driving comfort of the second path to be decided; and determining the second path to be decided according to the driving comfort of each second path to be decided.

2. The electric wheelchair control method according to claim 1, wherein: After generating the current electric wheelchair's driving path based on the speed curve and position information, it also includes: Obtain the historical travel paths 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 trajectory 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; and each client visualizes the track deviation prompt information.

3. The electric wheelchair control method according to claim 2, wherein: Also includes: 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, wherein: 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 preferences of each historical activity area according to each historical driving path; The step of generating a first path to be traveled according to the first current position information and the target position information of the electric wheelchair to be adjusted includes: generating a plurality of first to-be-decided driving paths based on the first current position information and the target position information of the electric wheelchair to be adjusted and in combination with preset geographic map data; A first to-be-determined driving path is outputted according to each historical activity area of ​​the electric wheelchair to be adjusted, the driving preferences 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: Obtain a historical driving path sequence of each electric wheelchair; wherein each historical driving path sequence includes a plurality of driving paths with timestamps; For each electric wheelchair, an initial preference prediction model is constructed; 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: 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 based on 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 based on the intersection area; The determining of the second to-be-determined paths according to the driving comfort of each second to-be-determined path includes: The second to-be-determined paths are determined according to the driving comfort of each second to-be-determined path and the correlation between the second to-be-determined paths and the historical activity area.

7. The electric wheelchair control method according to claim 6, characterized in that: Determining the current operating state of the electric wheelchair based on the electrical parameters includes: When there is no abnormality in the 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.

8. The electric wheelchair control method according to claim 7, characterized in that: Each electric wheelchair 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 connected to the left motor, the right motor, the upper computer main control unit and the lower computer main control unit respectively; the lower computer main control unit is connected to the left motor, the right motor, the left motor brake line and the right motor brake line respectively; the upper computer main control unit is connected to the lower computer main control unit and the rocker respectively; 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 of the joystick; Determining the current fault type of the electric wheelchair based on 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 slave 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 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 voltage of the left motor brake line is abnormal or the voltage of the right motor brake line is abnormal, the fault type is a brake fault.

9. The electric wheelchair control method according to claim 8, characterized in that: The electric wheelchair further comprises: a display unit, a communication unit, a speaker and an alarm unit; The host computer main control unit is connected to the display unit, communication unit, speaker and alarm unit respectively; The current electric wheelchair will visualize the operating data and driving path, and generate an alarm text message based on the fault alarm information, including: Currently, the electric wheelchair receives operating data, driving path and fault alarm information through the communication unit, transmits the operating data, driving path and fault alarm information to the upper computer main control unit, so that the upper computer main control unit sends the operating data and driving path to the display unit, and the operating 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.

10. The electric wheelchair control method according to claim 9, 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, 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.

11. The electric wheelchair control method according to claim 8, 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.

12. The electric wheelchair control method according to claim 11, characterized in that: The left motor first side module circuit includes: 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 includes: 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 driver 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 driver 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 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 terminal; a first end of the first capacitor connected to the first power supply, a second end of the first capacitor connected to the first end of the fourth capacitor, the first low-side return terminal connected to the ground, a first end of the fourth capacitor connected to the input terminal of the second transistor, a second end of the fourth capacitor connected to the second end of the second resistor, a first end of the second resistor connected to the first low-side gate driver output terminal, a first output terminal of the second transistor connected to the input terminal of the first transistor, and a second output terminal of the second transistor connected to the second end of the fourth capacitor; A first end of a fifth capacitor is connected to the input end of the second transistor, a second end of the fifth capacitor is connected to the first end of the fourth resistor, a first high-side gate floating power supply return end is connected to the first end of the fourth resistor, a first end of the left motor element is connected to the first end of the fourth resistor, a second end of the fourth resistor is connected to the first end of the fifth resistor, a first end of the fifth resistor is connected to the first end of the sixth resistor, a second end of the fifth resistor is connected to the first end of the 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 driver 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; Get the voltage on the first side of the left motor, including: The voltage on the first side of the left motor is obtained through the first input interface.

13. The electric wheelchair control method according to claim 12, characterized in that: The left motor second side module circuit includes: 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 includes: 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 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 terminal; a first end of a seventh capacitor connected to the second power supply, a second end of the seventh capacitor connected to the first end of a tenth capacitor, the second low-side return end being grounded, a first end of the tenth capacitor connected to the input end of the fourth transistor, a second end of the tenth capacitor connected to the second end of the eighth resistor, a first end of the eighth resistor connected to the second low-side gate driver output end, a first output end of the fourth transistor connected to the input end of the third transistor, and a second output end of the fourth transistor connected to the second end of the tenth capacitor; a first end of an eleventh capacitor connected to the input end of the fourth transistor, a second end of the eleventh capacitor connected to the first end of the tenth resistor, a second high-side gate floating power supply return end connected to the first end of the tenth resistor, a second end of the left motor element connected to the first end of the tenth resistor, a second end of the tenth resistor connected to the first end of the eleventh resistor, a first end of the eleventh resistor connected to the first end of the twelfth resistor, a second end of the eleventh resistor connected to the first end of the twelfth capacitor, a second end of the twelfth capacitor connected to the second input interface, and a second end of the twelfth resistor connected to ground; The second enable signal terminal is connected to the fourth output interface; The second high-side gate driver output terminal is connected to the first end of a 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 a 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; Get the voltage on the second side of the left motor, including: The second side voltage of the left motor is obtained through the second input interface.

14. The electric wheelchair control method according to claim 12, wherein: The right motor first side module circuit includes: 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 includes: 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 terminal; a first end of a thirteenth capacitor connected to the third power supply, a second end of the thirteenth capacitor connected to the first end of a sixteenth capacitor, the third low-side return terminal being grounded, a first end of the sixteenth capacitor connected to the input terminal of the sixth transistor, a second end of the sixteenth capacitor connected to the second end of a fourteenth resistor, a first end of the fourteenth resistor connected to the third low-side gate driver output terminal, a first output terminal of the sixth transistor connected to the input terminal of the fifth transistor, and a second output terminal of the sixth transistor connected to the 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 the first end of a sixteenth resistor, a third high-side gate floating power supply return end is connected to the first end of the sixteenth resistor, a first end of the right motor element is connected to the first end of the sixteenth resistor, a second end of the sixteenth resistor is connected to the first end of the seventeenth resistor, a first end of the seventeenth resistor is connected to the first end of the eighteenth resistor, a second end of the seventeenth resistor is connected to the first end of the 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 driver output terminal is connected to the first terminal of a fifteenth resistor, the second terminal of the fifteenth resistor is connected to the second output terminal of the fifth transistor, the second terminal of the fifteenth resistor is connected to the second terminal of a fifteenth capacitor, the first terminal of the fifteenth capacitor is connected to the third high-side gate floating power supply return terminal, the first terminal of the fifteenth capacitor is connected to the input terminal of the fifth transistor, and the first output terminal of the fifth transistor is connected to the third low-side floating power supply input terminal; Get the voltage on the first side of the right motor, including: The voltage on the first side of the right motor is obtained through the third input interface.

15. The electric wheelchair control method according to claim 12, wherein: The right motor second side module circuit includes: 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 includes: 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; An input end of a fourth diode is connected to a fourth power supply, an output end of the fourth diode is connected to a first end of a twentieth capacitor, an input end of a fourth high-side floating power supply is connected to an output end of the fourth diode, and a second end of the twentieth capacitor is connected to a return end of a fourth high-side gate floating power supply; 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 terminal; a first end of a nineteenth capacitor connected to the fourth power supply, a second end of the nineteenth capacitor connected to the first end of a twenty-second capacitor, the fourth low-side return terminal being grounded, a first end of the twenty-second capacitor connected to the input terminal of the eighth transistor, a second end of the twenty-second capacitor connected to the second end of a twentieth resistor, a first end of the twentieth resistor connected to the fourth low-side gate driver output terminal, a first output terminal of the eighth transistor connected to the input terminal of the seventh transistor, and a second output terminal of the eighth transistor connected to the 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 the 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; a fourth high-side gate driver output terminal connected to the first end of a twenty-first resistor, a second end of the twenty-first resistor connected to the second output terminal of the seventh transistor, a second end of the twenty-first resistor connected to the second end of a twenty-first capacitor, a first end of the twenty-first capacitor connected to the fourth high-side gate floating power supply return terminal, a first end of the twenty-first capacitor connected to the input terminal of the seventh transistor, and a first output terminal of the seventh transistor connected to the fourth low-side floating power supply input terminal; Get the voltage on the second side of the right motor, including: The voltage on the second side of the right motor is obtained through the fourth input interface.

16. The electric wheelchair control method according to claim 12, characterized in that: The brake line circuit 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; A first end of the twenty-fifth resistor is connected to the fifth power supply, a second end of the twenty-fifth resistor is connected to the right motor brake line interface, a second end of the twenty-fifth resistor is connected to the first end of the twenty-sixth resistor, a second end of the twenty-sixth resistor is connected to the first end of the twenty-seventh resistor, a second end of the twenty-seventh resistor is connected to the fifth input interface, and the right motor brake line interface is connected to the right motor; A first end of a twenty-eighth resistor is connected to the fifth power supply, a second end of the twenty-eighth resistor is connected to the left motor brake line interface, a second end of the twenty-eighth resistor is connected to the first end of a twenty-ninth resistor, and a second end of the twenty-ninth resistor is connected to the first end of a twenty-seventh resistor; a first end of a twenty-fifth capacitor is connected to the second end of the twenty-ninth resistor, and a second end of the twenty-fifth capacitor is connected to the fifth input interface; Get the right motor brake line voltage and the left motor brake line voltage, including: The right motor brake line voltage and the left motor brake line voltage are obtained through the fifth input interface.

17. The electric wheelchair control method according to claim 11, 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 joystick 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 joystick power interface is connected to a sixth power source; The joystick ground interface is grounded; Get the joystick voltage, including: 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.

18. 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; a first end of the thirty-fourth resistor is connected to the eighth input interface, a first end of the thirty-fourth resistor is connected to the first end of the thirty-fifth resistor, a second end of the thirty-fourth resistor is connected to the first end of the twenty-eighth capacitor, a 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; Obtain the power supply voltage of the master control unit of the lower computer, including: The power supply voltage of the lower computer main control unit is obtained through the eighth input interface.

19. The electric wheelchair control method according to claim 17, wherein: 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; A first end of the thirty-sixth resistor is connected to the eighth power supply, a second end of the thirty-sixth resistor is connected to the ninth input interface, a first end of the thirty-seventh resistor is connected to the ninth input interface, a second end of the thirty-seventh resistor is grounded, a first end of the twenty-ninth capacitor is connected to the ninth input interface, and a second end of the twenty-ninth capacitor is connected to the second end of the thirty-seventh resistor; Obtain the power supply voltage of the host computer main control unit, including: The power supply voltage of the host computer main control unit is obtained through the ninth input interface.

20. 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 according to any one of claims 1 to 19 is implemented.

21. 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 operating data and identity information of each electric wheelchair in real time; wherein, the operating 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 position information; determine the operating state of the current electric wheelchair according to the electrical parameters; wherein, the operating 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 operating data, driving path and fault alarm information to the current electric wheelchair and the related parties according to the identity information. Each client bound to the current electric wheelchair; 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; the parameter information to be adjusted set by the user on the client is obtained, including: the identity information, target position information and target obstacle avoidance distance of the electric wheelchair to be adjusted; according to the identity information, the first current position information of the electric wheelchair to be adjusted is obtained; according to the first current position information and the target position information, a first path to be traveled is generated; according to the identity information, the first path to be traveled and the target obstacle avoidance distance are sent to 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; if When an obstacle exists while 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, the second current position information of the electric wheelchair to be adjusted is obtained; an adjusted second path to be traveled is generated based on the second current position information and the target position information, including: generating a plurality of second paths to be decided based on the second current position information, the target position information and preset geographic map data; obtaining path parameters of each second path to be decided; wherein the path parameters include: 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 longitudinal axis and the vertical axis form a third coordinate plane; for each second path to be decided, generating a first projection of the second path to be decided on the first coordinate plane based on 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 based on 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 based on the path curvature and path slope of the second path to be decided; superimposing the first, second, and third projections of each second path to be decided to obtain a driving comfort level of the second path to be decided; and determining the second path to be decided based on the driving comfort level of each second path to be decided; Each of the electric wheelchairs is configured to visually display the operating data and the driving path upon receiving the operating data and the driving path, and to generate an alarm text message and an alarm voice according to the fault alarm information upon receiving the fault alarm information; 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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