Intelligent mobile auxiliary equipment

Abstract

The invention provides intelligent mobile auxiliary equipment, and relates to the technical field of human body auxiliary equipment. The intelligent mobile auxiliary equipment comprises a man-machine interaction device, a power device and a main control device, and the man-machine interaction device and the power device are electrically connected with the main control device; the man-machine interaction device comprises a mode switching module, and the mode switching module is used for sending a mode switching signal to the main control device so that the main control device can switch the working mode of the intelligent mobile auxiliary equipment; the power device is used for providing corresponding power for the intelligent mobile auxiliary equipment according to the working mode; wherein the working modes comprise a wheelchair mode, a walking aid mode, a free mode and a parking mode. The intelligent mobile auxiliary equipment has multiple working modes, the functionality and operability of the equipment are improved, and the use requirements of users in different scenes can be better met.

Description

Technical Field

[0001] This application relates to the technical field of human assistance devices, and particularly to an intelligent mobile assistance device. Background Art

[0002] Mobile assistance devices include walkers, wheelchairs, etc. A mobile assistance device is a device that can assist a user in moving. Among them, a mobile assistance device can provide support for people who cannot walk independently and assist the user in moving.

[0003] The power systems of existing mobile assistance devices have limitations. The power systems of mobile assistance devices currently on the market are generally designed relatively simply and only have two basic operating modes: startup mode and shutdown mode. In the startup mode, the power system provides all the driving forces to enable the device to move forward or backward; in the shutdown mode, no driving force is provided, and at this time, the device completely relies on human power for driving.

[0004] However, the above two operating modes have obvious limitations in practical applications. For example, when a user pushes the device uphill, if the startup mode is adopted, the user may not be able to maintain balance due to the traction force of the device, resulting in the user falling or bumping, etc.; if the shutdown mode is adopted, the user needs to spend more effort to push the device to complete the uphill. Summary of the Invention

[0005] The purpose of this application is to overcome the defects of the existing technology and provide an intelligent mobile assistance device to solve the problems in the existing technology.

[0006] To solve the above problems, an embodiment of this application provides an intelligent mobile assistance device, including a human-computer interaction device, a power device, and a main control device. The human-computer interaction device and the power device are both electrically connected to the main control device;

[0007] The human-computer interaction device includes a mode switching module. The mode switching module is used to send a mode switching signal to the main control device so that the main control device switches the working mode of the intelligent mobile assistance device; the power device is used to provide corresponding power to the intelligent mobile assistance device according to the working mode;

[0008] Among them, the working mode includes a wheelchair mode, a walking assistance mode, a free mode, and a parking mode:

[0009] When in the wheelchair mode, the power device is used to provide a first driving force to the intelligent mobile assistance device; among them, the first driving force is used to drive the intelligent mobile assistance device to move;

[0010] When in the walking assistance mode, the power device is used to provide a second driving force to the intelligent mobile assistance device; wherein, the second driving force is used to cooperate with the external driving force applied by the user to drive the intelligent mobile assistance device to move;

[0011] When in the free mode, the driving force provided by the power device to the intelligent mobile assistance device is zero;

[0012] When in the parking mode, the driving wheels of the power device are locked.

[0013] In a possible implementation manner, the human-machine interaction device is arranged on the armrest of the intelligent mobile assistance device; the armrest includes a first operation part, and the mode switching module includes a first control unit, and the first control unit is arranged on the first operation part;

[0014] After the intelligent mobile assistance device is started, the intelligent mobile assistance device is initially in a preset mode, wherein the preset mode is one of the wheelchair mode, the walking assistance mode, the free mode or the parking mode;

[0015] The first control unit is used to receive a first operation instruction and a second operation instruction: when the first control unit receives the first operation instruction, the main control device is used to switch the intelligent mobile assistance device between the wheelchair mode and the parking mode; when the first control unit receives the second operation instruction, the main control device is used to switch the intelligent mobile assistance device from the free mode to the wheelchair mode.

[0016] In a possible implementation manner, the armrest further includes a second operation part, and the mode switching module further includes a second control unit, and the second control unit is arranged on the second operation part;

[0017] The second control unit is used to receive a third operation instruction and a fourth operation instruction: when the second control unit receives the third operation instruction, the main control device is used to switch the intelligent mobile assistance device from the wheelchair mode to the free mode; when the intelligent mobile assistance device is in the free mode and the second control unit receives the fourth operation instruction, the main control device is used to switch the intelligent mobile assistance device from the free mode to the walking assistance mode, wherein if the second control unit does not receive any operation instruction, the intelligent mobile assistance device remains in the free mode.

[0018] In a possible implementation manner, the mode switching module includes a control handle, and the control handle is movably arranged on the armrest of the intelligent mobile assistance device;

[0019] The control handle has a first movement direction and a second movement direction relative to the armrest:

[0020] When the control handle moves from the initial position towards the first movement direction, the power device is used to control the magnitude of the braking force applied to the driving wheel according to the amplitude of the position change of the control handle;

[0021] When the control handle moves towards the second movement direction and moves to a preset position, the driving wheel is locked, and the intelligent mobile assistance device enters the parking mode.

[0022] In a possible implementation manner, the control handle is rotatably connected to the armrest;

[0023] A Hall sensor is provided on the armrest, and a magnet corresponding to the Hall sensor is provided on the control handle; wherein, the Hall sensor is electrically connected to the main control device;

[0024] When the control handle moves from the initial position towards the first movement direction, the Hall sensor is used to detect the amplitude of the position change of the control handle, generate a position change signal, and send the position change signal to the main control device; the main control device is used to generate a braking force adjustment signal according to the position change signal, and send the braking force adjustment signal to the power device.

[0025] In a possible implementation manner, a direction control module and a rotation speed detection module are further included, and the rotation speed detection module is electrically connected to the main control device;

[0026] There are multiple driving wheels, and the rotation speed detection module corresponds to the driving wheels; the rotation speed detection module is used to detect the rotation speed of the corresponding driving wheel;

[0027] When the direction control module receives a straight-line driving command, the main control device is used to compare and adjust the rotation speeds of the driving wheels at the same time in real time, and coordinately adjust the rotation speeds of the driving wheels to correct the driving direction of the intelligent mobile assistance device;

[0028] The coordinated adjustment of the rotation speeds of the driving wheels includes: making the absolute value of the rotation speed difference between the driving wheels not exceed a set value, and making the rotation speeds of the driving wheels always within a preset rotation speed range; wherein, the preset rotation speed range corresponds to the speed gear of the intelligent mobile assistance device.

[0029] In a possible implementation, it further includes an attitude detection module, and the attitude detection module is electrically connected to the main control device; the attitude detection module is used to detect the attitude parameters of the intelligent mobile assistance device, where the attitude parameters include the acceleration of the intelligent mobile assistance device.

[0030] When the direction control module receives a straight-line driving command, the main control device is used to dynamically adjust the rotation speeds of the power wheels in real time based on the attitude parameters, so that the acceleration in the attitude parameters is consistent with a preset acceleration, in order to correct the driving direction of the intelligent mobile assistance device.

[0031] In a possible implementation, it further includes an attitude detection module, and the attitude detection module is electrically connected to the main control device; the attitude detection module is used to detect the attitude parameters of the intelligent mobile assistance device, where the attitude parameters include the inclination condition and the traveling direction of the intelligent mobile assistance device, and the inclination condition includes a horizontal state and an inclined state.

[0032] When the intelligent mobile assistance device is in the free mode, the main control device is used to judge whether the intelligent mobile assistance device is in an uphill state or a downhill state based on the attitude parameters; among them, when it is determined that the intelligent mobile assistance device is in an uphill state or a downhill state, the main control device is used to send a torque adjustment signal to the power device, so that the power wheels provide a balance force for the intelligent mobile assistance device; where the balance force is used to balance the component force of the self-gravity of the intelligent mobile assistance device in the direction parallel to the slope surface.

[0033] In a possible implementation, an electronic brake is provided on the power wheel; where the electronic brake is used to provide a braking force to the power wheel, so that the rotation speed of the power wheel decreases or the power wheel is locked.

[0034] In a possible implementation, it includes a seat, and a power supply module is provided on the seat, and the power supply module is electrically connected to the main control device; where the main control device is used to disable the start switch of the intelligent mobile assistance device when the intelligent mobile assistance device is in a charging state.

[0035] The beneficial effects of this application include:

[0036] The intelligent mobile assistance device proposed in this application includes a human-machine interaction device, a power device, and a main control device. The human-machine interaction device includes a mode switching module, which is used to send a mode switching signal to the main control device so that the main control device can switch the working mode of the intelligent mobile assistance device; the power device is used to provide corresponding power to the intelligent mobile assistance device according to the working mode. The working modes include a wheelchair mode, a walking assistance mode, a free mode, and a parking mode:

[0037] When in the wheelchair mode, the power device is used to provide a first driving force to the intelligent mobile assistance device. At this time, the intelligent mobile assistance device can be driven to move without external force by the first driving force; when in the walking assistance mode, the power device is used to provide a second driving force to the intelligent mobile assistance device. At this time, the second driving force cooperates with the external driving force applied by the user, thereby driving the intelligent mobile assistance device to move, so that the user can save more effort when pushing the device; when in the free mode, the driving force provided by the power device to the intelligent mobile assistance device is zero; when in the parking mode, the power wheels of the power device are locked, thus preventing the device from slipping.

[0038] The intelligent mobile assistance device in this application has multiple working modes, which improves the functionality and operability of the device and can better meet the usage needs of users in different scenarios. Description of the Drawings

[0039] In order to more clearly illustrate the technical solutions of the embodiments of this application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0040] Figure 1 Shows a schematic diagram of an intelligent mobile assistance device;

[0041] Figure 2 Shows Figure 1 The side view of the intelligent mobile assistance device in;

[0042] Figure 3 Shows the structural block diagram of the electrical system of the intelligent mobile assistance device;

[0043] Figure 4 Shows a schematic diagram of an armrest.

[0044] Main Element Symbol Description:

[0045] 100 - Human - machine interaction device; 110 - Mode switching module; 111 - First control unit; 112 - Second control unit; 113 - Control handle; 114 - Direction control module; 115 - Start switch; 200 - Power device; 210 - Power wheel; 300 - Main control device; 400 - Armrest; 410 - First operation part; 420 - Second operation part; 510 - Rotation speed detection module; 520 - Attitude detection module; 610 - Seat; 620 - Backrest. Detailed implementation mode

[0046] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application and should not be construed as a limitation of the present application.

[0047] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application.

[0048] In the present application, users include users of intelligent mobile assistance devices, family members and caregivers who take care of users, etc.

[0049] Embodiment

[0050] As Figures 1 - 3 shown, in the present application, an intelligent mobile assistance device is proposed, including a human - machine interaction device 100, a power device 200, and a main control device 300. The human - machine interaction device 100 and the power device 200 are both electrically connected to the main control device 300. Among them, the human - machine interaction device 100, the power device 200, and the main control device 300 all belong to the electrical system of the intelligent mobile assistance device.

[0051] The human - machine interaction device 100 includes a mode switching module 110. The mode switching module 110 includes buttons, touch screens, etc.

[0052] The mode switching module 110 is used to send a mode switching signal to the main control device 300 so that the main control device 300 can switch the working mode of the intelligent mobile assistance device; the power device 200 is used to provide corresponding power to the intelligent mobile assistance device according to the working mode. Among them, the working modes include wheelchair mode, walking assistance mode, free mode, and parking mode.

[0053] When in the wheelchair mode, the power device 200 is used to provide a first driving force to the intelligent mobile assistance device. Among them, the first driving force is used to drive the intelligent mobile assistance device to move. When the user is sitting on the intelligent mobile assistance device, the intelligent mobile assistance device is adjusted to the wheelchair mode. At this time, the first driving force drives the intelligent mobile assistance device and the user sitting on the device to move together without the need for external force.

[0054] When in the walking assistance mode, the power device 200 is used to provide a second driving force to the intelligent mobile assistance device. Among them, the second driving force is used to cooperate with the external driving force applied by the user to drive the intelligent mobile assistance device to move. When the user pushes the intelligent mobile assistance device, the second driving force cooperates with the external driving force applied by the user, thereby driving the intelligent mobile assistance device to move. In this process, the second driving force plays a role in assisting walking, so that the user can save more effort when pushing the device.

[0055] When in the free mode, the driving force provided by the power device 200 to the intelligent mobile assistance device is zero. At this time, the user needs to provide the full driving force to drive the intelligent mobile assistance device to move.

[0056] When in the parking mode, the driving wheels 210 of the power device 200 are locked, thereby preventing situations such as vehicle rolling.

[0057] The intelligent mobile assistance device has multiple working modes, which improves the functionality and operability of the device and can better meet the user's usage requirements in different scenarios.

[0058] In this embodiment, the human-computer interaction device 100 is arranged on the armrest 400 of the intelligent mobile assistance device. The armrest 400 can be adjusted in position relative to the seat 610 of the intelligent mobile assistance device, so that it can support the user in a sitting or standing position, and at the same time it is convenient for the user to operate the human-computer interaction device 100 on the armrest 400.

[0059] As Figure 4 shown, the armrest 400 includes a first operation part 410, the mode switching module 110 includes a first control unit 111, and the first control unit 111 is arranged on the first operation part 410.

[0060] After the intelligent mobile assistance device is started, the intelligent mobile assistance device is initially in a preset mode, where the preset mode is one of a wheelchair mode, a walking assistance mode, a free mode, or a parking mode.

[0061] The first control unit 111 is used to receive a first operation instruction and a second operation instruction: when the first control unit 111 receives the first operation instruction, the main control device 300 is used to switch the intelligent mobile assistance device between the wheelchair mode and the parking mode; when the first control unit 111 receives the second operation instruction, the main control device 300 is used to switch the intelligent mobile assistance device from the free mode to the wheelchair mode.

[0062] In this embodiment, the first control unit 111 is a button; the preset mode is the wheelchair mode; the user inputs the first operation instruction to the first control unit 111 by pressing the first control unit 111 briefly; the user inputs the second operation instruction to the first control unit 111 by pressing the first control unit 111 for a long time.

[0063] When the user starts the intelligent mobile assistance device, the device automatically enters the wheelchair mode; before the user sits on it, the user can input the first operation instruction to the first control unit 111, so that the device switches from the wheelchair mode to the parking mode. At this time, the driving wheels 210 of the power device 200 are locked, and the device is in a more stable state, thus facilitating the user to complete the sitting action; when the intelligent mobile assistance device is in the free mode, the user can switch the device from the free mode to the wheelchair mode by inputting the second operation instruction to the first control unit 111.

[0064] In addition, during actual use, after the user parks the device in the wheelchair mode, by inputting the first operation instruction to the first control unit 111, the device is switched from the wheelchair mode to the parking mode, thereby avoiding situations such as vehicle slipping and improving safety.

[0065] In this embodiment, the armrest 400 further includes a second operation part 420, and the mode switching module 110 further includes a second control unit 112, and the second control unit 112 is arranged on the second operation part 420.

[0066] The second control unit 112 is used to receive a third operation instruction and a fourth operation instruction: when the second control unit 112 receives the third operation instruction, the main control device 300 is used to switch the intelligent mobile assistance device from the wheelchair mode to the free mode; when the intelligent mobile assistance device is in the free mode and the second control unit 112 receives the fourth operation instruction, the main control device 300 is used to switch the intelligent mobile assistance device from the free mode to the walking assistance mode, where if the second control unit 112 does not receive any operation instruction, the intelligent mobile assistance device remains in the free mode.

[0067] In this embodiment, the second control unit 112 is a button; in the wheelchair mode, the user inputs a third operation instruction to the second control unit 112 by long pressing the second control unit 112; in the free mode, the user inputs a fourth operation instruction to the second control unit 112 by long pressing the second control unit 112.

[0068] When the device is in the wheelchair mode, the user inputs a third operation instruction to the second control unit 112. At this time, the device will switch from the wheelchair mode to the free mode; when the device is in the free mode, when the user inputs a fourth operation instruction to the second control unit 112, the device will switch to the walking aid mode; when the device is in the free mode and the user does not input any instruction to the second control unit 112 (that is, the user does not press or touch the second control unit 112), at this time, the device remains in the free mode.

[0069] In this embodiment, the first control unit 111 is arranged on the first operation part 410, and the second control unit 112 is arranged on the second operation part 420. By placing the first control unit 111 and the second control unit 112 at different positions on the armrest 400, it is not only convenient for the user to operate in different usage states, but also avoids reducing the occurrence of misoperations. In addition, the operation logics of the first control unit 111 and the second control unit 112 are very simple, which is convenient for the user to control the device and is more user-friendly to middle-aged and elderly users.

[0070] As Figure 2 and Figure 4 shown, the mode switching module 110 includes a control handle 113, and the control handle 113 is movably arranged on the armrest 400 of the intelligent mobile assistance device.

[0071] The control handle 113 has a first movement direction and a second movement direction relative to the armrest 400:

[0072] When the control handle 113 moves from the initial position towards the first movement direction, the power device 200 is used to control the magnitude of the braking force applied to the driving wheel 210 according to the amplitude of the position change of the control handle 113;

[0073] When the control handle 113 moves towards the second movement direction and moves to a preset position, the driving wheel 210 is locked, and the intelligent mobile assistance device enters the parking mode.

[0074] In this embodiment, the control handle 113 is rotatably connected to the armrest 400. Referring to Figure 2 , the control handle 113 is in the initial position, wherein the first movement direction is upward and the second movement direction is downward.

[0075] A Hall sensor is provided on the armrest 400, and a magnet corresponding to the Hall sensor is provided on the control handle 113. Among them, the Hall sensor is electrically connected to the main control device 300.

[0076] When the control handle 113 moves from the initial position towards the first moving direction, the Hall sensor is used to detect the amplitude of the position change of the control handle 113, generate a position change signal and send the position change signal to the main control device 300. Among them, the main control device 300 is used to generate a braking force adjustment signal according to the position change signal and send the braking force adjustment signal to the power device 200. By the above method, the power device 200 can control the magnitude of the braking force received by the power wheel 210 according to the amplitude of the position change of the control handle 113. When the operating handle moves to the limit position along the first moving direction (for example, the operating handle contacts the armrest 400), the power wheel 210 is locked and cannot rotate.

[0077] In this embodiment, the intelligent mobile assistance device further includes a direction control module 114 and a rotation speed detection module 510, and the rotation speed detection module 510 is electrically connected to the main control device 300. Among them, the direction control module 114 belongs to the human-computer interaction device 100.

[0078] There are multiple power wheels 210, and the rotation speed detection module 510 corresponds to the power wheels 210. Among them, the rotation speed detection module 510 is used to detect the rotation speed of the corresponding power wheel 210. In this embodiment, there are two power wheels 210, and each power wheel 210 is equipped with a driving motor.

[0079] When the direction control module 114 receives a straight-line driving command, the main control device 300 is used to compare and adjust the rotation speeds of the power wheels 210 at the same time in real time, and coordinate and adjust the rotation speeds of the power wheels 210 to correct the driving direction of the intelligent mobile assistance device. The direction control module 114 includes a rocker, buttons, etc. Taking the rocker as an example, when the user toggles the rocker towards the direction facing the device, the direction control module 114 will receive a straight-line driving command.

[0080] The coordinated adjustment of the rotation speeds of the power wheels 210 includes: making the absolute value of the rotation speed difference between the power wheels 210 not exceed a set value, and making the rotation speeds of the power wheels 210 always within a preset rotation speed range. Among them, the preset rotation speed range corresponds to the speed gear of the intelligent mobile assistance device.

[0081] At different speed gears, the traveling speed of the device is different. Among them, the faster the traveling speed, the higher the rotation speed of the power wheel 210. Therefore, different speed gears correspond to different preset rotation speed ranges.

[0082] Further, the intelligent mobile assistance device further includes an attitude detection module 520. The attitude detection module 520 is electrically connected to the main control device 300. The attitude detection module 520 is used to detect the attitude parameters of the intelligent mobile assistance device. Among them, the attitude parameters include the acceleration of the intelligent mobile assistance device, and the acceleration includes the magnitude and direction of the acceleration. The attitude detection module 520 includes an IMU (the full name is Inertial Measurement Unit, and the Chinese name is Inertial Measurement Unit). Among them, the working principle of the IMU can refer to the prior art and will not be elaborated herein.

[0083] When the direction control module 114 receives a straight-line driving command, the main control device 300 is used to dynamically adjust the rotation speeds of the power wheels 210 in real time based on the attitude parameters, so that the acceleration in the attitude parameters is consistent with the preset acceleration, so as to correct the driving direction of the intelligent mobile assistance device. Among them, the direction of the preset acceleration is the same as the straight-line driving direction.

[0084] When the device is driving straight, the device will only have an acceleration in the straight-line driving direction (the magnitude of the acceleration can be zero); if the device has an acceleration in other directions, it means that the driving trajectory of the device has deviated. At this time, by coordinating the adjustment of the rotation speeds of the power wheels 210, the acceleration detected by the attitude detection module 520 can be made zero, or the direction of the acceleration is consistent with the straight-line driving direction.

[0085] When the mobile assistance device is ridden by a user, due to the influence of the user's sitting posture, weight, etc., the mobile assistance device will be deformed to a certain extent, resulting in changes in the center of gravity or wheelbase of the device. When the user sits on the device and controls the device to go straight, the device will not be able to maintain a straight drive due to the above reasons. Therefore, the user needs to continuously adjust the traveling direction of the device in order to make the device maintain a straight state as much as possible, which will greatly increase the burden on the user's operation.

[0086] In this embodiment, by coordinating the adjustment of the rotation speeds of the power wheels 210 and detecting the acceleration of the device, the device can automatically maintain a straight driving state.

[0087] In this embodiment, the attitude parameters detected by the attitude detection module 520 further include the tilt condition and traveling direction of the intelligent mobile assistance device. The tilt condition includes a horizontal state and a tilted state. The attitude detection module 520 includes a gyroscope and an acceleration sensor, etc., so that the tilt state and traveling direction of the device can be judged.

[0088] When the intelligent mobile assistance device is in the free mode, the main control device 300 is used to judge whether the intelligent mobile assistance device is in an uphill state or a downhill state based on the attitude parameters.

[0089] When it is determined that the intelligent mobile assistance device is in an uphill state or a downhill state, the main control device 300 is configured to send a torque adjustment signal to the power device 200, so that the driving wheel 210 provides a balancing force for the intelligent mobile assistance device. The balancing force is used to balance the component force of the self-gravity of the intelligent mobile assistance device in the direction parallel to the slope surface. It can be understood that when the device is in the free mode and stays on the slope, if the user does not apply any force to the device, the device can spontaneously maintain balance under the action of the balancing force and remain stationary. In this way, when the user pushes the device uphill or downhill, less effort is required.

[0090] When it is determined that the device is in a horizontal state, the device can spontaneously maintain balance. At this time, the main control device 300 does not need to send a torque adjustment signal to the power device 200.

[0091] In this embodiment, an electronic brake is provided on the driving wheel 210. The electronic brake is used to provide a braking force to the driving wheel 210, so that the rotation speed of the driving wheel 210 decreases or the driving wheel 210 is locked.

[0092] In this embodiment, the intelligent mobile assistance device includes a seat 610 and a backrest 620. A power module is provided on the seat 610, and the power module is electrically connected to the main control device 300. The main control device 300 is configured to disable the start switch 115 of the intelligent mobile assistance device when the intelligent mobile assistance device is in a charging state, thereby improving the safety during the charging process of the device. The backrest 620 can rotate relative to the seat 610.

[0093] Furthermore, the power module is detachably connected to the seat 610. When the power module needs to be charged, the power module can be detached from the seat 610, so as to charge the power module separately.

[0094] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0095] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. An intelligent mobility assistance device, characterized in that: It includes a human-machine interaction device, a power device and a main control device, wherein the human-machine interaction device and the power device are both electrically connected to the main control device; The human-computer interaction device includes a mode switching module, which is used to send a mode switching signal to the main control device so that the main control device switches the working mode of the intelligent mobility assistance device; the power device is used to provide corresponding power to the intelligent mobility assistance device according to the working mode; The working modes include wheelchair mode, walking assistance mode, free mode and parking mode: When in the wheelchair mode, the power device is used to provide a first driving force to the intelligent mobility assistance device; wherein the first driving force is used to drive the intelligent mobility assistance device to move; When in the walking assistance mode, the power device is used to provide a second driving force to the intelligent mobility assistance device; wherein the second driving force is used to cooperate with the external driving force applied by the user to drive the intelligent mobility assistance device to move; When in the free mode, the driving force provided by the power device to the intelligent mobility assistance device is zero; When in the parking mode, the powered wheels of the power unit are locked.

2. The intelligent mobility assistance device according to claim 1, characterized in that: The human-computer interaction device is arranged on the armrest of the intelligent mobility assistance device; the armrest includes a first operating part, the mode switching module includes a first control unit, and the first control unit is arranged on the first operating part; When the intelligent mobility assistance device is started, the intelligent mobility assistance device is initially in a preset mode, wherein the preset mode is one of the wheelchair mode, the walking assistance mode, the free mode or the parking mode; The first control unit is used to receive a first operation instruction and a second operation instruction: when the first control unit receives the first operation instruction, the main control device is used to switch the intelligent mobility assistance device between the wheelchair mode and the parking mode; when the first control unit receives the second operation instruction, the main control device is used to switch the intelligent mobility assistance device from the free mode to the wheelchair mode.

3. The intelligent mobility assistance device according to claim 2, characterized in that: The armrest further includes a second operating portion, and the mode switching module further includes a second control unit, and the second control unit is disposed on the second operating portion; The second control unit is used to receive a third operation instruction and a fourth operation instruction: when the second control unit receives the third operation instruction, the main control device is used to switch the intelligent mobility assistance device from the wheelchair mode to the free mode; the intelligent mobility assistance device is in the free mode, and when the second control unit receives the fourth operation instruction, the main control device is used to switch the intelligent mobility assistance device from the free mode to the walking assistance mode, wherein if the second control unit does not receive any operation instruction, the intelligent mobility assistance device remains in the free mode.

4. The intelligent mobility assistance device according to claim 1, characterized in that: The mode switching module includes a control handle, and the control handle is movably arranged on the armrest of the intelligent mobility assistance device; The control handle has a first movable direction and a second movable direction relative to the armrest: When the control handle moves from the initial position toward the first movable direction, the power device is used to control the magnitude of the braking force applied to the power wheel according to the amplitude of the position change of the control handle; When the control handle moves toward the second movable direction and moves to a preset position, the power wheel is locked, and the intelligent mobility assistance device enters the parking mode.

5. The intelligent mobility assistance device according to claim 4, characterized in that: The control handle is rotatably connected to the armrest; A Hall sensor is provided on the armrest, and a magnet corresponding to the Hall sensor is provided on the control handle; wherein the Hall sensor is electrically connected to the main control device; When the control handle moves from an initial position toward the first active direction, the Hall sensor is used to detect the amplitude of the position change of the control handle, and generate a position change signal and send the position change signal to the main control device; the main control device is used to generate a braking force adjustment signal according to the position change signal, and send the braking force adjustment signal to the power device.

6. The intelligent mobility assistance device according to claim 1, characterized in that: It also includes a direction control module and a speed detection module, wherein the speed detection module is electrically connected to the main control device; There are multiple power wheels, and the speed detection module corresponds to the power wheel; the speed detection module is used to detect the speed of the corresponding power wheel; When the direction control module receives a straight-line driving command, the main control device is used to compare and adjust the rotation speeds of the power wheels at the same time in real time, and coordinately adjust the rotation speeds of the power wheels to correct the driving direction of the intelligent mobility assistance device; The coordinated regulation of the rotational speeds of the power wheels includes: ensuring that the absolute value of the rotational speed difference between the power wheels does not exceed a set value, and ensuring that the rotational speed of each power wheel is always within a preset speed range; wherein the preset speed range corresponds to the speed gear of the intelligent mobility assistance device.

7. The intelligent mobility assistance device according to claim 6, characterized in that: It also includes a posture detection module, which is electrically connected to the main control device; the posture detection module is used to detect the posture parameters of the intelligent mobile assistance device, wherein the posture parameters include the acceleration of the intelligent mobile assistance device; When the direction control module receives a straight-line driving command, the main control device is used to dynamically adjust the rotation speed of each power wheel in real time based on the posture parameter, so that the acceleration in the posture parameter is consistent with the preset acceleration, so as to correct the driving direction of the intelligent mobile assistance device.

8. The intelligent mobility assistance device according to claim 1, characterized in that: It also includes a posture detection module, which is electrically connected to the main control device; the posture detection module is used to detect the posture parameters of the intelligent mobile assistance device, wherein the posture parameters include the tilt state and the travel direction of the intelligent mobile assistance device, and the tilt state includes a horizontal state and a tilted state; When the intelligent mobility assistance device is in the free mode, the main control device is used to determine whether the intelligent mobility assistance device is in an uphill state or a downhill state based on the posture parameters; wherein, when it is determined that the intelligent mobility assistance device is in an uphill state or a downhill state, the main control device is used to send a torque adjustment signal to the power device so that the power wheel provides a balancing force to the intelligent mobility assistance device; wherein, the balancing force is used to balance the component of the intelligent mobility assistance device's own gravity in the direction parallel to the slope surface.

9. The intelligent mobility assistance device according to claim 1, characterized in that: The power wheel is provided with an electronic brake, wherein the electronic brake is used to provide a braking force to the power wheel so as to reduce the rotation speed of the power wheel or lock the power wheel.

10. The intelligent mobility assistance device according to claim 1, characterized in that: A seat is included, on which a power module is arranged, and the power module is electrically connected to the main control device; wherein the main control device is used to disable a start switch of the intelligent mobility assistance device when the intelligent mobility assistance device is in a charging state.

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