High-speed rail station wheelchair control method and device for connecting people with mobility disorder, high-speed rail station wheelchair, equipment and medium

Abstract

The invention relates to the field of high-speed rail station wheelchair control, and discloses a high-speed rail station wheelchair control method and device, a high-speed rail station wheelchair, equipment and a medium, and the high-speed rail station wheelchair comprises a wheelchair control system and a wheelchair body. The wheelchair control system can control the wheelchair body carrying the mobility-impaired person to move to the common destination of the mobility-impaired person and the target following person along with the target following person in the band-shaped area according to the in-station planned path and the advancing route of the target following person, and the wheelchair does not need to be pushed by a worker; high-intensity service of workers and consumption of human resources are avoided, intelligent connection of the mobility-impaired persons in the high-speed rail station is achieved, and user experience and service quality are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wheelchair control in high-speed rail stations, and in particular to a wheelchair control method, device, high-speed rail station wheelchair, equipment and medium for connecting people with mobility impairments. BACKGROUND

[0002] Currently, the travel needs of people with mobility impairments are increasing, and the number of people with mobility impairments in high-speed rail stations is also increasing. In order to meet the travel needs of people with mobility impairments and improve the service quality for people with mobility impairments, wheelchair connection services have been introduced in high-speed rail stations.

[0003] Specifically, after receiving a wheelchair connection request from a person with mobility impairments, the staff of the high-speed rail station pushes the wheelchair to the connection location of the person with mobility impairments at the agreed time, and after the person with mobility impairments sits on the wheelchair, the staff pushes the person with mobility impairments to the target area, completing the wheelchair connection service.

[0004] However, the wheelchair connection service relies on manual pushing, and the service intensity is large, requiring a large amount of human resources. SUMMARY

[0005] The present application provides a wheelchair control method, device, high-speed rail station wheelchair, equipment and medium for connecting people with mobility impairments, to solve the problem of wheelchair connection service relying on manual pushing in related technologies, which has a large service intensity and requires a large amount of human resources. Without the need for staff to push, the high-intensity service of the staff and the consumption of human resources are avoided, the intelligent connection of people with mobility impairments in high-speed rail stations is realized, and the user experience and service quality are improved.

[0006] In a first aspect, the present application provides a wheelchair control method for connecting people with mobility impairments in a high-speed rail station, which includes a wheelchair control system and a wheelchair body; the method is applied to the wheelchair control system, and the method includes: detecting that the wheelchair body has carried a person with mobility impairments, and determining a target following person who accompanies the person with mobility impairments; outputting a corresponding in-station planning path to the target following person according to the common destination of the person with mobility impairments and the target following person in the high-speed rail station, so that the target following person goes to the common destination according to the in-station planning path; detecting a first advancing route of the target following person, extending the first advancing route forward and backward to obtain a target straight line, and expanding the target straight line horizontally on both sides to obtain a corresponding belt-shaped area; controlling the wheelchair body to follow the target following person in the belt-shaped area, and monitoring the lateral speed of the target following person; determining that the target following person changes the advancing route, and detecting a second advancing route of the target following person, when determining that the lateral speed of the target following person is greater than a set speed threshold value; taking the second advancing route as a current first advancing route, and returning to performing the extending the first advancing route forward and backward to obtain the target straight line until determining that the wheelchair body and the target following person reach the destination.

[0007] Optionally, the target following person accompanying the person with movement disorder includes: searching an ultra-wideband (UWB) tag corresponding to the wheelchair body in a surrounding area of the person with movement disorder, and taking a person carrying the UWB tag as the target following person; detecting a target advancing route of the target following person includes: obtaining a real-time position coordinate and a real-time advancing direction of the target following person; drawing a line segment from the real-time position coordinate along the real-time advancing direction to obtain a corresponding target line segment as the target advancing route; wherein the target advancing route is the first advancing route or the second advancing route.

[0008] Optionally, the outputting a corresponding station planning path to the target following person according to a common destination of the person with movement disorder and the target following person in a high-speed rail station includes: determining a matching target path center line in a stored station optimal path center line according to positions of the person with movement disorder and the target following person and the common destination, wherein the station optimal path center line is obtained by clustering a plurality of wheelchair pushing trajectories recorded in providing wheelchair pushing service to staff in the station; laterally extending left and right sides of the target path center line to obtain a preliminary planning passing area; obtaining position coordinates of the preliminary planning passing area, and obtaining station passenger flow distribution data and future period alighting passenger number in a high-speed rail station operation system; inputting the station passenger flow distribution data, the future period alighting passenger number and the position coordinates of the preliminary planning passing area into an A* algorithm, so that the A* algorithm searches nodes in the preliminary planning passing area based on the station passenger flow distribution data, the future period alighting passenger number and the position coordinates of the preliminary planning passing area to generate a planning path bypassing a potential congestion area as the station planning path.

[0009] Optionally, after the wheelchair body is controlled to follow the target follower in the strip-shaped area, the method further comprises: When an obstacle is monitored on the advancing route of the wheelchair body, if the width of the obstacle is less than a set width threshold, the wheelchair body is controlled to slide laterally in the strip-shaped area to avoid the obstacle and keep following the target follower in the strip-shaped area. If the width of the obstacle is not less than the width threshold, path re-planning is performed according to the common destination, a new indoor planning path is generated, and the new indoor planning path is taken as the current indoor planning path, and the step of outputting the corresponding indoor planning path to the target follower to make the target follower go to the common destination according to the indoor planning path is performed.

[0010] Optionally, after the target follower is output with the corresponding indoor planning path to the common destination according to the common destination of the action obstacle person and the target follower in the high-speed rail station, the method further comprises: If the advancing route of the target follower deviates from the indoor planning path, route deviation prompt information is output, and the wheelchair body is controlled to follow the target follower according to the advancing route of the target follower; Receiving a path re-planning instruction sent by the target follower after arriving at the first location; wherein the first location is not on the indoor planning path, and the path re-planning instruction is used to plan a path from the first location to the common destination; In response to the path re-planning instruction, the step of outputting the corresponding indoor planning path to the target follower to the common destination according to the common destination of the action obstacle person and the target follower in the high-speed rail station is performed, so that the target follower goes to the common destination according to the indoor planning path.

[0011] Optionally, after the lateral speed of the target follower is monitored, the method further comprises: If it is determined that the lateral speed of the target follower is not greater than a set speed threshold, it is determined that the advancing route of the target follower has not changed, and the wheelchair body is controlled to follow the target follower in the strip-shaped area.

[0012] In a second aspect, the present application provides a high-speed rail station wheelchair control device for connecting action obstacle persons, which comprises a wheelchair control system and a wheelchair body; the device is applied to the wheelchair control system, and the device comprises: The first determining unit is configured to determine a target following person who accompanies the person with movement disorder when detecting that the wheelchair body has carried the person with movement disorder; The output unit is configured to output a corresponding station planning path to the target following person according to a common destination of the person with movement disorder and the target following person in the high-speed rail station, so that the target following person goes to the common destination according to the station planning path. The first detecting unit is configured to detect a first advancing route of the target following person. The extending unit is configured to extend the first advancing route forward and backward to obtain a target straight line. The extending unit is configured to extend the first advancing route forward and backward to obtain a target straight line. The control unit is configured to control the wheelchair body to follow the target following person in the belt-shaped area. The monitoring unit is configured to monitor a transverse speed of the target following person. The second determining unit is configured to determine that the advancing route of the target following person is changed when determining that the transverse speed of the target following person is greater than a set speed threshold. The second detecting unit is configured to detect a second advancing route of the target following person. The unit is configured to take the second advancing route as a current first advancing route and trigger the extending unit until the wheelchair body and the target following person reach the destination. In a third aspect, the present application provides a computer device, comprising a memory and a processor, the memory and the processor are connected with each other in communication, the memory stores computer instructions, and the processor executes the computer instructions to perform the high-speed rail station wheelchair control method for connecting people with movement disorder in the first aspect or any of the corresponding embodiments thereof.

[0013] In a fourth aspect, the present application provides a computer readable storage medium, which stores computer instructions for making a computer execute the high-speed rail station wheelchair control method for connecting people with movement disorder in the first aspect or any of the corresponding embodiments thereof.

[0014] The high-speed rail station wheelchair control method, device, high-speed rail station wheelchair, equipment and medium provided by the application can detect that the wheelchair body has carried the person with movement disorder, determine the target following person who accompanies the person with movement disorder, output the corresponding station planning path to the target following person according to the common destination of the person with movement disorder and the target following person in the high-speed rail station, so that the target following person goes to the common destination according to the station planning path. The first advancing route of the target following person is detected, the first advancing route is extended forward and backward to obtain a target straight line, and the target straight line is expanded laterally on the left and right sides to obtain a corresponding belt-shaped area. The wheelchair body is controlled to move in the belt-shaped area following the target following person, and the lateral speed of the target following person is monitored. In the case where it is determined that the lateral speed of the target following person is greater than the set speed threshold, it is determined that the advancing route of the target following person has changed, and the second advancing route of the target following person is detected. The second advancing route is taken as the current first advancing route, and the step of extending the first advancing route forward and backward to obtain the target straight line is returned to be executed until it is determined that the wheelchair body and the target following person reach the destination. The wheelchair control system of the embodiment can control the wheelchair body carrying the person with movement disorder to move in the belt-shaped area following the target following person to the common destination of the person with movement disorder and the target following person according to the station planning path and the advancing route of the target following person, without the need for staff to push, avoiding the high-intensity service of the staff and the consumption of human resources, realizing the intelligent connection of the person with movement disorder in the high-speed rail station, and improving the user experience and service quality. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present application or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or the related art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0016] Figure 1 A flowchart of a high-speed rail station wheelchair control method for connecting a person with movement disorder is provided for the embodiment of the present application. Figure 2 A schematic diagram of a high-speed rail station body is provided for the embodiment of the present application. Figure 3 A structural schematic diagram of a high-speed rail station wheelchair control device for connecting a person with movement disorder is provided for the embodiment of the present application. Figure 4 A structural schematic diagram of a computer device is provided for the embodiment of the present application. DETAILED DESCRIPTION

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0018] The following is combined Figures 1-2 The present invention describes a wheelchair control method for connecting people with mobility impairments at high-speed rail stations.

[0019] like Figure 1 As shown, this embodiment proposes a first method for controlling a wheelchair at a high-speed rail station for connecting people with mobility impairments. The high-speed rail station wheelchair includes a wheelchair control system and a wheelchair body. This method is applied to the wheelchair control system. The method may include the following steps: S101. If a person with a mobility impairment is detected to be riding in the wheelchair, then the target person accompanying the person with a mobility impairment is identified.

[0020] The wheelchair control system may include a controller and a drive mechanism, as well as functional modules such as a human detection module, a path planning module, and a human-computer interaction module to enable intelligent transportation of people with mobility impairments within high-speed rail stations. In essence, the wheelchair control system allows for the transportation of people with mobility impairments to their destinations within the high-speed rail station without requiring station staff to push the wheelchair.

[0021] Specifically, people with mobility impairments can be people with disabilities, elderly people with mobility difficulties, and people with leg injuries who have difficulty walking in high-speed rail stations.

[0022] The target accompanying person refers to the person who accompanies the person with mobility impairment during the process of transporting the person to their destination using the wheelchair. The target accompanying person can be a relative, friend, or colleague of the person with mobility impairment; this embodiment does not limit this.

[0023] Specifically, the wheelchair control system can receive pick-up instructions for people with mobility impairments. These instructions can include the pick-up time, pick-up location, and the identification information of the person with mobility impairment and the person accompanying them. Based on the pick-up instructions, the wheelchair control system can travel to the pick-up location at an appropriate time to pick up the person with mobility impairment. The wheelchair control system can verify the identification information of the person with mobility impairment and the person accompanying them. Once verification is successful, it can prompt the person with mobility impairment to sit in the wheelchair.

[0024] Specifically, the wheelchair control system can continuously detect whether a person with a mobility impairment is already seated on the wheelchair. Once it detects that the wheelchair has successfully accommodated the person with a mobility impairment, the transport mission can begin.

[0025] S102. Based on the common destination of the person with mobility impairment and the target follower within the high-speed rail station, output the corresponding planned route within the station to the target follower so that the target follower can travel to the common destination according to the planned route within the station.

[0026] It should be understood that the destination of the person with mobility impairment and the person being followed is the same. Specifically, the wheelchair control system can receive the shared destination input by either the person with mobility impairment or the person being followed.

[0027] Specifically, after detecting that a person with a mobility impairment is already in the wheelchair, the wheelchair control system can perform path planning based on the current location and common destination of the person with a mobility impairment and the person following them, and generate a planned route within the station.

[0028] Specifically, the wheelchair control system can output the planned route within the station to the person being followed, prompting them to follow the planned route to reach the common destination.

[0029] Optionally, the wheelchair control system may include a display screen and a voice module, which can output the planned route within the station to the target follower through the display screen and voice module.

[0030] Optionally, the wheelchair control system can also be linked to the target person's mobile phone or tablet, and the planned route within the station can be sent to the device, thus enabling the planned route within the station to be output to the target person.

[0031] It should be noted that the wheelchair control system can follow the target person as they move along the planned route within the station to their common destination, and arrive at their common destination together with the target person while following their movement.

[0032] S103, the detection target follows the first forward route of the personnel.

[0033] The first forward route is the route taken when the target follower moves to the common destination according to the planned path within the station output by the wheelchair control system.

[0034] Specifically, when the person following the target begins to move and proceeds to the common destination according to the planned path within the station output by the wheelchair control system, the wheelchair control system can continuously monitor the person's route.

[0035] S104, extending the first advancing route forward and backward to obtain a target straight line.

[0036] Specifically, the wheelchair control system can extend the first advancing route forward and backward to obtain a corresponding straight line as the target straight line after determining the first advancing route of the target following person.

[0037] S105, extending laterally on both sides of the target straight line to obtain a corresponding belt-shaped area.

[0038] Specifically, the wheelchair control system can extend laterally on both sides of the target straight line as the center line to determine a belt-shaped area with a certain width, for example, extending 0.6 meters on both sides of the target straight line to determine a belt-shaped area with a width of 1.2 meters with the target straight line as the center line.

[0039] S106, controlling the wheelchair body to move within the belt-shaped area following the target following person.

[0040] Specifically, the wheelchair control system can control the wheelchair body to move within the belt-shaped area following the target following person through the driving mechanism to go to the common destination.

[0041] It should be noted that the wheelchair control system can monitor the position coordinates of the target following person, and control the wheelchair body to move within the belt-shaped area according to the position coordinates of the target following person, so that the distance between the wheelchair body and the target following person is not greater than the set distance threshold.

[0042] S107, monitoring the lateral speed of the target following person.

[0043] The lateral speed is the movement speed of the target following person in the left or right direction of the first advancing route.

[0044] Specifically, the wheelchair control system can monitor the lateral speed of the target following person.

[0045] S108, determining that the advancing route of the target following person changes when it is determined that the lateral speed of the target following person is greater than a set speed threshold.

[0046] The set speed threshold can be set by a technician according to actual conditions, and the present embodiment is not limited.

[0047] Specifically, the wheelchair control system can determine that the advancing route of the target following person changes when it is determined that the lateral speed of the target following person is greater than the set speed threshold.

[0048] S109, detecting a second advancing route of the target following person.

[0049] Specifically, the wheelchair control system can determine that the advancing route of the target following person changes, and detect the current advancing route of the target following person, i.e., the second advancing route, when determining that the lateral speed of the target following person is greater than the set speed threshold.

[0050] S110, taking the second advancing route as the current first advancing route, returning to perform the step of extending the first advancing route forward and backward to obtain the target straight line until the wheelchair body and the target following person reach the destination.

[0051] Specifically, the wheelchair control system can take the second advancing route of the target following person as the current first advancing route, return to perform the step of extending the first advancing route forward and backward to obtain the target straight line, sequentially determine a new target straight line and a new strip-shaped area, control the wheelchair body to follow the target following person in the new strip-shaped area, and continue to monitor the lateral speed of the target following person. The wheelchair control system can determine that the advancing route of the target following person changes and needs to be determined again when monitoring that the lateral speed of the target following person is greater than the set speed threshold, control the wheelchair body to follow the target following person in the latest strip-shaped area, and continue to monitor the lateral speed of the target following person until the wheelchair body and the target following person reach the common destination.

[0052] Optionally, in other wheelchair control methods for connecting the high-speed rail station for the physically handicapped person provided in the embodiment, the method can further include, after monitoring the lateral speed of the target following person: When determining that the lateral speed of the target following person is greater than the set speed threshold, determining that the advancing route of the target following person does not change, and continuing to control the wheelchair body to follow the target following person in the strip-shaped area.

[0053] It should be noted that the wheelchair control system determines that the lateral speed of the target following person is caused by body shaking, rather than the advancing route changing, when determining that the lateral speed of the target following person is not greater than the set speed threshold.

[0054] The wheelchair control method for connecting the action obstacle personnel in the high-speed rail station provided in the embodiment can detect that the wheelchair body has carried the action obstacle personnel, determine the target following personnel accompanying the action obstacle personnel, output the corresponding station planning path to the target following personnel according to the common destination of the action obstacle personnel and the target following personnel in the high-speed rail station, so that the target following personnel goes to the common destination according to the station planning path. The first advancing route of the target following personnel is detected, the first advancing route is extended forward and backward to obtain a target straight line, and the target straight line is extended laterally on the left and right sides to obtain a corresponding belt-shaped area. The wheelchair body is controlled to move in the belt-shaped area following the target following personnel, and the lateral speed of the target following personnel is monitored. In a case where it is determined that the lateral speed of the target following personnel is greater than a set speed threshold, it is determined that the advancing route of the target following personnel changes, and the second advancing route of the target following personnel is detected. The second advancing route is taken as the current first advancing route, and the step of extending the first advancing route forward and backward to obtain the target straight line is returned to be executed until it is determined that the wheelchair body and the target following personnel reach the destination. The wheelchair control system in the embodiment can control the wheelchair body carrying the action obstacle personnel to move in the belt-shaped area following the target following personnel to the common destination of the action obstacle personnel and the target following personnel according to the station planning path and the advancing route of the target following personnel, without the need of staff to push, avoiding the high-intensity service of the staff and the consumption of human resources, realizing the intelligent connection of the action obstacle personnel in the high-speed rail station, and improving the user experience and service quality.

[0055] Based on Figure 1 The second wheelchair control method for connecting the action obstacle personnel in the high-speed rail station is provided in the embodiment, and the step S101 includes: After it is detected that the wheelchair body has carried the action obstacle personnel, a super wideband (UWB) tag corresponding to the wheelchair body is searched in the surrounding area of the action obstacle personnel, and a person carrying the UWB tag is taken as the target following personnel.

[0056] It should be noted that the target following personnel can be searched according to the UWB in the embodiment, so that the locking efficiency of the target following personnel can be improved.

[0057] Optionally, a super wideband UWB tag corresponding to the wheelchair body is searched in the surrounding area of the action obstacle personnel, and a person carrying the UWB tag is taken as the target following personnel. The target advancing route of the target following personnel is detected, including: The real-time position coordinates and the real-time advancing direction of the target following personnel are acquired; A line segment is drawn along the real-time advancing direction from the real-time position coordinates to obtain a corresponding target line segment as the target advancing route; The target's route of advance is either the first route of advance or the second route of advance.

[0058] like Figure 2 As shown, the wheelchair control system can include multiple UWB base stations, which are respectively set on the front and left and right sides of the wheelchair body to form a positioning array. Based on the UWB base stations and the UWB tags carried by the target follower, the system can realize the positioning and tracking of the target follower.

[0059] It should be noted that this embodiment detects the target's forward path based on the real-time position coordinates and real-time direction of the target follower, which can effectively enhance the detection efficiency and real-time performance of the forward path.

[0060] Optionally, step S102 above includes: Based on the location and common destination of the person with mobility impairment and the person following the target, a matching target path centerline is determined from the stored optimal path centerlines within the station; wherein, the optimal path centerline within the station is obtained by clustering multiple wheelchair pushing trajectories recorded by staff providing wheelchair pushing services within the station; Laterally expand to the left and right sides of the target path centerline to obtain the preliminary planned traffic area; Obtain the location coordinates of the initially planned passage area, and obtain passenger flow distribution data and the number of passengers disembarking in future time periods from the high-speed rail station operation system; The data on passenger flow distribution within the station, the number of passengers alighting in the future time period, and the location coordinates of the initially planned passage area are input into the A* algorithm. The A* algorithm then searches for nodes within the initially planned passage area based on the passenger flow distribution data, the number of passengers alighting in the future time period, and the location coordinates of the initially planned passage area to generate a planned route that bypasses potential congestion areas, which is then used as the planned route within the station.

[0061] Specifically, this embodiment can collect and analyze the movement trajectories of station staff pushing wheelchairs for people with mobility impairments in high-speed rail stations. After long-term accumulation, statistical analysis can be used to obtain the set of optimal path centerlines in high-speed rail stations. The set of optimal path centerlines includes the optimal path centerlines between different locations. The optimal path centerline is the smoothest, least crowded, and closest route to the turnstile between two locations in the station.

[0062] Specifically, in this embodiment, after determining the center line of the target path, it can be expanded laterally along its left and right sides, for example, by 1 meter on each side, to obtain the preliminary planned passage area.

[0063] Specifically, the embodiment can obtain the position coordinates of the preliminary planning passage area, and obtain the in-station flow distribution data and the number of passengers getting off in the future period from the high-speed rail station operation system. The position coordinates, the in-station flow distribution data and the number of passengers getting off in the future period are input into the A* algorithm, so that the A* algorithm performs node search in the preliminary planning passage area according to the in-station flow distribution data, the number of passengers getting off in the future period and the position coordinates of the preliminary planning passage area, and generates the in-station planning path.

[0064] It can be understood that the A* algorithm only performs node search in the preliminary planning passage area, which can avoid full map search of the high-speed rail station, effectively reduce the number of nodes and the amount of calculation, reduce the consumption of computing resources and improve the path planning efficiency, and can optimize the planning path, reduce the congestion area and enhance the user experience.

[0065] Based on Figure 1 , the embodiment proposes a third high-speed rail station wheelchair control method for connecting the people with disabilities, which can further include the following steps after step S106: When it is monitored that an obstacle appears on the advancing route of the wheelchair body, if the width of the obstacle is less than a set width threshold, the wheelchair body is controlled to perform lateral sliding in the strip-shaped area to avoid the obstacle and keep following the target follower in the strip-shaped area; If the width of the obstacle is not less than the width threshold, the path is re-planned according to the common destination, a new in-station planning path is generated, the new in-station planning path is taken as the current in-station planning path, and the corresponding in-station planning path is output to the target follower to make the target follower go to the common destination according to the in-station planning path.

[0066] The width threshold can be set by a technician according to the actual situation, and the embodiment is not limited.

[0067] Specifically, when the wheelchair control system monitors that small obstacles such as water bottles, luggage and pedestrians appear on the advancing route of the wheelchair body, lateral side sliding can be performed for lateral micro-obstacle avoidance, without the need to re-plan the path, thereby avoiding unnecessary consumption of path planning resources, reducing detour paths, maintaining the stability of the advancing, and avoiding frequent route changes. When the wheelchair control system monitors that large obstacles such as construction fences and maintenance sites exist on the advancing route of the wheelchair body and cannot be avoided, the path can be re-planned in time to avoid long waiting, and the reliability of path planning is enhanced.

[0068] As Figure 2 shown, the wheelchair control system can further include a laser radar for detecting obstacles around the wheelchair body.

[0069] Optionally, the method can further include the following steps after step S102: When it is monitored that the advancing route of the target following person deviates from the in-station planned path, a route deviation prompt information is outputted, and the wheelchair body is controlled to follow the target following person according to the advancing route of the target following person; receiving a path re-planning instruction sent by the target following person after reaching the first location; wherein the first location is not on the in-station planned path, and the path re-planning instruction is used to plan a path from the first location to the common destination; in response to the path re-planning instruction, returning to the step of executing the target following person to the common destination according to the in-station planned path of the action obstacle person and the target following person in the high-speed rail station, and outputting the corresponding in-station planned path to the target following person to make the target following person go to the common destination according to the in-station planned path.

[0070] It should be noted that in the process of the target following person going to the common destination according to the in-station planned path outputted by the wheelchair control system, the target following person may temporarily have something to deal with, such as buying drinks and snacks, going to the toilet, borrowing a power bank, etc. At this time, the target following person will move to the first location deviating from the in-station planned path. At this time, the wheelchair control system can control the wheelchair body to follow the target following person to the first location.

[0071] Specifically, when the target following person finishes dealing with the matter at the first location and wants to continue to go to the common destination, the target following person can input a path re-planning instruction to the wheelchair control system. The wheelchair control system can respond to the path re-planning instruction and return to execute the above step S102 to generate a new in-station planned path and output it to the target following person, so that the target following person goes to the common destination according to the new in-station planned path. At this time, the wheelchair control system can generate a corresponding belt-shaped area according to the advancing route of the target following person, and control the wheelchair body to follow the target following person in the belt-shaped area. At this time, the embodiment can perform following control and path planning considering the actual movement of the target following person, effectively enhancing the flexibility of path planning and controlling the movement of the wheelchair body.

[0072] As shown in Figure 3 The embodiment provides a high-speed rail station wheelchair control device for connecting an action obstacle person, wherein the high-speed rail station wheelchair comprises a wheelchair control system and a wheelchair body; the device is applied to the wheelchair control system, and the device comprises: a first determination unit 301 configured to detect that the wheelchair body has carried the action obstacle person, and determine a target following person who goes with the action obstacle person; an output unit 302 configured to output a corresponding in-station planned path to the target following person according to a common destination of the action obstacle person and the target following person in the high-speed rail station, so that the target following person goes to the common destination according to the in-station planned path; The first detection unit 303 is configured to detect a first advancing route of the target follower; The extension unit 304 is configured to extend the first advancing route forward and backward to obtain a target straight line; The expansion unit 305 is configured to expand the target straight line laterally to obtain a corresponding belt-shaped area; The control unit 306 is configured to control the wheelchair body to follow the target follower in the belt-shaped area; The monitoring unit 307 is configured to monitor the lateral speed of the target follower; The second determination unit 308 is configured to determine that the advancing route of the target follower is changed when it is determined that the lateral speed of the target follower is greater than a set speed threshold; The second detection unit 309 is configured to detect a second advancing route of the target follower; The as unit 310 is configured to take the second advancing route as the current first advancing route, and trigger the extension unit 304 until it is determined that the wheelchair body and the target follower reach the destination.

[0073] It should be noted that the processing procedures of the first determination unit 301, the output unit 302, the first detection unit 303, the extension unit 304, the expansion unit 305, the control unit 306, the monitoring unit 307, the second determination unit 308, the second detection unit 309 and the as unit 310 and the beneficial effects brought by them can be respectively referred to steps S101-S110 in Figure 1 , and will not be repeated here.

[0074] Optionally, the first determination unit 301 is further configured to: search for an ultra-wideband (UWB) tag corresponding to the wheelchair body in a surrounding area of the person with movement disorder, and take the person carrying the UWB tag as the target follower; detect a target advancing route of the target follower, and set that: obtain real-time position coordinates and a real-time advancing direction of the target follower; draw a line segment from the real-time position coordinates along the real-time advancing direction to obtain a corresponding target line segment as the target advancing route; The target advancing route is the first advancing route or the second advancing route.

[0075] Optionally, the output unit 302 is further configured to: determine a matching target path center line in the stored station optimal path center line according to the positions and the common destination of the person with movement disorder and the target follower; wherein the station optimal path center line is obtained by clustering a plurality of wheelchair pushing trajectories recorded in the wheelchair pushing service for the staff in the station. laterally expanding left and right sides of the target path center line to obtain a preliminary planning passage region; obtaining position coordinates of the preliminary planning passage region, and obtaining in-station passenger flow distribution data and future time period alighting passenger number in the high-speed rail station operation system; inputting the in-station passenger flow distribution data, the future time period alighting passenger number and the position coordinates of the preliminary planning passage region into the A* algorithm, so that the A* algorithm performs node search in the preliminary planning passage region based on the in-station passenger flow distribution data, the future time period alighting passenger number and the position coordinates of the preliminary planning passage region, to generate a planning path bypassing a potential congestion region and as an in-station planning path.

[0076] Optionally, the device further comprises an obstacle processing unit. The obstacle processing unit is configured to: after controlling the wheelchair body to follow the target follower in the strip-shaped region, when an obstacle is monitored on the advancing route of the wheelchair body, if the width of the obstacle is less than a set width threshold, controlling the wheelchair body to perform lateral sliding in the strip-shaped region to avoid the obstacle and keep following the target follower in the strip-shaped region; if the width of the obstacle is not less than the width threshold, performing path re-planning according to the common destination, generating a new in-station planning path, and triggering the output unit 302 to output the new in-station planning path as the current in-station planning path.

[0077] Optionally, the device further comprises a re-planning unit. The re-planning unit is configured to: after outputting the in-station planning path to the target follower according to the common destination of the action obstacle person and the target follower in the high-speed rail station, so that the target follower goes to the common destination according to the in-station planning path, and monitoring that the advancing route of the target follower deviates from the in-station planning path, outputting a route deviation prompt information, and controlling the wheelchair body to follow the target follower according to the advancing route of the target follower; receiving a path re-planning instruction sent by the target follower after arriving at the first location, wherein the first location is not on the in-station planning path, and the path re-planning instruction is used for planning a path from the first location to the common destination; in response to the path re-planning instruction, triggering the output unit 302.

[0078] Optionally, the device further comprises: The continuing movement unit is configured to, after monitoring the lateral speed of the target follower, determine that the advancing route of the target follower is not changed when it is determined that the lateral speed of the target follower is not greater than a set speed threshold, and continue to control the wheelchair body to follow the target follower in the strip-shaped area.

[0079] The wheelchair control device for connecting the physically handicapped person in the high-speed rail station can detect that the wheelchair body has carried the physically handicapped person, determine the target follower who accompanies the physically handicapped person, output a corresponding in-station planning path to the target follower according to the common destination of the physically handicapped person and the target follower in the high-speed rail station, and make the target follower go to the common destination according to the in-station planning path. The first advancing route of the target follower is detected, the first advancing route is extended forward and backward to obtain a target straight line, and the target straight line is extended laterally on the left and right sides to obtain a corresponding strip-shaped area. The wheelchair body is controlled to follow the target follower in the strip-shaped area, and the lateral speed of the target follower is monitored. When it is determined that the lateral speed of the target follower is greater than a set speed threshold, it is determined that the advancing route of the target follower is changed, and the second advancing route of the target follower is detected. The second advancing route is taken as the current first advancing route, and the step of extending the first advancing route forward and backward to obtain the target straight line is returned to be executed until it is determined that the wheelchair body and the target follower reach the destination. The wheelchair control system can control the wheelchair body carrying the physically handicapped person to follow the target follower in the strip-shaped area according to the in-station planning path and the advancing route of the target follower to the common destination of the physically handicapped person and the target follower, without the need for staff to push, avoiding the high-intensity service of the staff and the consumption of human resources, realizing the intelligent connection of the physically handicapped person in the high-speed rail station, and improving the user experience and service quality.

[0080] The wheelchair control device for connecting the physically handicapped person in the high-speed rail station in the embodiment is presented in the form of a functional unit. The unit herein refers to an ASIC (Application Specific Integrated Circuit, Application Specific Integrated Circuit) circuit, a processor and a memory executing one or more software or fixed programs, and / or other devices that can provide the above functions.

[0081] The embodiment of the present application also provides a computer device having the above Figure 3 The wheelchair control device for connecting the physically handicapped person in the high-speed rail station is shown in the figure.

[0082] Please refer to Figure 4The computer device provided by the optional embodiment of the present application comprises one or more processors 10, a memory 20, and an interface for connecting various components, including a high-speed interface and a low-speed interface. Various components are communicatively connected with each other by different buses, and can be installed on a common mainboard or in other manners as required. The processor can process instructions executed in the computer device, including instructions stored in the memory or on the memory to display graphical information of a GUI on an external input / output device, such as a display device coupled to the interface. In some optional embodiments, multiple processors and / or multiple buses can be used together with multiple memories if required. Similarly, multiple computer devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 4 The processor 10 is taken as an example in the description.

[0083] The processor 10 can be a central processor, a network processor, or a combination thereof. The processor 10 can further comprise a hardware chip. The hardware chip can be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device can be a complex programmable logic device, a field programmable logic gate array, a generic array logic, or any combination thereof.

[0084] The memory 20 stores instructions executable by the at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiments.

[0085] The memory 20 can comprise a program storage area and a data storage area. The program storage area can store an operating system and application programs required by at least one function. The data storage area can store data created according to the use of the computer device, and the like. In addition, the memory 20 can comprise a high-speed random access memory, and can further comprise a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some optional embodiments, the memory 20 can optionally comprise a memory remotely arranged with respect to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0086] The memory 20 can comprise a volatile memory, such as a random access memory. The memory can also comprise a non-volatile memory, such as a flash memory, a hard disk, or a solid-state disk. The memory 20 can further comprise a combination of the above-mentioned kinds of memories.

[0087] The computer device further comprises a communication interface 30 for communication between the computer device and other devices or communication networks.

[0088] The embodiments of the present application further provide a computer readable storage medium, and the method according to the embodiments of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or stored in a remote storage medium or a non-transitory machine readable storage medium and downloaded through a network and stored in a local storage medium, so that the method described herein can be processed by such software on a storage medium using a general purpose computer, a special purpose processor, or programmable or special hardware. Wherein, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk or a solid state disk, etc. Further, the storage medium can also include a combination of the above-mentioned types of memories. It can be understood that the computer, processor, microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code, when the software or computer code is accessed and executed by the computer, processor or hardware, the method shown in the above embodiments is implemented.

[0089] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A high-speed rail station wheelchair control method for connecting a person with a mobility impairment, characterized by, The wheelchair control system and the wheelchair body are included in the wheelchair in a high-speed rail station; the method is applied to the wheelchair control system, and the method comprises the following steps: When it is detected that the wheelchair body has carried a person with movement disorder, a target following person accompanying the person with movement disorder is determined; According to a common destination of the person with movement disorder and the target following person in the high-speed rail station, a corresponding station planning path is output to the target following person, so that the target following person goes to the common destination according to the station planning path; A first advancing route of the target following person is detected, the first advancing route is extended forward and backward to obtain a target straight line, and the target straight line is extended laterally on the left and right sides to obtain a corresponding belt-shaped area; The wheelchair body is controlled to move in the belt-shaped area following the target following person, and the lateral speed of the target following person is monitored; When it is determined that the lateral speed of the target following person is greater than a set speed threshold, it is determined that the advancing route of the target following person has changed, and a second advancing route of the target following person is detected; The second advancing route is taken as the current first advancing route, and the step of extending the first advancing route forward and backward to obtain the target straight line is returned to be executed until it is determined that the wheelchair body and the target following person reach the destination.

2. The method of claim 1, wherein, The target following person accompanying the person with movement disorder is determined, comprising: In the surrounding area of the person with movement disorder, an ultra-wideband (UWB) tag corresponding to the wheelchair body is searched, and a person carrying the UWB tag is taken as the target following person; The target advancing route of the target following person is detected, comprising: Real-time position coordinates and a real-time advancing direction of the target following person are obtained; A line segment is drawn from the real-time position coordinates along the real-time advancing direction to obtain a corresponding target line segment as the target advancing route; The target advancing route is the first advancing route or the second advancing route.

3. The method of claim 1, wherein, According to the common destination of the person with movement disorder and the target following person in the high-speed rail station, a corresponding station planning path is output to the target following person, comprising: According to the positions of the person with movement disorder and the target following person and the common destination, a matching target path center line is determined in a stored station optimal path center line; wherein the station optimal path center line is obtained by clustering a plurality of wheelchair pushing trajectories recorded in the wheelchair pushing service provided for the staff in the station; The target path center line is laterally extended on the left and right sides to obtain a preliminary planning passing area; Position coordinates of the preliminary planning passing area are obtained, and station passenger flow distribution data and the number of passengers in the future time period in the high-speed rail station operation system are obtained. The station flow distribution data, the future time period off number and the preliminary planning passage area position coordinate are input to the A* algorithm, so that the A* algorithm searches nodes in the preliminary planning passage area based on the station flow distribution data, the future time period off number and the preliminary planning passage area position coordinate, generates a planning path bypassing a potential congestion area, and serves as the station planning path.

4. The method of claim 1, wherein, After the control of the wheelchair body following the target follower in the strip-shaped area, the method further comprises: When an obstacle is monitored on the advancing route of the wheelchair body, if the width of the obstacle is less than a set width threshold, the wheelchair body is controlled to slide laterally in the strip-shaped area to avoid the obstacle and keep following the target follower in the strip-shaped area; If the width of the obstacle is not less than the width threshold, the path is re-planned according to the common destination, a new station planning path is generated, and the new station planning path is taken as the current station planning path, and the step of outputting the corresponding station planning path to the target follower is executed to make the target follower go to the common destination according to the station planning path.

5. The method of claim 1, wherein, After the step of outputting the corresponding station planning path to the target follower according to the common destination of the action obstacle person and the target follower in the high-speed rail station, the method further comprises: If the advancing route of the target follower deviates from the station planning path, route deviation prompt information is output, and the wheelchair body is controlled to follow the target follower according to the advancing route of the target follower; Receiving a path re-planning instruction sent by the target follower after arriving at the first location; wherein the first location is not on the station planning path, and the path re-planning instruction is used to plan a path from the first location to the common destination; In response to the path re-planning instruction, the step of outputting the corresponding station planning path to the target follower according to the common destination of the action obstacle person and the target follower in the high-speed rail station is executed again to make the target follower go to the common destination according to the station planning path.

6. The method of claim 1, wherein, After the step of monitoring the lateral speed of the target follower, the method further comprises: If it is determined that the lateral speed of the target follower is not greater than a set speed threshold, it is determined that the advancing route of the target follower has not changed, and the wheelchair body is controlled to follow the target follower in the strip-shaped area.

7. A high-speed railway station wheelchair control device for connecting a person with a movement disorder, characterized by, The high-speed rail station wheelchair comprises a wheelchair control system and a wheelchair body; the device is applied to the wheelchair control system, and the device comprises: A first determination unit is configured to detect that the wheelchair body has carried an action obstacle person, and determine a target follower accompanying the action obstacle person. an output unit configured to output a corresponding in-station planning path to the target follower according to a common destination of the action-obstructed person and the target follower in the high-speed rail station, so that the target follower moves to the common destination according to the in-station planning path; a first detection unit configured to detect a first advancing route of the target follower; an extension unit configured to extend the first advancing route forward and backward to obtain a target straight line; an expansion unit configured to expand the target straight line laterally to obtain a corresponding belt-shaped area; a control unit configured to control the wheelchair body to follow the target follower in the belt-shaped area; a monitoring unit configured to monitor a lateral speed of the target follower; a second determination unit configured to determine that the advancing route of the target follower is changed when it is determined that the lateral speed of the target follower is greater than a set speed threshold; a second detection unit configured to detect a second advancing route of the target follower; a switching unit configured to switch the second advancing route as a current first advancing route and trigger the extension unit until it is determined that the wheelchair body and the target follower reach the destination.

8. A high-iron station wheelchair, characterized by, The high-speed rail station wheelchair is the high-speed rail station wheelchair in any one of claims 1 to 6.

9. A computer device, comprising: comprise: a memory and a processor, which are in communication connection with each other, and the memory stores computer instructions, and the processor executes the computer instructions to perform the high-speed rail station wheelchair control method for connecting action-obstructed persons in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions are used to make the computer execute the high-speed rail station wheelchair control method for connecting action-obstructed persons in any one of claims 1 to 6.

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