Wheelchair parking control method and device, electronic equipment and storage medium

Abstract

The invention provides a wheelchair parking control method and device, electronic equipment and a storage medium, and relates to the technical field of wheelchair equipment control. According to the technical scheme, the method comprises the steps that an action instruction and the current state of the wheelchair are obtained; and according to the action instruction or the current state, the pedal is controlled to generate an action conforming to a parking angle preset value. The wheelchair parking control method and device, the electronic equipment and the storage medium have the advantage that accurate and reliable parking meeting the parking angle preset value under various road conditions is achieved through components of a wheelchair.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wheelchair equipment control, in particular to a wheelchair parking control method and device, electronic equipment and a storage medium. BACKGROUND

[0002] Some old people who are inconvenient to move need to use a wheelchair to assist in daily life. For some patients who are inconvenient to move, a wheelchair is also an important rehabilitation tool. With the improvement of social technology, the intelligence of the wheelchair has gradually penetrated into people's daily life. The existing wheelchair has many functions, and the parking function is one of them.

[0003] The conventional wheelchair parking device is usually an independent action structure, which plays a parking role through the tire brake device or the parking support. No matter which one is used, it is an additional functional component, and it is difficult to effectively use the components of the wheelchair itself to realize the parking function. At the same time, it is also impossible to realize the corresponding accurate angle reliable parking according to the parking demand under different road conditions.

[0004] At present, there is no effective technical solution to the above problems. SUMMARY

[0005] The purpose of the present application is to provide a wheelchair parking control method, device, electronic equipment and storage medium, which has the advantages of realizing accurate and reliable parking in accordance with the parking angle preset value under various road conditions by using the components of the wheelchair itself.

[0006] In a first aspect, the present application provides a wheelchair parking control method for controlling the parking of a wheelchair. The wheelchair includes a rotating structure rotatably arranged on the wheelchair, a foot pedal connected to the rotating structure through an extension structure, and an electric push rod hingedly connected to one side of the rotating structure. The wheelchair has a preset state, which at least includes a fully expanded state of the wheelchair. The method comprises the following steps: Obtaining an action instruction and a current state of the wheelchair; Controlling the foot pedal to generate an action in accordance with a parking angle preset value according to the action instruction or the current state.

[0007] The wheelchair parking control method provided by the present application obtains an action instruction and a current state of the wheelchair, and controls the foot pedal to generate an action in accordance with a parking angle preset value according to the action instruction or the current state. The components of the wheelchair itself, such as the foot pedal, are used to realize stable parking in accordance with the parking angle preset value. At the same time, according to the action instruction and the setting of the preset state, the parking is divided into active parking and passive parking, thereby meeting the accurate and reliable parking demand under various road conditions.

[0008] Furthermore, in this application, the step of controlling the foot pedal to produce an action conforming to a preset parking angle value according to the action command or the current state includes: When the current state matches the preset state, the foot pedal is controlled to produce an action that matches the preset parking angle value; If the current state does not conform to the preset state, but an action command is triggered, the foot pedal is controlled to produce an action that conforms to the preset parking angle value.

[0009] The wheelchair parking control method provided in this application controls the foot pedal to produce an action that conforms to the preset parking angle value when the current state meets the preset state; when the current state does not meet the preset state but the action command is triggered, it controls the foot pedal to produce an action that conforms to the preset parking angle value. This enables feasibility analysis during the parking process using the foot pedal, distinguishes between active parking and passive parking, and achieves precise control of the foot pedal under different conditions. This results in precise and stable parking that conforms to the preset parking angle value, improving parking stability under various road conditions.

[0010] Furthermore, in this application, the step of controlling the foot pedal to produce an action conforming to a preset parking angle value according to the action command or the current state includes: The position, length, and angle information of the foot pedal are obtained according to the action command or the current state. The foot pedal is controlled to produce an action that conforms to the preset parking angle value based on the position information, length information, and angle information of the foot pedal.

[0011] The wheelchair parking control method provided in this application obtains the position, length, and angle information of the foot pedal according to the action command or the current state; controls the foot pedal to produce an action that conforms to the preset parking angle value according to the position, length, and angle information of the foot pedal, realizes accurate analysis of the foot pedal during the parking process, and then controls the foot pedal to directly perform parking that conforms to the preset parking angle value or adjusts it to form a stable parking that conforms to the preset parking angle value according to the judgment result.

[0012] Furthermore, in this application, the step of controlling the foot pedal to produce an action conforming to a preset parking angle value based on the position information, length information, and angle information of the foot pedal includes: The current parking angle value is calculated based on the position, length, and angle information of the foot pedal; The foot pedal is adjusted according to the current parking angle value, and the adjusted pedal produces an action that conforms to the preset parking angle value.

[0013] The wheelchair parking control method provided in this application calculates the current parking angle value based on the position, length, and angle information of the foot pedal; and controls the foot pedal to adjust according to the current parking angle value and generate an action that conforms to the preset parking angle value after adjustment. This method is used to enhance the analysis and calculation during the parking action and achieve precise control of the preset parking angle value.

[0014] Furthermore, in this application, the step of controlling the foot pedal to adjust according to the current parking angle value and generating an action that conforms to the preset parking angle value after adjustment includes: When the current parking angle value is less than the preset parking angle value, the foot pedal is controlled to shorten and rotate, and then shorten to meet the preset parking angle value. When the current parking angle value is greater than or equal to the preset parking angle value, the foot pedal is controlled to rotate and produce an action that conforms to the preset parking angle value.

[0015] Furthermore, in this application, the step of controlling the foot pedal to shorten and rotate to produce an action that conforms to the preset parking angle value when the current parking angle value is less than the preset parking angle value includes: When the current parking angle value is less than the preset parking angle value, the foot pedal is controlled to shorten to its limit position and rotate to meet the preset parking angle value. When the foot pedal reaches a position that matches the preset parking angle, the foot pedal is controlled to extend until it touches the ground.

[0016] Furthermore, this application also includes the following steps: Record the tilt angle information of the wheelchair when the foot pedal produces an action that conforms to the preset parking angle value to form a database; After the step of recording the tilt angle information of the wheelchair when the foot pedal generates an action that conforms to the preset parking angle value to form a database, the method further includes: Obtain the tilt angle information of the currently described wheelchair; Select the foot pedal motion information from the database that corresponds to the same tilt angle information of the current wheelchair; The foot pedal is controlled to produce an action that conforms to the preset parking angle value based on the motion information.

[0017] Secondly, this application also provides a wheelchair parking control device for controlling wheelchair parking. The wheelchair includes a rotating structure rotatably disposed on the wheelchair and footrests connected to the rotating structure via a telescopic structure. An electric push rod is hinged to one side of the rotating structure. The wheelchair has a preset state, which at least includes the fully extended state of the wheelchair. The device includes: The first acquisition module is used to acquire action commands and the current state of the wheelchair; The first processing module is used to control the foot pedal to produce an action that conforms to the preset value of the parking angle according to the action command or the current state.

[0018] The wheelchair parking control device provided in this application includes a first acquisition module for acquiring action commands and the current state of the wheelchair; and a first processing module for controlling the foot pedals to generate actions that conform to the preset parking angle value based on the action commands or the current state, thereby using the foot pedals of the wheelchair itself to achieve stable parking that conforms to the preset parking angle value. At the same time, based on the action commands and the preset state settings, it is divided into active parking and passive parking, thereby meeting the precise and reliable parking requirements under various road conditions.

[0019] Thirdly, this application provides an electronic device including a processor and a memory storing computer-readable instructions that, when executed by the processor, perform the steps of the method provided in the first aspect above.

[0020] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the steps of the method provided in the first aspect above.

[0021] As can be seen from the above, the wheelchair parking control method, device, electronic device and storage medium provided in this application acquire action commands and the current state of the wheelchair; control the foot pedal to generate an action that conforms to the preset parking angle value according to the action commands or the current state, and use the foot pedal of the wheelchair itself to achieve stable parking that conforms to the preset parking angle value. At the same time, according to the action commands and the preset state settings, it is divided into active parking and passive parking, thereby meeting the precise and reliable parking needs under various road conditions.

[0022] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing embodiments of this application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0023] Figure 1A flowchart illustrating a wheelchair parking control method provided in an embodiment of this application.

[0024] Figure 2 This is a schematic diagram of a first structure of the wheelchair parking control device provided in an embodiment of this application.

[0025] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0026] Figure 4 This is a perspective structural diagram of the wheelchair parking control provided in an embodiment of this application.

[0027] Labeling explanations: 1. Foot pedal; 2. Telescopic structure; 4. Electric push rod; 5. Rotating structure; 201. First acquisition module; 202. First processing module; 3. Electronic equipment; 301. Processor; 302. Memory; 303. Communication bus. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0029] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] The following discloses and provides many different implementation methods or examples to achieve the purpose of the present invention and solve the problems existing in the prior art. Currently, in the practical application of wheelchair parking devices, tire braking devices or parking brackets are usually used to achieve the parking function. Regardless of which one is used, these are all additional components, making it difficult to simply and effectively utilize the wheelchair's own components to achieve the parking function. Furthermore, it is impossible to achieve stable parking at the corresponding precise angle according to different road conditions. To solve the above problems, this application provides a wheelchair parking control method, device, electronic device, and storage medium, specifically: Please refer to Figure 1 ,Figure 4 As shown, this application embodiment provides a wheelchair parking control method for controlling wheelchair parking. The wheelchair includes a rotating structure 5 rotatably mounted on the wheelchair and a footrest 1 connected to the rotating structure 5 via a telescopic structure 2. An electric push rod 4 is hinged to one side of the rotating structure 5. By controlling the extension and retraction of the electric push rod 4, the rotating structure 5 is driven to rotate, thereby causing the footrest 1 to rotate. When the footrest 1 rotates to a point where it contacts the ground and forms a fixed angle, a parking effect is achieved. When the distance of the footrest 1 is insufficient to contact the ground or the angle between the footrest 1 and the ground does not meet the preset parking angle value, the telescopic structure 2 is extended or retracted to adjust the footrest 1, thereby lengthening or shortening it, ultimately forming a parking structure that meets the preset parking angle value. The parking angle refers to the angle between the footrest 1 and the ground when the parking structure is formed. The preset parking angle value is a pre-set parking angle value that facilitates stable parking. The wheelchair has preset states, which at least include the fully extended state of the wheelchair. The method includes the following steps: S1. Obtain motion commands and the current status of the wheelchair; S2. Control the foot pedal 1 to produce an action that conforms to the preset value of the parking angle according to the action command or the current state.

[0031] In step S1, the action command can be triggered by the wheelchair user clicking on buttons, keys, or touchscreens on the wheelchair, or by voice input, or by a mobile phone or other digital device connected to the wheelchair, thereby acquiring the wheelchair user's action command for subsequent execution. The current state of the wheelchair refers to its current usage state, current structural state, or state displaying its unique functions. The structural state includes, but is not limited to, the wheelchair's driving structure state, parking structure state, sitting structure state, and reclining structure state. In this embodiment, the preset state includes at least the fully extended state of the wheelchair, which is the state when the wheelchair reaches the reclining structure. The preset state includes, but is not limited to, the state when the wheelchair reaches the reclining structure.

[0032] In step S2, the foot pedal 1 is controlled to perform an action that conforms to the preset parking angle value according to the action command or the current state. That is, by acquiring and analyzing the data of the action command or the current state, the foot pedal 1 is controlled to perform parking, that is, the foot pedal 1 is controlled to perform an action that conforms to the preset parking angle value, thereby realizing stable parking that is actively triggered by the action command or passively triggered by the current state.

[0033] In some preferred embodiments, step S2 includes the following sub-steps: S201, when the current state meets the preset state, control the foot pedal 1 to produce an action that meets the preset parking angle value; S202, when the current state does not meet the preset state, but the action command is triggered, control the foot pedal 1 to produce an action that meets the preset parking angle value.

[0034] Specifically, in step S201, when the current state matches the preset state, the foot pedal 1 is controlled to produce an action that matches the preset parking angle value. That is, when the current state matches the preset state, the passive parking function is triggered. At this time, the foot pedal 1 is controlled to produce an action that matches the preset parking angle value to achieve stable parking under different road conditions. In step S202, when the current state does not match the preset state, but the action command is triggered, the foot pedal 1 is controlled to produce an action that matches the preset parking angle value. At this time, the parking function requires the action command to be actively triggered. That is, when the current state does not match the preset state, but the action command is triggered, the action command plays an active triggering role, controlling the foot pedal 1 to produce an action that matches the preset parking angle value. Here, stable parking under different road conditions refers to various road surfaces with different inclination angles, such as slopes, flat surfaces, or other uneven surfaces. Under these road surface conditions, the foot pedal 1 is brought into contact with the road surface for braking, and the angle between the two matches the pre-set parking angle preset value, thereby maintaining a firm contact between the foot pedal 1 and the ground for braking, thus achieving stable parking. Here, the road surface is the ground.

[0035] In some preferred embodiments, step S2 further includes the following sub-steps: S203, obtaining the position information, length information, and angle information of the foot pedal 1 according to the action command or the current state; S204, controlling the foot pedal 1 to produce an action that conforms to the preset parking angle value according to the position information, length information, and angle information of the foot pedal 1.

[0036] Specifically, in step S203, the position, length, and angle information of pedal 1 are obtained based on the action command or the current state. When parking is required, the position, length, and angle information of pedal 1 are acquired and recorded to facilitate accuracy analysis during subsequent parking processes. In step S204, pedal 1 is controlled to produce an action that conforms to the preset parking angle value based on the position, length, and angle information of pedal 1. This enables accurate analysis during the parking process of pedal 1, allowing for direct parking that conforms to the preset parking angle value or adjustment to achieve stable parking that conforms to the preset parking angle value based on the judgment result. The position information of pedal 1 refers to its real-time position relative to the ground, the length information refers to the length of pedal 1 itself, and the angle information refers to the geometric angle between pedal 1 and the ground. By acquiring these data, it is analyzed whether stable parking can be achieved between pedal 1 and the ground.

[0037] In some preferred embodiments, step S204 includes the following steps: S2041, calculating the current parking angle value based on the position information, length information, and angle information of the foot pedal 1; S2042, controlling the foot pedal 1 to adjust according to the current parking angle value and generating an action that conforms to the preset parking angle value after adjustment.

[0038] Specifically, in step S2041, the current parking angle value is calculated based on the position, length, and angle information of the foot pedal 1. That is, before achieving the structural parking state, a simulation analysis is performed based on the position, length, and angle information of the foot pedal 1 to obtain the current parking angle value, thus providing a data basis for subsequent comparison and analysis with the preset parking angle value. In step S2042, the foot pedal 1 is adjusted according to the current parking angle value to produce an action that conforms to the preset parking angle value. This effectively utilizes the current parking angle value, facilitating comparison and analysis with the preset parking angle value, and controlling the foot pedal 1 to perform an adjustment action that conforms to the preset parking angle value, thereby achieving a precise and stable parking result.

[0039] In some preferred embodiments, step S2042 includes the following sub-steps: S20421, when the current parking angle value is less than the preset parking angle value, controlling the foot pedal 1 to shorten and rotate to produce an action that conforms to the preset parking angle value after shortening; S20422, when the current parking angle value is greater than or equal to the preset parking angle value, controlling the foot pedal 1 to rotate to produce an action that conforms to the preset parking angle value.

[0040] Specifically, in step S20421, when the current parking angle value is less than the preset parking angle value, the foot pedal 1 is controlled to shorten and rotate, producing an action that conforms to the preset parking angle value after shortening. That is, by making the current parking angle value greater than or equal to the preset parking angle value, space occupied by the wheelchair is saved while maintaining stability during parking, adapting to stable parking under various road conditions. When the current parking angle value is less than the preset parking angle value, it means that the length of the foot pedal 1 is too long. At this time, the foot pedal 1 needs to be controlled to shorten and rotate, increasing the current parking angle value, thereby forming a stable state that conforms to the preset parking angle value. In step S20422, when the current parking angle value is greater than or equal to the preset parking angle value, the foot pedal 1 is controlled to rotate and produce an action that conforms to the preset parking angle value. That is, when the current parking angle value is greater than or equal to the preset parking angle value, a favorable basis for stable parking is formed. It is only necessary to control the foot pedal 1 to rotate to the position that conforms to the preset parking angle value, that is, the foot pedal 1 produces an action that conforms to the preset parking angle value.

[0041] In some preferred embodiments, step S20421 includes the following sub-steps: S204211, when the current parking angle value is less than the preset parking angle value, the foot pedal 1 is controlled to shorten to the limit position and rotate to meet the preset parking angle value; S204212, when the foot pedal 1 reaches the position that meets the preset parking angle value, the foot pedal 1 is controlled to extend to touch the ground.

[0042] Specifically, in step S204211, when the current parking angle value is less than the preset parking angle value, the foot pedal 1 is controlled to shorten to its limit position and rotate to meet the preset parking angle value. That is, to simplify the parking operation and angle calculation process of the foot pedal 1, the foot pedal 1 is directly controlled to shorten its length to its limit position and then rotated to a position that meets the preset parking angle value. At this time, the foot pedal 1 is not in contact with the ground. In step S204212, when the foot pedal 1 reaches the position that meets the preset parking angle value, the foot pedal 1 is controlled to extend until it contacts the ground. That is, when the foot pedal 1, whose length is shortened to its limit position, reaches the position that meets the preset parking angle value, it extends until it contacts the ground, thereby completing precise and stable parking that meets the preset parking angle value.

[0043] In some preferred embodiments, the following step is also included: S3, recording the tilt angle information of the wheelchair when the foot pedal 1 generates an action that conforms to the preset parking angle value to form a database.

[0044] Specifically, in step S3, the tilting angle information of the wheelchair is recorded when the foot pedal 1 generates an action that conforms to the preset parking angle value to form a database. This enables the recording of data on the wheelchair and foot pedal 1 during previous parking processes, which facilitates the filtering and matching of action information that conforms to the new parking state in subsequent new parking processes, simplifying the parking process and improving its convenience.

[0045] In some preferred embodiments, step S3 and subsequent steps include: S4, recording the tilt angle information of the wheelchair when the foot pedal 1 generates an action that conforms to the preset parking angle value to form a database; S5, obtaining the current tilt angle information of the wheelchair; S6, selecting the action information of the foot pedal 1 corresponding to the current tilt angle information of the wheelchair from the database; S7, controlling the foot pedal 1 to generate an action that conforms to the preset parking angle value based on the action information.

[0046] Specifically, in step S4, a database is formed by recording the tilt angle information of the wheelchair when the foot pedal 1 generates an action that conforms to the preset parking angle value. This records the tilt angle information of the wheelchair corresponding to the foot pedal 1 during parking, facilitating the quick selection of parking actions that match the tilt angle information when similar tilt angle information occurs. In step S5, the current tilt angle information of the wheelchair is obtained and used as a data basis for comparison with the tilt angle information of the wheelchair in the database. In step S6, the action information of the foot pedal 1 corresponding to the current tilt angle information of the wheelchair is selected from the database, quickly filtering out the action information of the foot pedal 1 that matches the current tilt angle information, facilitating the formation of a precise and stable parking structure. In step S7, the foot pedal 1 is controlled to generate an action that conforms to the preset parking angle value based on the action information, realizing the parking function in both active and passive states, adapting to various road conditions, and achieving precise and stable parking operation. The tilt angle information is the angle between the vertical direction of the wheelchair and the geometric horizontal plane when the wheelchair tilts relative to the geometric horizontal plane.

[0047] As can be seen from the above, the wheelchair parking control method provided in this application embodiment obtains the action command and the current state of the wheelchair; controls the foot pedal 1 to generate an action that conforms to the preset parking angle value according to the action command or the current state, and uses the wheelchair's own component foot pedal 1 to achieve stable parking that conforms to the preset parking angle value. At the same time, according to the action command and the preset state setting, it is divided into active parking and passive parking, thereby meeting the precise and reliable parking needs under various road conditions.

[0048] Please refer to Figure 2This application provides a wheelchair parking control device for controlling wheelchair parking. The wheelchair includes a rotating structure 5 rotatably mounted on the wheelchair and a footrest 1 connected to the rotating structure 5 via a telescopic structure 2. An electric push rod 4 is hinged to one side of the rotating structure 5. The wheelchair has a preset state, which includes at least the fully extended state of the wheelchair. This wheelchair parking control device corresponds to the wheelchair parking control method of the above embodiment. Specifically, the wheelchair parking control device includes: The first acquisition module 201 is used to acquire action commands and the current state of the wheelchair; The first processing module 202 is used to control the foot pedal 1 to generate an action that conforms to the preset value of the parking angle, based on the action command or the current state.

[0049] In some preferred embodiments, the first acquisition module 201 acquires the action command and the current state of the wheelchair. That is, the first acquisition module 201 is used to acquire the specific action command triggered by the wheelchair user and the current state of the wheelchair, and transmits the corresponding action command to the first processing module 202 to facilitate the subsequent implementation of the precise and stable parking function under different road conditions.

[0050] In some preferred embodiments, the first processing module 202 controls the foot pedal 1 to generate an action that conforms to a preset parking angle value based on an action command or the current state. That is, by acquiring and analyzing data from the action command or the current state, the first processing module 202 controls the foot pedal 1 to perform parking, thereby controlling the foot pedal 1 to generate an action that conforms to the preset parking angle value, thus achieving stable parking either actively triggered by the action command or passively triggered by the current state. Specifically, when the current state conforms to the preset state, the first processing module 202 controls the foot pedal 1 to generate an action that conforms to the preset parking angle value; that is, when the current state matches the preset state, the passive parking function is triggered. In this case, the first processing module 202 controls the foot pedal 1 to generate an action that conforms to the preset parking angle value to achieve stable parking under different road conditions. When the current state does not conform to the preset state, but an action command is triggered, the first processing module 202 controls the foot pedal 1 to generate an action that conforms to the preset parking angle value. In this case, the parking function requires active triggering by the action command; that is, when the current state does not conform to the preset state, but an action command is triggered, the action command plays an active triggering role, and the first processing module 202 controls the foot pedal 1 to generate an action that conforms to the preset parking angle value. The first processing module 202 acquires the position, length, and angle information of the foot pedal 1 based on the action command or the current state. When parking is required, it acquires and records the position, length, and angle information of the foot pedal 1 to facilitate accuracy analysis during subsequent parking. The first processing module 202 controls the foot pedal 1 to produce an action that conforms to the preset parking angle value based on the position, length, and angle information of the foot pedal 1, realizing accurate analysis during the parking process of the foot pedal 1. Based on the judgment result, it controls the foot pedal 1 to directly perform parking that conforms to the preset parking angle value or to form a stable parking that conforms to the preset parking angle value through adjustment. The first processing module 202 calculates the current parking angle value based on the position, length, and angle information of the foot pedal 1, providing a stable comparative analysis value for the parking process and providing a data basis for subsequent comparative analysis with the preset parking angle value. The first processing module 202 controls the foot pedal 1 to adjust according to the current parking angle value and generates an action that conforms to the preset parking angle value after adjustment, realizing the effective use of the current parking angle value, thereby facilitating its comparative analysis with the preset parking angle value, and thus achieving accurate and stable parking results.When the current parking angle is less than the preset parking angle value, the first processing module 202 controls the foot pedal 1 to shorten and rotate, producing an action that conforms to the preset parking angle value after shortening. That is, by making the current parking angle value greater than or equal to the preset parking angle value, space occupied by the wheelchair is saved while maintaining stability during parking, adapting to stable parking under various road conditions. When the current parking angle value is less than the preset parking angle value, it means that the length of the foot pedal 1 is too long. At this time, the first processing module 202 needs to control the foot pedal 1 to shorten and rotate, thereby increasing the current parking angle value and forming a stable state that conforms to the preset parking angle value. When the current parking angle value is greater than or equal to the preset parking angle value, the first processing module 202 controls the foot pedal 1 to rotate and produce an action that conforms to the preset parking angle value. That is, when the current parking angle value is greater than or equal to the preset parking angle value, a favorable basis for stable parking is formed. The first processing module 202 only needs to control the foot pedal 1 to rotate to the position that conforms to the preset parking angle value, that is, the foot pedal 1 produces an action that conforms to the preset parking angle value. When the current parking angle is less than the preset parking angle value, the first processing module 202 controls the foot pedal 1 to shorten to its limit position and rotate to meet the preset parking angle value. That is, in order to simplify the parking operation and angle calculation process of the foot pedal 1, the first processing module 202 directly controls the foot pedal 1 to shorten its own length to its limit position and then rotates it to the position that meets the preset parking angle value. At this time, the foot pedal 1 is not in contact with the ground. When the foot pedal 1 reaches the position that meets the preset parking angle value, the first processing module 202 controls the foot pedal 1 to extend until it touches the ground. That is, when the foot pedal 1, whose own length is shortened to its limit position, reaches the position that meets the preset parking angle value, the first processing module 202 controls it to extend until it touches the ground, thereby completing the precise and stable parking that meets the preset parking angle value. The first processing module 202 records the tilt angle information of the wheelchair when the foot pedal 1 generates an action that conforms to the preset parking angle value to form a database. This enables the recording of data on the wheelchair and foot pedal 1 during previous parking processes, thereby facilitating the filtering and matching of action information that conforms to the new parking state during subsequent new parking processes, simplifying the parking process and improving its convenience.The first processing module 202 records the tilt angle information of the wheelchair when the foot pedal 1 generates an action that conforms to the preset parking angle value to form a database. This allows for the recording of the tilt angle information of the wheelchair corresponding to the foot pedal 1 during parking, facilitating the rapid selection of parking actions that match the tilt angle information when similar tilt angle information appears in subsequent parking situations. The first processing module 202 acquires the current tilt angle information of the wheelchair as a data basis, enabling subsequent comparison with the tilt angle information of the wheelchair in the database. The first processing module 202 selects the action information of the foot pedal 1 corresponding to the current tilt angle information from the database, quickly filtering out the action information of the foot pedal 1 that matches the current tilt angle information, facilitating the formation of a precise and stable parking structure. The first processing module 202 controls the foot pedal 1 to generate an action that conforms to the preset parking angle value based on the action information, realizing the parking function in both active and passive states, adapting to various road conditions, and achieving precise and stable parking operation.

[0051] As can be seen from the above, the wheelchair parking control device provided in this application includes a first acquisition module 201 for acquiring action commands and the current state of the wheelchair; and a first processing module 202 for controlling the foot pedal 1 to generate an action that conforms to the preset parking angle value according to the action command or the current state, thereby using the wheelchair's own component foot pedal 1 to achieve stable parking that conforms to the preset parking angle value. At the same time, according to the action command and the preset state setting, it is divided into active parking and passive parking, thereby meeting the precise and reliable parking requirements under various road conditions.

[0052] Please refer to Figure 3 , Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device 3 provided in this application includes: a processor 301 and a memory 302. The processor 301 and the memory 302 are interconnected and communicate with each other through a communication bus 303 and / or other forms of connection mechanism (not shown). The memory 302 stores a computer program executable by the processor 301. When the computing device is running, the processor 301 executes the computer program to execute the method in any optional implementation of the above embodiments to achieve the following functions: obtaining action commands and the current state of the wheelchair; controlling the foot pedal 1 to generate an action that conforms to a preset value of the parking angle according to the action commands or the current state.

[0053] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it performs the method in any optional implementation of the above embodiments to achieve the following functions: acquiring action commands and the current state of the wheelchair; controlling the foot pedal 1 to generate an action conforming to a preset parking angle value based on the action commands or the current state. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0054] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0055] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0056] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0057] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0058] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A wheelchair parking control method for controlling parking of a wheelchair, characterized by, The wheelchair comprises a rotating structure arranged on the wheelchair, a foot pedal connected to the rotating structure through an extension structure, and an electric push rod hinged to one side of the rotating structure. The wheelchair has a preset state, which at least includes a fully expanded state of the wheelchair. The method comprises the following steps: obtaining an action instruction and a current state of the wheelchair; controlling the foot pedal to generate an action conforming to a preset parking angle according to the action instruction or the current state.

2. The wheelchair parking control method according to claim 1, characterized by, The step of controlling the foot pedal to generate an action conforming to a preset parking angle according to the action instruction or the current state comprises: when the current state conforms to the preset state, controlling the foot pedal to generate an action conforming to a preset parking angle; when the current state does not conform to the preset state, but the action instruction is triggered, controlling the foot pedal to generate an action conforming to a preset parking angle.

3. The wheelchair parking control method according to claim 1, characterized by, The step of controlling the foot pedal to generate an action conforming to a preset parking angle according to the action instruction or the current state comprises: obtaining position information, length information and angle information of the foot pedal according to the action instruction or the current state; controlling the foot pedal to generate an action conforming to a preset parking angle according to the position information, length information and angle information of the foot pedal.

4. The wheelchair parking control method according to claim 3, characterized by, The step of controlling the foot pedal to generate an action conforming to a preset parking angle according to the position information, length information and angle information of the foot pedal comprises: calculating a current parking angle value according to the position information, length information and angle information of the foot pedal; controlling the foot pedal to adjust and generate an adjusted action conforming to a preset parking angle according to the current parking angle value.

5. The wheelchair parking control method according to claim 4, characterized by, The step of controlling the foot pedal to adjust and generate an adjusted action conforming to a preset parking angle according to the current parking angle value comprises: when the current parking angle value is less than the preset parking angle, controlling the foot pedal to shorten, rotate and generate a shortened action conforming to the preset parking angle; when the current parking angle value is greater than or equal to the preset parking angle, controlling the foot pedal to rotate and generate an action conforming to the preset parking angle.

6. The wheelchair parking control method according to claim 5, wherein The step of controlling the foot pedal to generate a shortened action conforming to the preset parking angle when the current parking angle value is less than the preset parking angle comprises: when the current parking angle value is less than the preset parking angle, controlling the foot pedal to generate a shortened action to an extreme position and rotate to an action conforming to the preset parking angle; when the foot pedal reaches a position conforming to the preset parking angle, controlling the foot pedal to generate an action to extend to the ground.

7. The wheelchair parking control method according to claim 1, wherein The method further comprises the following steps: recording inclination information of the wheelchair when the foot pedal generates an action conforming to a preset parking angle to form a database; after the step of recording inclination information of the wheelchair when the foot pedal generates an action conforming to a preset parking angle to form a database, the method further comprises the following steps: obtaining current inclination information of the wheelchair. selecting action information of the footboard corresponding to the same state as the inclination information of the wheelchair from a database; controlling the footboard to generate action conforming to the preset value of the parking angle according to the action information.

8. A wheelchair parking control device for controlling wheelchair parking, characterized in that, The wheelchair comprises a rotating structure rotatably arranged on the wheelchair, a footboard connected to the rotating structure through an extension structure, and an electric push rod hinged to one side of the rotating structure. The wheelchair has preset states, and the preset states at least include a fully unfolded state of the wheelchair. The device comprises: a first acquisition module configured to acquire an action instruction and preset states of the wheelchair; a first processing module configured to control the footboard to park according to the action instruction or the preset states.

9. An electronic device, comprising: The device comprises a processor and a memory. The memory stores computer readable instructions. When the computer readable instructions are executed by the processor, the steps in the method according to any one of claims 1-7 are run.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to run the steps in the method according to any one of claims 1-7.

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