Intelligent wheelchair based on vision

Abstract

The utility model provides an intelligent wheelchair based on vision, which relates to the technical field of intelligent wheelchairs and comprises a wheelchair body, a driving device and an intelligent host module. The wheelchair main body comprises a seat and armrests; the driving device is mounted below the seat and used for driving the vision-based intelligent wheelchair; the intelligent host module comprises a first camera, a driving control mainboard and an ROS robot system embedded mainboard; the first camera is used for acquiring a real-time image of a road; the driving control main board is electrically connected with the driving device and used for controlling the intelligent wheelchair based on vision to run; the ROS robot system embedded mainboard is electrically connected with the first camera and the drive control mainboard and used for analyzing real-time images of a road and controlling the vision-based intelligent wheelchair to run automatically. According to the intelligent wheelchair, the man-machine interaction mode is optimized, and the functions of automatic driving, automatic user following, intelligent user identity information recognition, voice control and the like of the intelligent wheelchair are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent wheelchairs, in particular to an intelligent wheelchair based on vision. Background Art

[0002] With the development of society and the advancement of science and technology, the proportion of the elderly population in my country is increasing. In addition, people with physical disabilities also need a high-quality life. These people have limited mobility and need to use wheelchairs as a means of transportation. Traditional electric wheelchairs only add an electric control system to the manual wheelchair, which is completely controlled by the user. It can meet general daily needs but cannot provide more intelligent convenience. For example, more advanced human-computer interaction, intelligent following and automatic driving functions.

[0003] At present, computer vision technology with deep learning as its core is booming. Among them, tasks such as object detection (recognition), semantic segmentation and speech recognition are widely used in various industrial fields. Electric wheelchairs based on traditional physical buttons, Bluetooth, ultrasonic and other technologies are often severely disturbed by noise in real environments, which also limits the user experience and interaction methods. Utility Model Content

[0004] The purpose of the utility model is to provide a vision-based intelligent wheelchair to solve at least one of the above-mentioned technical problems existing in the prior art.

[0005] In order to solve the above technical problems, the utility model provides a vision-based intelligent wheelchair, comprising: a wheelchair body, a driving device and an intelligent host module;

[0006] The wheelchair body comprises: a seat and armrests;

[0007] The seat is located in the center of the vision-based intelligent wheelchair, and the seat provides an ergonomic backrest and a seat cushion for the user to avoid fatigue caused by the user riding the vision-based intelligent wheelchair for a long time.

[0008] The armrests are arranged on the left and right sides of the seat, respectively a left armrest and a right armrest, for placing arms;

[0009] The driving device is installed under the seat and is used to drive the vision-based intelligent wheelchair;

[0010] The intelligent host module is used for sensing information processing and decision control of the intelligent wheelchair;

[0011] The intelligent host module includes: a first camera, a drive control mainboard and a ROS robot system embedded mainboard;

[0012] The first camera is installed on the left armrest to obtain a real-time image of the road;

[0013] The driving control mainboard is installed on the right armrest and is electrically connected to the driving device, and is used to control the movement of the vision-based intelligent wheelchair;

[0014] The ROS robot system embedded mainboard is installed under the seat and is electrically connected to the first camera and the drive control mainboard respectively, and is used to analyze the real-time image of the road ahead acquired by the first camera, control the drive control mainboard, and control the drive device through the drive control mainboard to drive the vision-based smart wheelchair, thereby enabling the vision-based smart wheelchair to move automatically.

[0015] Furthermore, the intelligent host module also includes a second camera, which is installed in the middle of the top of the seat and is used to obtain a real-time image of the portrait;

[0016] The ROS robot system embedded mainboard is also electrically connected to the second camera for facial recognition authentication of user identity, and for analyzing the real-time image of the user acquired by the second camera, to control the drive control mainboard, and to control the drive device through the drive control mainboard to drive the vision-based smart wheelchair, thereby enabling the vision-based smart wheelchair to automatically follow the user.

[0017] Furthermore, the intelligent host module also includes a display screen, which is installed at the front end of the seat and is electrically connected to the ROS robot system embedded mainboard for visual interaction.

[0018] Furthermore, the intelligent host module also includes a microphone, which is arranged on the side of the display screen and is used to receive voice commands from the user;

[0019] The ROS robot system embedded mainboard is also electrically connected to the microphone for voice recognition and authentication of user identity, and for executing the user's voice commands, and for controlling the drive control mainboard through voice, so that the drive control mainboard controls the drive device to drive the vision-based intelligent wheelchair according to the voice commands issued by the user.

[0020] Furthermore, the intelligent host module also includes a speaker, which is arranged on the side of the display screen and is electrically connected to the ROS robot system embedded mainboard for feeding back voice information.

[0021] Furthermore, the intelligent host module also includes a handle, which is installed above the drive control mainboard and is electrically connected to the drive control mainboard for manually driving the vision-based intelligent wheelchair.

[0022] Furthermore, the intelligent host module also includes a button component, which is installed above the drive control mainboard and electrically connected to the drive control mainboard to assist the user in manually driving the vision-based intelligent wheelchair.

[0023] Furthermore, the wheelchair body further comprises: a wheelchair frame and rear wheels;

[0024] The two rear wheels are installed at the bottom of the wheelchair frame, located on the left and right sides of the seat, and are respectively a left rear wheel and a right rear wheel, and the left rear wheel and the right rear wheel have the same specifications;

[0025] The seat is installed above the wheelchair frame;

[0026] A manual wheel is arranged on the outer side of the rear wheel for manually driving the rear wheel.

[0027] Furthermore, the two rear wheels are both provided with brakes for braking the two rear wheels.

[0028] Furthermore, the brake is provided with a joystick, which is located between the rear wheel and the seat and is used for manually controlling the brake.

[0029] Furthermore, the driving device comprises: a battery, a motor and a PID increment control module;

[0030] The battery is installed under the seat and is used to provide power to the motor and the intelligent host module;

[0031] The motor is installed at the bottom of the wheelchair frame, and the output shaft of the motor is connected to the rear wheel shaft for driving the rear wheel;

[0032] The PID incremental control module is installed on the output shaft of the motor and is used to adjust the rotation speed of the motor.

[0033] Furthermore, the wheelchair body also includes front wheels, and two front wheels are mounted at the bottom of the wheelchair frame, namely a left front wheel and a right front wheel;

[0034] The left front wheel and the right front wheel are both guide wheels.

[0035] Furthermore, the wheelchair body also includes pedals, and two pedals are rotatably mounted at the front end of the bottom of the wheelchair frame to support the user's feet;

[0036] An ultrasonic sensor is installed at the front end of the pedal. The ultrasonic sensor is electrically connected to the drive control mainboard and is used to measure the distance between the target and the pedal.

[0037] Furthermore, the surface of the vision-based smart wheelchair is provided with an antibacterial coating to reduce the growth of bacteria and viruses on the surface of the vision-based smart wheelchair.

[0038] By adopting the above technical solution, the utility model has the following beneficial effects:

[0039] The utility model provides a vision-based intelligent wheelchair, which increases the interaction mode between the user and the vision-based intelligent wheelchair by arranging a handle, a button assembly, a display screen, a microphone and a speaker, meets the different needs of the users, and facilitates the human-computer interaction of the users; the ROS robot system embedded mainboard is electrically connected with the first camera, the second camera and the drive control mainboard respectively to analyze the acquired real-time image, so as to realize the automatic driving, automatic following of the user and face recognition functions of the vision-based intelligent wheelchair; the ROS robot system embedded mainboard is electrically connected with the microphone and the drive control mainboard respectively to realize the voice control driving and voice recognition functions of the vision-based intelligent wheelchair; the vision-based intelligent wheelchair provided by the utility model is light in weight and convenient for the users to move. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 A schematic diagram of the three-dimensional structure of a vision-based intelligent wheelchair provided in an embodiment of the utility model;

[0042] Figure 2 for Figure 1 A schematic diagram of the stereoscopic structure of the rear perspective of the vision-based smart wheelchair shown;

[0043] Figure 3 for Figure 1 The three-dimensional structural diagram of the driving device at the left rear wheel of the vision-based intelligent wheelchair shown;

[0044] Figure 4 for Figure 1 Schematic diagram of the three-dimensional structure of the bottom of the vision-based smart wheelchair.

[0045] Reference numerals:

[0046] 1-seat; 2-armrest; 3-right rear wheel; 4-left rear wheel; 5-pedal; 6-brake lever; 7-battery; 8-motor; 9-PID incremental control module; 10-ROS robot system embedded motherboard; 11-drive control motherboard; 12-handle; 13-button assembly; 14-display; 15-first camera; 16-second camera; 17-microphone; 18-speaker. DETAILED DESCRIPTION

[0047] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0048] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0049] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] The present invention will be further explained below in conjunction with specific implementation methods.

[0051] It should also be noted that the following specific embodiments or specific implementations are a series of optimized settings listed in the present invention to further explain the specific content of the invention, and these settings can be used in combination or in association with each other.

[0052] Example 1

[0053] like Figure 1-4As shown, a vision-based intelligent wheelchair provided in this embodiment includes: a wheelchair body, a driving device and an intelligent host module; the wheelchair body includes: a seat 1 and an armrest 2; the seat 1 is located in the center of the vision-based intelligent wheelchair, and the armrests 2 are arranged on the left and right sides of the seat 1, which are respectively a left armrest and a right armrest for placing arms; the driving device is installed under the seat 1, and is used to drive the vision-based intelligent wheelchair; the intelligent host module is used for perception information processing and decision control of the intelligent wheelchair;

[0054] The intelligent host module includes: a first camera 15, a drive control mainboard 11 and a ROS robot system embedded mainboard 10; the first camera 15 is installed on the left armrest and is used to obtain a real-time image of the road; the drive control mainboard 11 is installed on the right armrest and is electrically connected to the drive device to control the vision-based intelligent wheelchair to travel; the drive control mainboard 11 generally includes a motor drive module, a power management module, a controller module, a communication module, etc. The ROS robot system embedded mainboard 10 is installed under the seat 1 and is used for advanced image and logic processing, and generally uses NVIDIA jetson agx xavier / nx / tx2 series boards; the ROS robot system embedded mainboard 10 is electrically connected to the first camera 15 and the drive control mainboard 11 respectively, and is used to analyze the real-time image of the road ahead obtained by the first camera 15, formulate a driving path for the vision-based intelligent wheelchair, and control the drive control mainboard 11, so that the drive control mainboard 11 controls the drive device to drive the vision-based intelligent wheelchair according to the driving path formulated by the ROS robot system embedded mainboard 10, so that the vision-based intelligent wheelchair can travel automatically.

[0055] More preferably, the intelligent host module also includes a second camera 16, which is installed in the middle of the top of the seat 1 and is used to obtain a real-time image of a portrait; the ROS robot system embedded mainboard 10 is also electrically connected to the second camera 16, for facial recognition and authentication of the user's identity, and analyzing the real-time image of the user acquired by the second camera 16, formulating a driving path for the vision-based intelligent wheelchair, and controlling the drive control mainboard 11, so that the drive control mainboard 11 controls the drive device to drive the vision-based intelligent wheelchair according to the driving path formulated by the ROS robot system embedded mainboard 10, so that the vision-based intelligent wheelchair automatically follows the user.

[0056] In this embodiment, the first camera 15 and the second camera 16 both use wide-angle distortion-free cameras to capture real-time images in a wider range and eliminate lens distortion to ensure image accuracy and clarity. The first camera 15 and the second camera 16 generally use wide-angle distortion-free cameras such as OV5640, OV4689, and IMX377, which have the advantages of high definition, high sensitivity, and low noise, and are suitable for use in smart wheelchairs.

[0057] More preferably, the intelligent host module also includes a display screen 14, which is installed at the front end of the seat 1 and is electrically connected to the ROS robot system embedded mainboard 10 for visual interaction.

[0058] Reference Figure 1 As shown, the intelligent host module also includes a microphone 17, which is arranged on the side of the display screen 14 and is used to receive the user's voice command; the microphone 17 has high sensitivity, low noise and clear voice collection capabilities to ensure that the user's voice command can be accurately captured and transmitted. The microphone 17 is usually selected from MEMS microphones, capacitor microphones, etc. The ROS robot system embedded motherboard 10 is also electrically connected to the microphone 17, which is used for voice recognition and authentication of user identity, and to execute the user's voice command, and to control the drive control motherboard 11 through voice, so that the drive control motherboard 11 controls the drive device to drive the vision-based intelligent wheelchair according to the voice command issued by the user. When the vision-based intelligent wheelchair automatically drives or automatically follows the user, after the microphone 17 receives the user's voice command, the ROS robot system embedded motherboard 10 will give priority to executing the user's voice command, and the vision-based intelligent wheelchair will no longer automatically drive or automatically follow the user, but will instead drive according to the user's voice command.

[0059] Reference Figure 2 As shown, the intelligent host module also includes a speaker 18, which is arranged on the side of the display screen 14 and is electrically connected to the ROS robot system embedded mainboard 10 for feeding back voice information. The speaker 18 has high fidelity, low distortion and high volume audio output capabilities to ensure that the user can clearly hear the surrounding environment and voice prompts. The speaker 18 is usually a diaphragm speaker, an electric speaker, etc.

[0060] More preferably, the intelligent host module further includes a handle 12, which is mounted above the drive control mainboard 11 and electrically connected to the drive control mainboard 11, and is used to manually drive the vision-based intelligent wheelchair. When the vision-based intelligent wheelchair automatically drives, automatically follows the user, or is voice-controlled, after the user controls the drive control mainboard 11 through the handle 12, the vision-based intelligent wheelchair will no longer automatically drive, automatically follow the user, or be voice-controlled, and the user will control the handle 12 to manually drive the vision-based intelligent wheelchair.

[0061] More preferably, the intelligent host module further includes a button assembly 13, which is mounted above the drive control mainboard 11 and electrically connected to the drive control mainboard 11, and is used to assist the user to manually drive the vision-based intelligent wheelchair. In this embodiment, the button assembly includes a power switch, a horn button, a speed gear, etc.

[0062] More preferably, the wheelchair body further comprises: a wheelchair frame and rear wheels; the two rear wheels are mounted at the bottom of the wheelchair frame, located on the left and right sides of the seat 1, and are respectively a left rear wheel 4 and a right rear wheel 3, and the left rear wheel 4 and the right rear wheel 3 have the same specifications; the seat 1 is mounted above the wheelchair frame; a manual wheel is arranged on the outer side of the rear wheel for manually driving the rear wheel. The two rear wheels are both provided with the brake for braking the two rear wheels. The brake is provided with a joystick 6, located between the right rear wheel 3 and the seat 1, for manually controlling the brake.

[0063] Reference Figure 3 , Figure 4As shown, the driving device includes: a battery 7, a motor 8 and a PID increment control module 9; the battery 7 is installed under the seat 1 to provide power for the motor 8 and the intelligent host module; the battery 7 is usually a sealed lead-acid battery or a lithium-ion battery of 12V~24V / 12Ah~100Ah. Compared with traditional sealed lead-acid batteries, lithium-ion batteries have higher energy density, lighter weight and longer service life. The motor 8 is installed at the bottom of the wheelchair frame, and the output shaft of the motor 8 is connected to the rear wheel shaft to drive the rear wheel; in this embodiment, the motor 8 uses a Hall brushless motor, which is a high-efficiency, low-noise, low-vibration DC brushless motor, usually composed of a brushless motor, a Hall sensor, an electric regulator and a power supply. The Hall sensor is used to detect the rotor position and speed of the brushless motor, thereby controlling the operation of the brushless motor. The PID increment control module 9 is installed on the output shaft of the motor 8 to adjust the speed of the motor 8. The PID incremental control module 9 is an incremental controller based on the PID algorithm, which can realize precise control of the motor 8, so that the actual value output by the motor 8 is as close to the expected value as possible. The PID incremental control module 9 generally includes a Hall speed measurement module, a PID incremental closed-loop speed regulation unit and an electric vehicle brushless controller. In this embodiment, the PID incremental control module 9 is composed of a Hall speed measurement module, a PID incremental closed-loop speed regulation unit and an electric vehicle brushless controller.

[0064] Furthermore, the wheelchair body further comprises front wheels, two of which are mounted at the bottom of the wheelchair frame, namely a left front wheel and a right front wheel; both the left front wheel and the right front wheel are guide wheels. The wheelchair body further comprises pedals 5, two of which are rotatably mounted at the front end of the bottom of the wheelchair frame, for supporting the user's feet;

[0065] Beneficial effects of the utility model:

[0066] (1) By providing a handle, a button assembly, a display screen, a microphone, and a speaker, the user's interaction with the vision-based smart wheelchair is increased to meet the different needs of users and facilitate human-computer interaction;

[0067] (2) The ROS robot system embedded mainboard is electrically connected to the first camera, the second camera and the drive control mainboard respectively to analyze the acquired real-time image, thereby realizing the vision-based intelligent wheelchair automatic driving, automatic following of the user and face recognition functions;

[0068] (3) The ROS robot system embedded mainboard is electrically connected to the microphone and the drive control mainboard respectively to realize the voice control of the vision-based intelligent wheelchair driving and voice recognition functions.

[0069] Example 2

[0070] This embodiment is basically the same as Embodiment 1, except that:

[0071] In this embodiment, the seat provides the user with an ergonomic backrest and seat cushion, which can effectively prevent the user from getting tired when riding the vision-based smart wheelchair for a long time.

[0072] More preferably, an ultrasonic sensor is installed at the front end of the pedal, and the ultrasonic sensor is electrically connected to the drive control mainboard to measure the distance between the target and the pedal, so as to assist the vision-based intelligent wheelchair to maintain a certain distance from the target.

[0073] In this embodiment, when the vision-based smart wheelchair is automatically driving, the ultrasonic sensor detects obstacles on the road, assisting the vision-based smart wheelchair to avoid obstacles; when the vision-based smart wheelchair automatically follows the user, the ultrasonic sensor detects the user, assisting the vision-based smart wheelchair to keep the distance between the user unchanged.

[0074] Example 3

[0075] This embodiment is basically the same as Embodiment 2, except that:

[0076] The surface of a vision-based smart wheelchair provided in this embodiment is provided with an antibacterial coating, which is used to reduce the growth of bacteria and viruses on the surface of the vision-based smart wheelchair.

[0077] Common inorganic antibacterial coatings include silver ion antibacterial coatings, copper ion antibacterial coatings, photocatalytic antibacterial coatings, carbon nanotube antibacterial coatings, etc. These antibacterial coatings can be sprayed, brushed or dipped on the surface of the wheelchair and can be used after drying. In addition, new antibacterial materials can also be used, such as graphene, nanosilver, zinc oxide, and bio-based materials (materials derived from natural organisms, such as bacteriocins, collagen, etc., which have natural antibacterial properties and can be applied to the surface of the wheelchair by spraying, coating, etc. to form a natural antibacterial layer that is harmless to the human body).

[0078] Wheelchairs are important auxiliary tools for the daily life of elderly and disabled people with limited mobility. However, the surface of wheelchairs is prone to the growth of bacteria, viruses and other microorganisms. Antibacterial coating is a material that can inhibit and kill the growth and spread of bacteria, viruses and other microorganisms. Providing an antibacterial coating on the vision-based smart wheelchair can effectively improve the hygiene level of the vision-based smart wheelchair, reduce the growth and spread of bacteria, viruses and other microorganisms, and protect the health of the user. At the same time, the antibacterial coating can also effectively reduce the corrosion and damage of bacteria, viruses and other microorganisms to the surface of the vision-based smart wheelchair, thereby extending the service life of the vision-based smart wheelchair.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. A vision-based intelligent wheelchair, characterized in that: include: Wheelchair body, drive device and intelligent host module; The wheelchair body comprises: a seat and armrests; The armrests are arranged on the left and right sides of the seat, namely a left armrest and a right armrest; The driving device is installed under the seat and is used to drive the vision-based intelligent wheelchair; The intelligent host module includes: a first camera, a drive control mainboard and a ROS robot system embedded mainboard; The first camera is installed on the left armrest to obtain a real-time image of the road; The driving control mainboard is installed on the right armrest and is electrically connected to the driving device, and is used to control the movement of the vision-based intelligent wheelchair; The ROS robot system embedded mainboard is installed under the seat and is electrically connected to the first camera and the drive control mainboard respectively, so as to analyze the real-time image of the road ahead acquired by the first camera and control the drive control mainboard to enable the vision-based intelligent wheelchair to drive automatically.

2. The vision-based intelligent wheelchair according to claim 1, characterized in that: The smart host module also includes a second camera, which is installed in the middle of the top of the seat and is used to obtain a real-time image of the person; The ROS robot system embedded mainboard is also electrically connected to the second camera for facial recognition and authentication of user identity, and for analyzing the real-time image of the user acquired by the second camera, and controlling the drive control mainboard so that the vision-based intelligent wheelchair automatically follows the user.

3. The vision-based intelligent wheelchair according to claim 1, characterized in that: The intelligent host module also includes a display screen, which is installed at the front end of the seat and is electrically connected to the ROS robot system embedded mainboard for visual interaction.

4. The vision-based intelligent wheelchair according to claim 3, characterized in that: The intelligent host module also includes a microphone, which is arranged on the side of the display screen and is used to receive a user's voice command; The ROS robot system embedded mainboard is also electrically connected to the microphone for voice recognition to authenticate the user's identity and to execute the user's voice commands to voice control the movement of the vision-based intelligent wheelchair.

5. The vision-based intelligent wheelchair according to claim 3, characterized in that: The intelligent host module also includes a speaker, which is arranged on the side of the display screen and is electrically connected to the ROS robot system embedded mainboard for feeding back voice information.

6. The vision-based intelligent wheelchair according to claim 1, characterized in that: The intelligent host module also includes a handle, which is installed above the drive control mainboard and is electrically connected to the drive control mainboard for manually driving the vision-based intelligent wheelchair.

7. The vision-based intelligent wheelchair according to claim 1, characterized in that: The intelligent host module also includes a button component, which is installed above the drive control mainboard and is electrically connected to the drive control mainboard to assist the user in manually driving the vision-based intelligent wheelchair.

8. The vision-based intelligent wheelchair according to claim 1, characterized in that: The wheelchair body also includes: a wheelchair frame and rear wheels; The two rear wheels are mounted at the bottom of the wheelchair frame, located on the left and right sides of the seat, and the seat is mounted above the wheelchair frame; A manual wheel is arranged on the outer side of the rear wheel for manually driving the rear wheel.

9. The vision-based intelligent wheelchair according to claim 8, characterized in that: The driving device comprises: a battery, a motor and a PID increment control module; The battery is installed under the seat and is used to provide power to the motor and the intelligent host module; The motor is installed at the bottom of the wheelchair frame, and the output shaft of the motor is connected to the rear wheel shaft for driving the rear wheel; The PID incremental control module is installed on the output shaft of the motor and is used to adjust the rotation speed of the motor.

10. The vision-based intelligent wheelchair according to claim 8, characterized in that: The wheelchair body also includes pedals, two of which are rotatably mounted at the front end of the bottom of the wheelchair frame to support the user's feet; An ultrasonic sensor is installed at the front end of the pedal. The ultrasonic sensor is electrically connected to the drive control mainboard and is used to measure the distance between the obstacle and the pedal.

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