Intelligent wheelchair

Abstract

The intelligent wheelchair provided by the embodiment of the utility model comprises a framework, a seat located above the framework and a chassis located below the framework, and further comprises a first laser sensor and a three-dimensional image sensor; the first laser sensor is located below the chassis, the three-dimensional image sensor is located on the armrest, the detection direction of the first laser sensor faces the advancing direction, the left side translation direction and the right side translation direction of the intelligent wheelchair, and the detection direction of the three-dimensional image sensor faces the advancing direction of the intelligent wheelchair. Front obstacles are detected through the three-dimensional image sensor and the first laser sensor, potential safety hazards caused by the fact that a user looks way and avoids obstacles purely are avoided, the situation that the user shields the detection range of the sensors after sitting on the intelligent wheelchair can be avoided, and the accuracy and reliability of obstacle detection are guaranteed. In addition, the three-dimensional image sensor and the first laser sensor can position the intelligent wheelchair, and the method can be suitable for automatic driving of the intelligent wheelchair.

Description

Technical Field

[0001] The present application relates to the field of wheelchairs, and in particular to an intelligent wheelchair. Background Art

[0002] Wheelchairs can be used as an important means of transportation for special groups (such as the wounded, the sick, and the disabled) for home rehabilitation, transportation, medical treatment, and outings. Wheelchairs can not only meet the mobility needs of special people, but also help them exercise and participate in social activities, and can also facilitate family members to move and take care of special people.

[0003] However, when the user sits in a wheelchair, the user may have some visual blind spots due to the obstruction of the wheelchair body. Therefore, simply relying on the user to find the way and avoid obstacles by himself may have certain safety risks. Utility Model Content

[0004] The present application provides an intelligent wheelchair including a frame, a seat located above the frame, and a chassis located below the frame;

[0005] The intelligent wheelchair also includes a first laser sensor and a three-dimensional image sensor; the first laser sensor is located under the chassis, and the three-dimensional image sensor is located on the armrest;

[0006] The detection direction of the first laser sensor is toward the forward direction of the smart wheelchair, the left translation direction of the smart wheelchair, and the right translation direction of the smart wheelchair, and the detection direction of the three-dimensional image sensor is toward the forward direction of the smart wheelchair.

[0007] In some embodiments, a first cavity is formed at the end of the armrest, the opening of the first cavity faces the forward direction of the intelligent wheelchair, and a three-dimensional image sensor is disposed in the first cavity.

[0008] In some embodiments, the smart wheelchair also includes a battery and a control module located on the chassis, and the smart wheelchair also includes a second laser sensor; the second laser sensor is located on the shell of the control module, and the detection direction of the second laser sensor is toward the backward direction of the smart wheelchair.

[0009] In some embodiments, the smart wheelchair further includes a first ultrasonic sensor and a second ultrasonic sensor;

[0010] The intelligent wheelchair also includes a left front wheel mounted on the chassis and a left front fender mounted on the chassis, wherein the left front fender is located above the left front wheel;

[0011] The intelligent wheelchair also includes a right front wheel mounted on the chassis and a right front fender mounted on the chassis, wherein the right front fender is located above the right front wheel;

[0012] The first ultrasonic sensor is located on the left front fender, and the detection direction of the first ultrasonic sensor is toward the forward direction of the intelligent wheelchair;

[0013] The second ultrasonic sensor is located on the right front fender, and the detection direction of the second ultrasonic sensor is toward the forward direction of the intelligent wheelchair;

[0014] The detection distance of the first ultrasonic sensor and the detection distance of the second ultrasonic sensor are both greater than the detection distance of the three-dimensional image sensor; the detection distance of the first ultrasonic sensor and the detection distance of the second ultrasonic sensor are both greater than the detection distance of the first laser sensor.

[0015] In some embodiments, the first ultrasonic sensor is located on a side of the left front fender close to the chassis; the second ultrasonic sensor is located on a side of the right front fender close to the chassis.

[0016] In some embodiments, the smart wheelchair further includes a third ultrasonic sensor and a fourth ultrasonic sensor;

[0017] The third ultrasonic sensor is located on the side of the chassis close to the left armrest, and the fourth ultrasonic sensor is located on the side of the chassis close to the right armrest; the detection direction of the third ultrasonic sensor is toward the left translation direction of the intelligent wheelchair, and the detection direction of the fourth ultrasonic sensor is toward the right translation direction of the intelligent wheelchair; the detection distance of the third ultrasonic sensor is greater than the detection distance of the first laser sensor in the left translation direction; the detection distance of the fourth ultrasonic sensor is greater than the detection distance of the first laser sensor in the right translation direction.

[0018] In some embodiments, the smart wheelchair also includes a fifth ultrasonic sensor, which is located on the shell of the control module, and the detection direction of the fifth ultrasonic sensor is toward the backward direction of the smart wheelchair; the height of the fifth ultrasonic sensor is less than the height of the second laser sensor.

[0019] In some embodiments, the smart wheelchair further includes a presence detection sensor; the presence detection sensor is located on the seat or the backrest.

[0020] In some embodiments, the smart wheelchair further includes an inertial measurement unit and a wheel speed meter, and the inertial measurement unit and the wheel speed meter are located inside the control module.

[0021] In some embodiments, the control module includes a data acquisition unit, a computing power control board, a communication unit, and a charging head telescopic unit;

[0022] The data acquisition unit is electrically connected to the ultrasonic sensor, the laser sensor, the inertial measurement unit, the in-situ detection sensor, and the three-dimensional image sensor;

[0023] The data acquisition unit is electrically connected to the computing power control board, the communication unit is electrically connected to the computing power control board, and the computing power control board is electrically connected to the charging head telescopic unit.

[0024] In some embodiments, the first laser sensor and / or the second laser sensor is a single-line laser sensor, and the three-dimensional image sensor is a binocular camera.

[0025] The smart wheelchair provided in some embodiments of the present application includes a frame, a seat located above the frame, and a chassis located below the frame. The smart wheelchair also includes a first laser sensor and a three-dimensional image sensor; the first laser sensor is located below the chassis, the three-dimensional image sensor is located on the armrest, the detection direction of the first laser sensor is toward the forward direction of the smart wheelchair, the left translation direction of the smart wheelchair, and the right translation direction of the smart wheelchair, and the detection direction of the three-dimensional image sensor is toward the forward direction of the smart wheelchair. The three-dimensional image sensor and the first laser sensor detect obstacles in front to avoid safety hazards caused by simply relying on the user to find a way and avoid obstacles. In addition, the three-dimensional image sensor and the first laser sensor can also locate the smart wheelchair, which can be applied to the automatic driving of the smart wheelchair, and the user does not need to manually operate the wheelchair for a long time. In addition, since the first laser sensor is arranged on the chassis and the three-dimensional image sensor is arranged on the armrest, it can be avoided that the user blocks the detection range of the sensor after sitting on the smart wheelchair, thereby ensuring the accuracy and reliability of obstacle detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 A schematic diagram of a smart wheelchair provided in one embodiment of the present application;

[0028] Figure 2 Another schematic diagram of a smart wheelchair provided in one embodiment of the present application;

[0029] Figure 3 Another schematic diagram of a smart wheelchair provided in an embodiment of the present application;

[0030] Figure 4 Another schematic diagram of a smart wheelchair provided in one embodiment of the present application;

[0031] Figure 5 A sensor layout diagram on a smart wheelchair provided in some embodiments of the present application;

[0032] Figure 6 Another sensor layout diagram on a smart wheelchair provided in some embodiments of the present application;

[0033] Figure 7 A schematic diagram of the sensing range of sensors on a smart wheelchair provided in some embodiments of the present application;

[0034] Figure 8 A schematic diagram of the sensing range of sensors on a smart wheelchair provided in some embodiments of the present application;

[0035] Fig. 9 A structural block diagram of a control module provided in some embodiments of the present application.

[0036] Reference numerals:

[0037] 11. Frame; 12. Seat; 13. Backrest; 14. Pedal; 15. Wheel; 16. Chassis; 17. Control module; 18. Left front fender; 19. Right front fender; 20. Charging head; 21. Anti-roll wheel; 100. Left armrest; 200. Right armrest; 210. Control panel; 220. Joystick; 110. Display screen; 120. Binocular camera; 132. Second single-line laser sensor; 141. First ultrasonic sensor; 142. Second ultrasonic sensor; 143. Third ultrasonic sensor; 144. Fourth ultrasonic sensor; 145. Fifth ultrasonic sensor; 310. Data acquisition unit; 320. Computing power control board; 330. Communication unit; 340. Charging head telescopic unit. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0039] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0040] Figures 1 to 4 FIG. 1 shows a schematic diagram of a smart wheelchair provided in an embodiment of the present application. Figures 1 to 4As shown, the smart wheelchair provided in this embodiment includes a frame 11, a seat 12 and a backrest 13 are arranged on the frame 11, a chassis 16 is arranged below the frame 11, and a footrest 14 is arranged on the chassis 16. The user can sit on the seat 12, lean his back against the backrest 13, and place his feet on the footrest 14, so as to ensure the comfort of use.

[0041] The first direction X, the second direction Y and the third direction Z are defined as three directions perpendicular to each other in a three-dimensional space. The first direction X is the forward direction of the intelligent wheelchair, and the second direction Y is the lateral translation direction of the intelligent wheelchair, and the lateral translation direction includes a left translation direction and a right translation direction in opposite directions. Wheels 15 and a control module 17 are also installed on the chassis 16. The wheels 15 may include, for example, two front wheels and two rear wheels arranged along the first direction X, and when the wheels 15 rotate, the wheelchair can be driven to move along the first direction X. The control module 17 is located below the seat 12.

[0042] The intelligent wheelchair further comprises an armrest assembly, which can be located on the backrest 13 or on the frame 11, and is not limited here. The armrest assembly comprises a left armrest 100 and a right armrest 200 which are arranged opposite to each other along the second direction Y.

[0043] Figure 5 and Figure 6 This is the sensor layout diagram on the smart wheelchair. Figure 7 Figure 1 is a schematic diagram of the sensing range of the sensor on the smart wheelchair. Figure 5 and Figure 6 As shown, some embodiments of the present application provide a smart wheelchair, which includes a frame 11, a seat 12 located above the frame 11, and a chassis 16 located below the frame.

[0044] The smart wheelchair further includes a three-dimensional image sensor 120 and a first laser sensor, the first laser sensor (not shown) is located below the chassis 16, and the three-dimensional image sensor 120 is located on the armrest. More specifically, the first laser sensor is arranged below the chassis 16 and close to the front of the smart wheelchair. The three-dimensional image sensor 120 is located on the left armrest 100.

[0045] like Figure 7 As shown, 3D represents a 3D image sensor, laser 1 represents a first laser sensor, the detection direction of the first laser sensor is toward the forward direction of the smart wheelchair, the left translation direction of the smart wheelchair, and the right translation direction of the smart wheelchair, and the detection direction of the 3D image sensor 120 is toward the forward direction of the smart wheelchair. The first laser sensor is used to detect obstacles in the forward direction of the smart wheelchair, obstacles in the left translation direction of the smart wheelchair, and obstacles in the right translation direction of the smart wheelchair, and the 3D image sensor 120 detects obstacles in the forward direction of the smart wheelchair.

[0046] The first laser sensor is used to locate obstacles at the height of the chassis, and the three-dimensional image sensor 120 is used to locate obstacles in the three-dimensional plane at the height of the armrest and perform SLAM mapping. In this way, the first laser sensor and the three-dimensional image sensor 120 can detect obstacles in the direction of the intelligent wheelchair and locate the intelligent wheelchair. Obstacles in front of the intelligent wheelchair can be perceived and located in a larger range. In addition, the first laser sensor is located under the chassis 16, and the three-dimensional image sensor 120 is located on the armrest. The detection heights of the first laser sensor and the three-dimensional image sensor 120 are different, which can achieve mutual complementation of the detection range, reduce the detection blind spots of obstacles, and improve the reliability of the intelligent wheelchair.

[0047] In the above technical solution, the three-dimensional image sensor 120 and the first laser sensor detect obstacles ahead, avoiding the potential safety hazards caused by simply relying on the user to find the way and avoid obstacles. In addition, the three-dimensional image sensor 120 and the first laser sensor can also locate the smart wheelchair, which can be applied to the automatic driving of the smart wheelchair, and the user does not need to manually operate the wheelchair for a long time. In addition, since the first laser sensor is arranged on the chassis and the three-dimensional image sensor is arranged on the armrest, it can avoid the user blocking the detection range of the sensor after sitting on the smart wheelchair, and can also more accurately detect the height of obstacles in the wheelchair use environment, ensuring the accuracy and reliability of obstacle detection.

[0048] In some embodiments, the first laser sensor is a single-line laser sensor, and the three-dimensional image sensor is a binocular camera. The first laser sensor is used to locate obstacles in a single plane at the height of the chassis, and the three-dimensional image sensor 120 is used to locate obstacles in a three-dimensional plane at the height of the handrail. Compared with using all laser sensors for obstacle detection, the combination of a binocular camera and a single-line laser sensor for obstacle detection is less expensive. In addition, the detection heights of the first laser sensor and the three-dimensional image sensor 120 are different, and the first laser sensor realizes obstacle detection in a single plane, and the binocular camera realizes obstacle detection in a three-dimensional plane, which can achieve mutual complementation of the detection range, reduce the detection blind spot of obstacles, and improve the reliability of the smart wheelchair.

[0049] In some embodiments, Figures 1 to 4 As shown, an interactive screen 110 is provided on the left armrest 100 , and the interactive screen 110 is arranged at the end of the left armrest 100 . A rocker 220 and a control panel 210 are provided on the right armrest 200 , and buttons are arranged on the control panel 210 .

[0050] In some embodiments, Figure 6As shown, a first cavity 121 is formed at the end of the armrest, and the opening of the first cavity 121 faces the forward direction of the smart wheelchair. A three-dimensional image sensor 120 is arranged in the first cavity, thereby ensuring that the detection direction of the three-dimensional image sensor 120 faces the forward direction of the smart wheelchair.

[0051] In some embodiments, Figure 5 and Figure 6 As shown, the intelligent wheelchair further includes a control module 17 located on the chassis 16, and a second laser sensor 132 is located on the housing of the control module 17. Figure 7 As shown, the detection direction of the second laser sensor 132 is toward the backward direction of the intelligent wheelchair, and the second laser sensor 132 is used to detect obstacles behind the intelligent wheelchair. Since there is only one laser sensor at the rear of the intelligent wheelchair, the second laser sensor 132 is set on the shell of the control module 17. Compared with the second laser sensor set on the chassis 16, the second laser sensor set on the shell of the control module 17 has a higher detection height, can detect obstacles in a wider range, and can more accurately detect the height of obstacles in the wheelchair use environment.

[0052] In some embodiments, the second laser sensor is a single-line laser sensor.

[0053] The three-dimensional image sensor 120 and the two laser sensors are used as main sensors to sense obstacles in front and behind. The smart wheelchair is also provided with auxiliary sensors, specifically including a first ultrasonic sensor 141 and a second ultrasonic sensor 142 .

[0054] like Figure 6 As shown, the smart wheelchair also includes a left front wheel mounted on the chassis 16 and a left front fender 18 mounted on the chassis 16, and the left front fender 18 is located above the left front wheel. The smart wheelchair also includes a right front wheel mounted on the chassis 16 and a right front fender 19 mounted on the chassis 16, and the right front fender 19 is located above the right front wheel.

[0055] like Figure 6 and Figure 7 As shown, the first ultrasonic sensor 141 is located on the left front fender 18, and the detection direction of the first ultrasonic sensor 141 is toward the forward direction of the intelligent wheelchair. The second ultrasonic sensor 142 is located on the right front fender 19, and the detection direction of the second ultrasonic sensor 142 is toward the forward direction of the intelligent wheelchair, wherein Ultrasonic 1 represents the first ultrasonic sensor, and Ultrasonic 2 represents the second ultrasonic sensor.

[0056] Since the three-dimensional image sensor 120 and the laser sensor cannot detect transparent objects or cliffs, a first ultrasonic sensor 141 and a second ultrasonic sensor 142 are arranged in front to detect transparent objects and cliffs. The first ultrasonic sensor 141 is used to detect whether there is an obstacle in the left front of the smart wheelchair, especially to detect whether there is a transparent object and cliff in the left front of the smart wheelchair. The second ultrasonic sensor 142 is used to detect whether there is an obstacle in the right front of the smart wheelchair, especially to detect whether there is a transparent object and cliff in the right front of the smart wheelchair.

[0057] In some embodiments, the detection distance of the first ultrasonic sensor 141 and the detection distance of the second ultrasonic sensor 142 are both greater than the detection distance of the three-dimensional image sensor 120; the detection distance of the first ultrasonic sensor 141 and the detection distance of the second ultrasonic sensor 142 are both greater than the detection distance of the first laser sensor. The detection distance refers to the distance from the farthest position detected by the sensor to the reference point on the smart wheelchair, and the reference point of the smart wheelchair can be any point on the smart wheelchair.

[0058] like Figure 8 As shown, the detection distance L1 of the first ultrasonic sensor 141 is the distance from the farthest position detected by the first ultrasonic sensor 141 to the first reference point on the smart wheelchair, and the detection distance L2 of the second ultrasonic sensor 142 is the distance from the farthest position detected by the second ultrasonic sensor 142 to the first reference point on the smart wheelchair. The detection distance L3 of the three-dimensional image sensor 120 is the distance from the farthest position detected by the three-dimensional image sensor 120 to the first reference point on the smart wheelchair, and the detection distance L4 of the first laser sensor is the distance from the farthest position detected by the first laser sensor to the first reference point on the smart wheelchair. The first reference point is a point in front of the smart wheelchair.

[0059] With such a setting, the ultrasonic sensor can detect obstacles at a long distance in front of the left side, and the laser sensor can detect obstacles at a short distance in front, thereby improving the accuracy of obstacle detection and the reliability of the smart wheelchair.

[0060] In some embodiments, the first ultrasonic sensor 141 is located on the side of the left front fender 18 close to the chassis 16, and the second ultrasonic sensor 142 is located on the side of the right front fender 19 close to the chassis 16, so as to avoid the first ultrasonic sensor 141 and the second ultrasonic sensor 142 being damaged by collision.

[0061] In some embodiments, Figures 5 to 7As shown, the smart wheelchair also includes a third ultrasonic sensor 143 and a fourth ultrasonic sensor 144. The third ultrasonic sensor 143 is located on the side of the chassis 16 close to the left armrest 100, and the fourth ultrasonic sensor 144 is located on the side of the chassis 16 close to the right armrest 200. The detection direction of the third ultrasonic sensor 143 is toward the left translation direction of the smart wheelchair, and the detection direction of the fourth ultrasonic sensor 144 is toward the right translation direction of the smart wheelchair. The third ultrasonic sensor 143 detects whether there is an obstacle on the left side of the smart wheelchair, and the fourth ultrasonic sensor 143 detects whether there is an obstacle on the right side of the smart wheelchair. Among them, ultrasonic 3 represents the third ultrasonic sensor, and ultrasonic 4 represents the fourth ultrasonic sensor. Using lower-cost ultrasonic sensors as auxiliary sensors to detect obstacles on the left and right sides of the wheelchair can reduce the cost of the smart wheelchair.

[0062] In some embodiments, the detection distance of the third ultrasonic sensor 143 is greater than the detection distance of the first laser sensor in the left translation direction; the detection distance of the fourth ultrasonic sensor 144 is greater than the detection distance of the first laser sensor in the right translation direction.

[0063] The detection distance refers to the distance from the farthest position detected by the sensor to a reference point on the smart wheelchair. The reference point of the smart wheelchair can be any point on the smart wheelchair.

[0064] like Figure 8 As shown, the detection distance L6 of the third ultrasonic sensor 143 is the distance from the farthest position detected by the third ultrasonic sensor 143 to the second reference point on the smart wheelchair, and the detection distance L8 of the fourth ultrasonic sensor 144 is the distance from the farthest position detected by the fourth ultrasonic sensor 144 to the third reference point on the smart wheelchair. The detection distance L5 of the first laser sensor in the left translation direction is the distance from the farthest position detected by the first laser sensor in the left translation direction to the second reference point on the smart wheelchair. The detection distance L7 of the first laser sensor in the right translation direction is the distance from the farthest position detected by the first laser sensor in the right translation direction to the third reference point on the smart wheelchair. The second reference point is any point on the left side of the smart wheelchair, and the third reference point is any point on the right side of the smart wheelchair.

[0065] Through such a setting, the ultrasonic sensor can perform auxiliary obstacle detection at a long distance, and the laser sensor can perform obstacle detection at a close distance, thereby improving the reliability of the smart wheelchair.

[0066] In some embodiments, Figures 5 to 7As shown, the smart wheelchair also includes a fifth ultrasonic sensor 145, which is located on the housing of the control module 17, and the detection direction of the fifth ultrasonic sensor 145 is toward the backward direction of the smart wheelchair. Among them, ultrasound 5 represents the fifth ultrasonic sensor. Since the laser sensor cannot detect transparent objects or cliffs, the fifth ultrasonic sensor 145 is set at the rear to detect transparent objects and cliffs. The fifth ultrasonic sensor 145 detects whether there is an obstacle behind the smart wheelchair, which is used in the use scenario of the smart wheelchair retreating.

[0067] In some embodiments, the height of the fifth ultrasonic sensor 145 is less than the height of the second laser sensor 132. Since the second laser sensor 132 serves as a main sensor and the fifth ultrasonic sensor 145 serves as an auxiliary sensor, the height of the fifth ultrasonic sensor 145 is less than the height of the second laser sensor 132. The fifth ultrasonic sensor 145 can be used to assist in detecting obstacles at the driving height.

[0068] In some embodiments, the smart wheelchair further includes a presence detection sensor, which is located on the seat 12 or the backrest 13. The presence detection sensor is used to sense whether there is an object or a person on the smart wheelchair.

[0069] In some embodiments, the smart wheelchair further includes an inertial measurement unit and a wheel speed meter, and the inertial measurement unit (IMU) and the wheel speed meter are located inside the control module 17. The inertial measurement unit is used to sense the state of the smart wheelchair, and the wheel speed meter is used to obtain the wheel speed of the smart wheelchair. The smart wheelchair can be positioned by combining the odometer and the inertial measurement unit.

[0070] In some embodiments, Figure 1 and Figure 4 As shown, since the smart wheelchair is usually equipped with an anti-rollover wheel 21 at the rear, the charging head of the smart wheelchair cannot be directly plugged into the charging pile. A retractable charging head 20 is also arranged in the housing of the control module. When the smart wheelchair needs to be charged, the charging head 20 is extended and plugged into the external charging pile, and the charging pile charges the smart wheelchair. When the smart wheelchair does not need to be charged, the charging head 20 is retracted ( Figure 1 and Figure 4 status shown).

[0071] Fig. 9 A structural block diagram of a control module provided in some embodiments of the present application, such as Fig. 9 As shown, the control module includes a data acquisition unit 310, a computing power control board 320, a communication unit 330 and a charging head telescopic unit 340.

[0072] The data acquisition unit 310 is connected to the ultrasonic sensor, laser sensor, in-situ detection sensor, three-dimensional image sensor 120 and IMU, and is used to receive data collected by the ultrasonic sensor, laser sensor, in-situ detection sensor, three-dimensional image sensor 120 and IMU, and transmit the data to the computing power control board 320. The computing power control board generates motion control instructions based on the data, and the motion control instructions are sent to the motor controller, which controls the operation of the motor based on the motion control instructions.

[0073] More specifically, the data acquisition unit 310 may be connected to the first to fifth ultrasonic sensors, and the data acquisition unit 310 may be connected to the first laser sensor and the second laser sensor.

[0074] The charging head telescopic unit 340 is electrically connected to the computing power control board 320, and the charging head is mechanically connected to the charging head telescopic unit 340. The charging head telescopic unit 340 is used to receive the telescopic signal sent by the computing power control board 320 to control the extension or retraction of the charging head. The communication unit 330 is used to communicate with the outside, for example, to communicate with the cloud server.

[0075] The sensors in the above embodiments can all be used to make the smart wheelchair intelligent. The control module of the smart wheelchair can be used to control the smart wheelchair to switch between different modes. The smart wheelchair has manual mode, follow mode, automatic driving mode, charging mode and guide mode.

[0076] Manual mode means that the user controls the wheelchair through the joystick 220. The manual mode can be applied to more complex environments, situations with many dynamic obstacles, narrow environments, or situations where the automatic driving route needs to be temporarily changed.

[0077] In manual mode, the user may be inattentive or distracted. In order to improve the safety of the smart wheelchair in manual mode, the smart wheelchair can have the ability to perceive obstacles and dangerous environments in manual mode, that is, call the sensors in the above embodiment and give reminders when danger is sensed.

[0078] The following mode is that the wheelchair follows the beacon, and the beacon can be an object or a pedestrian in front of the wheelchair. The following mode is applied to the situation where there is no positioning and map, or it is inconvenient for the user to operate the joystick 220, and there is a tracking source.

[0079] Among them, when the beacon is a person, the leg features of the beacon person are obtained first. When the wheelchair moves forward, the single-line laser sensor collects information in front, extracts the leg features of one or more pedestrians in front from the collected information, and compares the leg features of the pedestrian or multiple pedestrians in front with the leg features of the beacon person. If the leg features of a pedestrian in front are the same as those of the beacon person, the wheelchair is driven to the leg position of the pedestrian, thereby achieving walking following the beacon person.

[0080] The binocular camera 120 can also be used to identify the outlines of one or more pedestrians in front and store the outline of the beacon person. The outlines of the one or more pedestrians in front identified by the binocular camera 120 are compared with the stored outline of the beacon person. If the outline of the pedestrian is the same as the outline of the beacon person, the position of the pedestrian relative to the smart wheelchair is identified, and the relative position of the smart wheelchair and the pedestrian is kept at a designed distance. The relative position of the smart wheelchair and the pedestrian can also be kept to meet the set longitudinal distance, lateral distance and angle.

[0081] The autonomous driving mode requires pre-map building. The smart wheelchair must be manually driven and switched to mapping mode. Single-line laser SLAM mapping is used to laser scan the entire area that requires autonomous driving. The final pre-made map is stored inside the smart wheelchair for use as a resource for positioning and global navigation planning.

[0082] By scanning a certain geographical area, a map of the geographical area is obtained, and some identification positions in the map are marked. For example, a map of a building is obtained by scanning the floor, and the map is marked to obtain multiple marking points. The pre-made map saves the image resources. First, a coordinate system is established in the saved image, and the marking points are the horizontal and vertical axes and angles under the coordinate system.

[0083] Determine the position of the smart wheelchair in the map as the starting position, and select another marked point as the target position. Perform global path planning or local path planning based on the position of the smart wheelchair in the map and the target position. The local path is used for obstacle avoidance, and then perform motion control based on the path planning. For example, determine the PWM signal based on the two-wheel differential model, and control the motor rotation through the PWM signal for autonomous navigation.

[0084] It should be noted that the autonomous driving mode can adapt to different environments. For example, when the passage area is wide, it stays away from obstacles; when the passage area is narrow, it slows down and avoids dangerous areas such as stairs. In other words, in the autonomous driving mode, automatic obstacle avoidance can be achieved.

[0085] The blind guide mode is suitable for people with visual impairments. In the blind guide mode, users input the control instructions of the smart wheelchair through voice, and the smart wheelchair broadcasts information such as obstacles ahead and current location during driving. In the blind guide mode, the smart wheelchair can transport the user to the destination through automatic driving. The smart wheelchair can also follow the beacon to transport the user. The user can input which mode of driving to use through voice.

[0086] Among them, the smart wheelchair has manual mode, follow mode, automatic driving mode, charging mode and guide mode which are mutually exclusive, that is, the smart wheelchair enters a mode each time.

[0087] In some embodiments, each mode may have a corresponding priority, for example, the manual mode has the highest priority, and the automatic driving mode, the following mode, and the charging mode have the same priority.

[0088] A hardware structure diagram of a control device provided in some embodiments of the present application. The control device is used to implement the operation corresponding to the control device in any of the above method embodiments. The control device of this embodiment may include: a memory, a processor and a communication interface.

[0089] Memory is used to store computer instructions. The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk.

[0090] The processor is used to execute the computer instructions stored in the memory to implement the mode switching method of the intelligent wheelchair in the above embodiment. For details, please refer to the relevant description in the above method embodiment. The processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

[0091] Optionally, the memory can be independent or integrated with the processor.

[0092] The communication interface can be connected to the processor. The processor can control the communication interface to implement the functions of receiving and sending signals.

[0093] The control device provided in this embodiment can be used to execute the above-mentioned mode switching method of the intelligent wheelchair. Its implementation method and technical effect are similar, and this embodiment will not be repeated here.

[0094] The present application also provides an intelligent wheelchair, comprising the above-mentioned control device.

[0095] The present application also provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed by a processor, they are used to implement the methods provided in the various embodiments described above.

[0096] The present application also provides a computer program product, which includes computer instructions stored in a computer-readable storage medium. At least one processor of a device can read the computer instructions from the computer-readable storage medium, and at least one processor executes the computer instructions so that the device implements the methods provided in the various embodiments described above.

[0097] An embodiment of the present application also provides a chip, which includes a memory and a processor, the memory is used to store computer instructions, and the processor is used to call and execute computer instructions from the memory, so that a device equipped with the chip executes the methods in various possible implementation modes as described above.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A smart wheelchair, It is characterized in that It includes a frame, a seat located above the frame, and a chassis located below the frame; The intelligent wheelchair further includes a first laser sensor and a three-dimensional image sensor; the first laser sensor is located below the chassis, and the three-dimensional image sensor is located on the armrest; The detection direction of the first laser sensor is toward the forward direction of the smart wheelchair, the left translation direction of the smart wheelchair, and the right translation direction of the smart wheelchair, and the detection direction of the three-dimensional image sensor is toward the forward direction of the smart wheelchair.

2. The intelligent wheelchair according to claim 1, It is characterized in that A first cavity is formed at the end of the armrest, the opening of the first cavity faces the forward direction of the intelligent wheelchair, and the three-dimensional image sensor is arranged in the first cavity.

3. The intelligent wheelchair according to claim 1, It is characterized in that The smart wheelchair also includes a battery and a control module located on the chassis, and the smart wheelchair also includes a second laser sensor; the second laser sensor is located on the shell of the control module, and the detection direction of the second laser sensor is toward the backward direction of the smart wheelchair.

4. The intelligent wheelchair according to claim 1, It is characterized in that The intelligent wheelchair also includes a first ultrasonic sensor and a second ultrasonic sensor; The intelligent wheelchair further comprises a left front wheel mounted on the chassis and a left front fender mounted on the chassis, wherein the left front fender is located above the left front wheel; The intelligent wheelchair further comprises a right front wheel mounted on the chassis and a right front fender mounted on the chassis, wherein the right front fender is located above the right front wheel; The first ultrasonic sensor is located on the left front fender, and the detection direction of the first ultrasonic sensor is toward the forward direction of the intelligent wheelchair; The second ultrasonic sensor is located on the right front fender, and the detection direction of the second ultrasonic sensor is toward the forward direction of the intelligent wheelchair; The detection distance of the first ultrasonic sensor and the detection distance of the second ultrasonic sensor are both greater than the detection distance of the three-dimensional image sensor; the detection distance of the first ultrasonic sensor and the detection distance of the second ultrasonic sensor are both greater than the detection distance of the first laser sensor.

5. The intelligent wheelchair according to claim 4, It is characterized in that The first ultrasonic sensor is located on a side of the left front fender close to the chassis; the second ultrasonic sensor is located on a side of the right front fender close to the chassis.

6. The intelligent wheelchair according to claim 1, It is characterized in that The intelligent wheelchair also includes a third ultrasonic sensor and a fourth ultrasonic sensor; The third ultrasonic sensor is located on a side of the chassis close to the left armrest, and the fourth ultrasonic sensor is located on a side of the chassis close to the right armrest; the detection direction of the third ultrasonic sensor is toward the left translation direction of the intelligent wheelchair, and the detection direction of the fourth ultrasonic sensor is toward the right translation direction of the intelligent wheelchair; the detection distance of the third ultrasonic sensor is greater than the detection distance of the first laser sensor in the left translation direction; the detection distance of the fourth ultrasonic sensor is greater than the detection distance of the first laser sensor in the right translation direction.

7. The intelligent wheelchair according to claim 1, It is characterized in that The intelligent wheelchair also includes a fifth ultrasonic sensor, which is located on the housing of the control module, and the detection direction of the fifth ultrasonic sensor is toward the backward direction of the intelligent wheelchair; the height of the fifth ultrasonic sensor is less than the height of the second laser sensor.

8. The intelligent wheelchair according to claim 1, It is characterized in that The intelligent wheelchair also includes a position detection sensor; the position detection sensor is located on the seat or the backrest.

9. The intelligent wheelchair according to claim 1, It is characterized in that The intelligent wheelchair further comprises an inertial measurement unit and a wheel speed meter, and the inertial measurement unit and the wheel speed meter are located inside the control module.

10. The intelligent wheelchair according to claim 1, It is characterized in that The control module includes a data acquisition unit, a computing power control board, a communication unit, and a charging head telescopic unit; The data acquisition unit is electrically connected to the ultrasonic sensor, the laser sensor, the inertial measurement unit, the in-situ detection sensor and the three-dimensional image sensor; The data acquisition unit is electrically connected to the computing power control board, the communication unit is electrically connected to the computing power control board, and the computing power control board is electrically connected to the charging head telescopic unit.

11. The intelligent wheelchair according to claim 1, It is characterized in that The first laser sensor and / or the second laser sensor is a single-line laser sensor, and the three-dimensional image sensor is a binocular camera.

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