Wheelchair charging system

Abstract

The utility model discloses a wheelchair charging system which comprises an intelligent wheelchair provided with a first power supply and a charging interface, the charging interface is electrically connected with the first power supply, and the intelligent wheelchair is provided with a positioning pattern; the charging trolley is provided with a second power source, a mechanical arm, a trolley driving module, a camera module and a trolley control module, the second power source, the mechanical arm, the trolley driving module and the camera module are electrically connected with the trolley control module, the camera module is used for recognizing the positioning pattern, and the trolley driving module is used for driving the charging trolley to move; the mechanical arm is provided with a power supply interface matched with the charging interface, the power supply interface is electrically connected with the trolley control module and the second power source, and the mechanical arm is used for controlling the power supply interface to be connected with the charging interface so that the trolley control module can control the second power source to charge the first power source. According to the embodiment provided by the invention, the cruising ability of the intelligent wheelchair can be improved, and the charging convenience of the intelligent wheelchair is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent charging, in particular to a wheelchair charging system. BACKGROUND

[0002] At present, the traditional electric wheelchair needs to be charged manually, but manual charging usually cannot be timely, resulting in insufficient power of the electric wheelchair and poor endurance. In addition, the audience of the electric wheelchair is usually a group of people with limited activities, who are difficult to independently complete the charging of the electric wheelchair, so that the traditional electric wheelchair has poor convenience. CONTENT OF THE INVENTION

[0003] The following is a summary of the subject matter described in detail in this document, which is not intended to limit the scope of protection of the claims.

[0004] The present application provides a wheelchair charging system, which can improve the endurance of the intelligent wheelchair and improve the convenience of the intelligent wheelchair charging.

[0005] The present application provides a wheelchair charging system, which comprises: an intelligent wheelchair provided with a first power supply and a charging interface, the charging interface being electrically connected with the first power supply, the intelligent wheelchair being provided with a positioning pattern; a charging trolley provided with a second power supply, a mechanical arm, a trolley driving module, a camera module and a trolley control module, the second power supply, the mechanical arm, the trolley driving module and the camera module being electrically connected with the trolley control module respectively, the camera module being used for identifying the positioning pattern, the trolley driving module being used for driving the charging trolley to move, the mechanical arm being provided with a power supply interface matched with the charging interface, the power supply interface being electrically connected with the trolley control module and the second power supply, the mechanical arm being used for controlling the power supply interface to be connected with the charging interface, so that the trolley control module controls the second power supply to charge the first power supply.

[0006] In some embodiments, the charging interface comprises two charging contacts and a support body, the support body being fixed at the bottom of the intelligent wheelchair, and the two charging contacts being arranged on opposite sides of the support body respectively; the end of the mechanical arm is provided with a gripper, the gripper comprising a first clamping piece and a second clamping piece arranged oppositely, the power supply interface comprising two power supply contacts, one of the charging contacts being arranged on the side of the first clamping piece close to the second clamping piece, the other charging contact being arranged on the side of the second clamping piece close to the first clamping piece, and the distance between the two power supply contacts being greater than the distance between the two charging contacts, the mechanical arm being used for controlling the two power supply contacts to be connected with the corresponding charging contacts respectively.

[0007] In some embodiments, the intelligent wheelchair is further provided with a laser radar, a gyroscope, a camera, an ultrasonic ranging module, a wheelchair driving module and a wheelchair control module, and the laser radar, the gyroscope, the camera and the ultrasonic ranging module are electrically connected with the wheelchair control module respectively.

[0008] In some embodiments, the wheelchair control module comprises a first master control unit and a second master control unit, the laser radar, the gyroscope and the camera are electrically connected with the first master control unit respectively, the ultrasonic ranging module and the wheelchair driving module are electrically connected with the second master control unit respectively, and the first master control unit is electrically connected with the second master control unit.

[0009] In some embodiments, the intelligent wheelchair is further provided with a first wireless communication module, the charging trolley is provided with a second wireless communication module, the first wireless communication module is electrically connected with the wheelchair control module, the second wireless communication module is electrically connected with the trolley control module, and the first wireless communication module is in communication connection with the second wireless communication module.

[0010] In some embodiments, the first power supply is provided with a first temperature sensor, a first current acquisition module and a first voltage acquisition module, and the first temperature sensor, the first current acquisition module and the first voltage acquisition module are electrically connected with the wheelchair control module respectively.

[0011] In some embodiments, the intelligent wheelchair is further provided with a first driving motor and a first driving wheel, a rotating shaft of the first driving motor is in transmission connection with the first driving wheel, and the wheelchair control module is electrically connected with the first driving motor through the wheelchair driving module.

[0012] In some embodiments, the intelligent wheelchair is further provided with a driving circuit temperature sensor and a motor temperature sensor, and the driving circuit temperature sensor and the motor temperature sensor are electrically connected with the wheelchair control module respectively.

[0013] In some embodiments, the charging trolley is further provided with an image processing module, and the trolley control module is electrically connected with the camera module through the image processing module.

[0014] In some embodiments, the charging trolley is further provided with a voice control module, a microphone and a loudspeaker, and the microphone and the loudspeaker are electrically connected with the trolley control module through the voice control module respectively.

[0015] The embodiment of the application at least has the following beneficial effects: the intelligent wheelchair is provided with a first power supply and a charging interface, the charging interface is electrically connected with the first power supply, and the charging trolley is provided with a second power supply, a mechanical arm, a trolley driving module, a camera module and a trolley control module, the second power supply, the mechanical arm, the trolley driving module and the camera module are electrically connected with the trolley control module, then the intelligent wheelchair is provided with a positioning pattern, the camera module is used for identifying the positioning pattern, then the trolley driving module is used for driving the charging trolley to move, so that the charging trolley can be positioned to the intelligent wheelchair and move to the intelligent wheelchair, then the mechanical arm is provided with a power supply interface matched with the charging interface, the power supply interface is electrically connected with the trolley control module, the power supply interface is electrically connected with the second power supply, the mechanical arm is used for controlling the power supply interface to be connected with the charging interface, so that the trolley control module controls the second power supply to charge the first power supply, therefore, the charging trolley can automatically charge the intelligent wheelchair, so that the battery power of the intelligent wheelchair can be kept at a sufficient level at all times, the endurance of the intelligent wheelchair is improved, and the charging of the intelligent wheelchair does not need manual participation, and the convenience of the charging of the intelligent wheelchair can be improved.

[0016] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are included to provide a further understanding of the technical scheme of the present application, and constitute a part of the specification, and are used together with the embodiments of the present application to explain the technical scheme of the present application, and do not constitute a limitation on the technical scheme of the present application.

[0018] Figure 1 The structural schematic diagram of the wheelchair charging system provided for the embodiment of the present application is shown in the figure;

[0019] Figure 2 The structural schematic diagram of the mechanical arm and the charging interface provided for the embodiment of the present application is shown in the figure;

[0020] Figure 3 The system structural schematic diagram of the intelligent wheelchair provided for the embodiment of the present application is shown in the figure;

[0021] Figure 4 The structural schematic diagram of the intelligent wheelchair autonomous navigation system provided for the embodiment of the present application is shown in the figure;

[0022] Figure 5 The structural schematic diagram of the charging trolley running system provided for the embodiment of the present application is shown in the figure;

[0023] Figure 6 The system structural schematic diagram of the charging trolley provided for the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0024] Embodiments of the present application are described below in detail, examples of which are shown in the accompanying drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary only, for the purpose of explanation of the present application, and are not to be understood as a limitation of the present application.

[0025] In the description of the present application, it is to be understood that, in relation to the orientation description, for example, the orientation or position relationship indicated by the upper, lower, front, rear, left, right, etc. is based on the orientation or position relationship shown in the drawings, which is only for the purpose of facilitating the description of the present application and simplifying the description, and is not to indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0026] In the description of the present application, the meaning of several is one or more, the meaning of multiple is more than two, greater than, less than, more than, etc. are understood as not including the number, above, below, etc. are understood as including the number. If it is described as first, second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the order of indicated technical features.

[0027] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0028] At present, the traditional electric wheelchair needs to be charged manually, but manual charging usually cannot be done in time, resulting in insufficient power of the electric wheelchair and poor endurance. In addition, the audience of the electric wheelchair is usually a group of people with limited activities, and it is difficult for them to independently complete the charging of the electric wheelchair, so the traditional electric wheelchair has poor convenience.

[0029] In view of the poor endurance and convenience of the traditional electric wheelchair, the application provides a wheelchair charging system, which comprises: an intelligent wheelchair provided with a first power supply and a charging interface, the charging interface being electrically connected with the first power supply, and the intelligent wheelchair being provided with a positioning pattern; and a charging trolley provided with a second power supply, a mechanical arm, a trolley driving module, a camera module and a trolley control module, the second power supply, the mechanical arm, the trolley driving module and the camera module being electrically connected with the trolley control module, the camera module being used for identifying the positioning pattern, the trolley driving module being used for driving the charging trolley to move, the mechanical arm being provided with a power supply interface matched with the charging interface, the power supply interface being electrically connected with the trolley control module and the second power supply, and the mechanical arm being used for controlling the power supply interface to be connected with the charging interface so as to control the second power supply to charge the first power supply. According to the scheme provided in the application, the intelligent wheelchair is provided with the first power supply and the charging interface, the charging interface is electrically connected with the first power supply, the charging trolley is provided with the second power supply, the mechanical arm, the trolley driving module, the camera module and the trolley control module, the second power supply, the mechanical arm, the trolley driving module and the camera module are electrically connected with the trolley control module, then the intelligent wheelchair is provided with the positioning pattern, the camera module is used for identifying the positioning pattern, then the trolley driving module is used for driving the charging trolley to move, so that the charging trolley can be positioned to the intelligent wheelchair and move to the intelligent wheelchair, then the mechanical arm is provided with the power supply interface matched with the charging interface, the power supply interface is electrically connected with the trolley control module and the second power supply, and the mechanical arm is used for controlling the power supply interface to be connected with the charging interface so as to control the second power supply to charge the first power supply. Therefore, the charging trolley can automatically charge the intelligent wheelchair, the battery power of the intelligent wheelchair can be kept at a sufficient level at all times, the endurance of the intelligent wheelchair is improved, and the charging of the intelligent wheelchair does not need manual participation, and the convenience of the charging of the intelligent wheelchair can be improved.

[0030] The application is further described below with reference to the drawings.

[0031] Reference Figure 1 , Figure 1 The structure schematic diagram of the wheelchair charging system provided in the application, the application provides a wheelchair charging system, which comprises:

[0032] The intelligent wheelchair 100 is provided with the first power supply 110 and the charging interface 111, the charging interface 111 is electrically connected with the first power supply 110, and the intelligent wheelchair is provided with the positioning pattern 180;

[0033] The charging trolley 200 is provided with a second power supply 210, a mechanical arm 240, a trolley driving module 270, a camera module 280 and a trolley control module 250. The second power supply 210, the mechanical arm 240, the trolley driving module 270 and the camera module 280 are electrically connected with the trolley control module 250. The camera module 280 is used for identifying the positioning pattern 180. The trolley driving module 270 is used for driving the charging trolley 200 to move. The mechanical arm 240 is provided with a power supply interface 241 matched with the charging interface 111. The power supply interface 241 is electrically connected with the trolley control module 250 and the second power supply 210. The mechanical arm 240 is used for controlling the power supply interface 241 to be connected with the charging interface 111, so that the trolley control module 250 controls the second power supply 210 to charge the first power supply 110.

[0034] wherein the reference Figure 1 and Figure 6 , Figure 6 The charging trolley 200 provided by the embodiment of the application is shown in the system structure diagram. The charging trolley 200 is further provided with a temperature and humidity measuring module 267, an indicator lamp 268, a voice control module 260 and a serial port module 269. The temperature and humidity measuring module 267, the indicator lamp 268 and the serial port module 269 are electrically connected with the trolley control module 250. The temperature and humidity measuring module 267 is used for measuring the air temperature and humidity of the environment where the charging trolley 200 is located. The indicator lamp 268 is used for indicating the working state of the charging trolley 200. The serial port module 269 is used for transmitting the collected data.

[0035] The positioning pattern 180 provided by the intelligent wheelchair can be an AprilTag code. The AprilTag code is above the charging interface 111. When the camera module 280 of the charging trolley 200 captures the AprilTag code, the trolley control module 250 plans a route. The charging trolley 200 is driven by the trolley driving module 270 to move towards the AprilTag code, which is equivalent to driving the charging trolley 200 to move towards the intelligent wheelchair 100. Then, the form of the mechanical arm 240 is controlled based on the AprilTag code, so that the power supply interface 241 is successfully connected with the charging interface 111, and the charging is started.

[0036] In a possible implementation, when the electric quantity of the second power supply 210 of the charging trolley 200 is less than a certain threshold value and the first power supply 110 of the intelligent wheelchair 100 is not full, the charging trolley 200 controls the mechanical arm 240 to disconnect the power supply interface 241 from the charging interface 111, returns to the charging place, and calls other charging trolleys 200 with sufficient electric quantity to charge the intelligent wheelchair 100, thereby improving the utilization rate of the charging trolley 200.

[0037] The base of the mechanical arm 240 is fixed on the charging trolley 200, and the mechanical arm 240 can have multiple joints, each of which is provided with one or more steering wheels, which are not limited in the embodiment of the present disclosure.

[0038] The charging trolley 200 is further provided with a second driving motor 273 and a second driving wheel 274, the rotating shaft of the second driving motor 273 is in transmission connection with the second driving wheel 274, and the trolley control module 250 is in electrical connection with the second driving motor 273 through the trolley driving module 270.

[0039] It should be noted that the number of the second driving motor 273 and the second driving wheel 274 can be three or four, which are not limited in the embodiment of the present disclosure.

[0040] It should be noted that the driving module of the charging trolley 200 can not only drive the charging trolley 200 to move forward and backward, but also drive the charging trolley 200 to move horizontally to the left or right, similarly, the intelligent wheelchair 100 can also move horizontally to the left or right.

[0041] It can be understood that when the intelligent wheelchair 100 and the charging trolley 200 cannot bypass the obstacle by moving forward or backward, they can bypass the obstacle by horizontal movement, in addition, when an emergency occurs, the intelligent wheelchair 100 can find a possible escape direction by horizontal movement, thereby improving the safety of the intelligent wheelchair 100.

[0042] Therefore, the intelligent wheelchair 100 is provided with a first power supply 110 and a charging interface 111, the charging interface 111 is electrically connected with the first power supply 110, and the charging trolley 200 is provided with a second power supply 210, a mechanical arm 240, a trolley driving module 270, a camera module 280 and a trolley control module 250, the second power supply 210, the mechanical arm 240, the trolley driving module 270 and the camera module 280 are electrically connected with the trolley control module 250 respectively, then the intelligent wheelchair is provided with a positioning pattern 180, the camera module 280 is used for identifying the positioning pattern 180, then the trolley driving module 270 is used for driving the charging trolley 200 to move, so that the charging trolley 200 can be positioned to the intelligent wheelchair 100 and move to the intelligent wheelchair 100, then the mechanical arm 240 is provided with a power supply interface 241 matched with the charging interface 111, the power supply interface 241 is electrically connected with the trolley control module 250 and the second power supply 210, the mechanical arm 240 is used for controlling the power supply interface 241 to be connected with the charging interface 111, so as to control the second power supply 210 to charge the first power supply 110 by the trolley control module 250, therefore, the charging trolley 200 can automatically charge the intelligent wheelchair 100, so that the battery power of the intelligent wheelchair 100 can be kept at a sufficient level from time to time, the endurance of the intelligent wheelchair 100 is improved, and the charging of the intelligent wheelchair 100 does not need manual participation, so that the convenience of the charging of the intelligent wheelchair 100 can be improved.

[0043] In addition, with reference to Figure 2 , Figure 2 The mechanical arm 240 and the charging interface 111 provided in the embodiments of the present application are shown in the structural schematic diagram, in some embodiments of the present application, the charging interface 111 includes two charging contacts 112 and a support body 113, the support body 113 is fixed at the bottom of the intelligent wheelchair 100, and the two charging contacts 112 are arranged on the opposite sides of the support body 113 respectively;

[0044] The end of the mechanical arm 240 is provided with a gripper 242, the gripper 242 includes a first clamping piece 243 and a second clamping piece 244 arranged oppositely, the power supply interface 241 includes two power supply contacts 245, one of the two charging contacts 112 is arranged on the side of the first clamping piece 243 close to the second clamping piece 244, and the other charging contact 112 is arranged on the side of the second clamping piece 244 close to the first clamping piece 243, the distance between the two power supply contacts 245 is greater than the distance between the two charging contacts 112, and the mechanical arm 240 is used for controlling the two power supply contacts 245 to be connected with the corresponding charging contacts 112 respectively.

[0045] The shape of the support body 113 can be a cube or a cuboid, and the two charging contacts 112 of the charging interface 111 can be horizontal to each other or vertical to each other, which is not limited in the embodiments of the present application.

[0046] Wherein, the number of the mechanical arm 240 and the corresponding power supply interface 241 can be one or more, and the embodiments of the present application are not limited here.

[0047] Wherein, the charging trolley 200 can determine the relative position of the clamping jaw 242 of the mechanical arm 240 and the two charging contacts 112 of the charging interface 111 through the camera module 280 and the trolley control module 250. When the clamping jaw 242 of the mechanical arm 240 approaches the two charging contacts 112 of the charging interface 111, the clamping jaw 242 of the mechanical arm 240 is closed, and the two power supply contacts 245 are connected to the corresponding charging contacts 112.

[0048] Based on this, the charging interface 111 includes two charging contacts 112 and a support body 113, the support body 113 is fixed at the bottom of the intelligent wheelchair 100, and the two charging contacts 112 are respectively arranged on the opposite sides of the support body 113, which can reduce the difficulty of the mechanical arm 240 of the charging trolley 200 accessing the charging interface 111. Then the end of the mechanical arm 240 is provided with a clamping jaw 242, the clamping jaw 242 includes a first clamping piece 243 and a second clamping piece 244 arranged oppositely, the power supply interface 241 includes two power supply contacts 245, one of the two charging contacts 112 is arranged on the side of the first clamping piece 243 close to the second clamping piece 244, and the other charging contact 112 is arranged on the side of the second clamping piece 244 close to the first clamping piece 243, so that the two charging contacts 112 of the charging interface 111 and the two power supply contacts 245 of the power supply interface 241 are one-to-one corresponding, and the distance between the two power supply contacts 245 is greater than the distance between the two charging contacts 112, so that the clamping space of the clamping jaw 242 can accommodate the entire charging interface 111. Then the mechanical arm 240 is used for controlling the two power supply contacts 245 to be connected to the corresponding charging contacts 112, so that the second power supply 210 can supply power to the first power supply 110, realizing the automatic charging of the charging trolley 200 to the intelligent wheelchair 100, and improving the convenience of charging the intelligent wheelchair 100.

[0049] In addition, referring to Figure 3 , Figure 3 The system structure schematic diagram of the intelligent wheelchair 100 provided by the embodiments of the present application, some embodiments of the present application, the intelligent wheelchair 100 is also provided with a laser radar 120, a gyroscope 130, a camera 140, an ultrasonic ranging module 150, a wheelchair driving module 160 and a wheelchair control module 170, the laser radar 120, the gyroscope 130, the camera 140, the ultrasonic ranging module 150 and the wheelchair driving module 160 are respectively connected with the wheelchair control module 170.

[0050] The laser radar 120 is configured to measure the speed of the intelligent wheelchair 100, the gyroscope 130 is configured to measure the angular velocity and angular position data of the intelligent wheelchair 100, the camera 140 is configured to capture real-time images of the route in which the intelligent wheelchair 100 advances, the ultrasonic ranging module 150 is configured to measure the distance between the intelligent wheelchair 100 and the obstacle, and the wheelchair driving module 160 is configured to control the movement of the intelligent wheelchair 100.

[0051] Therefore, the intelligent wheelchair 100 is further provided with the laser radar 120, the gyroscope 130, the camera 140, the ultrasonic ranging module 150, the wheelchair driving module 160, and the wheelchair control module 170. The laser radar 120, the gyroscope 130, the camera 140, the ultrasonic ranging module 150, and the wheelchair driving module 160 are electrically connected to the wheelchair control module 170. The laser radar 120, the gyroscope 130, the camera 140, and the ultrasonic ranging module 150 are devices for detecting the surrounding environment. Therefore, the intelligent wheelchair 100 can perceive the surrounding environment in real time, avoid blindly advancing to the charging area, reduce the risk of damage to the intelligent wheelchair 100, prolong the service life of the intelligent wheelchair 100, improve the success rate of docking of the charging interface 111, and further improve the charging efficiency.

[0052] In addition, with reference to Figure 3 In some embodiments of the present application, the wheelchair control module 170 includes a first master control unit 171 and a second master control unit 172. The laser radar 120, the gyroscope 130, and the camera 140 are electrically connected to the first master control unit 171. The ultrasonic ranging module and the wheelchair driving module 160 are electrically connected to the second master control unit 172. The first master control unit 171 is electrically connected to the second master control unit 172.

[0053] The second master control unit 172 is further electrically connected to the display module 190. The display module 190 can be an LCD display screen. The displayed content can be the state data of the intelligent wheelchair 100, such as the power of the second power supply 210, the temperature of the second power supply 210, the current and voltage of the second power supply 210, the number of charging times of the second power supply 210, the temperature of the driving circuit of the left driving wheel and the temperature of the driving motor, and the temperature of the driving circuit of the right driving wheel and the temperature of the driving motor. The display module 190 can also display whether the device driving of the intelligent wheelchair 100 is installed perfectly, such as the driving installation state of the left wheel driving, the right wheel driving, the lifting driving, the infrared ranging, the magnetic navigation, the gyroscope 130, the industrial computer, and the second power supply 210.

[0054] The initial number of charging times of the second power supply 210 is 0. Each charging will accumulate one charging time.

[0055] It can be understood that the working time of the intelligent wheelchair 100 is affected by the capacity of the battery and the number of charging times. When the number of charging times of the battery reaches a certain value, the capacity of the battery will gradually decrease, so that the working time of the intelligent wheelchair 100 gradually shortens.

[0056] The first master control unit 171 is used to execute data processing tasks with high performance requirements, and the second master control unit 172 is used to execute control tasks with low performance requirements. For example, the model of the first master control unit 171 can be Raspberry Pi 4B, and the model of the second master control unit 172 can be MM32F3277 single-chip microcomputer. The second master control unit 172 is mainly responsible for driving each motor, acquiring and displaying power supply information. After the power supply information is acquired, it can be displayed on the LCD display screen, or it can be viewed on the user's mobile terminal 220. The power supply system of the intelligent wheelchair 100 can be monitored in real time. When the power is insufficient, it automatically goes to the specified charging place and connects with the charging trolley 200. After charging is completed, it automatically disconnects and returns to the charging position, avoiding overcharging of the first power supply 110. The operation data of the first power supply 110 can be saved by the second master control unit 172, and the health status of the battery can be judged through data analysis. When the data is abnormal, a command is sent to trigger the protection response of the second master control unit 172, automatically disconnecting the power and issuing an alarm.

[0057] It should be noted that the intelligent wheelchair 100 can autonomously navigate to the charging area, and the specific process is as follows: the intelligent wheelchair 100 realizes map construction and indoor positioning of the intelligent wheelchair 100 based on the SLAM path planning algorithm. The indoor autonomous navigation of the intelligent wheelchair 100 based on SLAM is to obtain the speed of the drive wheel of the intelligent wheelchair 100 and the gyroscope 130 data by using the laser radar 120. The speed data of the drive wheel is processed into raw odometer data by the track extrapolation algorithm. After that, the odometer data and the gyroscope 130 data are filtered by Kalman filter to obtain the data of the position and attitude of the intelligent wheelchair 100 in space. Then, the environment perception module collects the information of the environment around the wheelchair, and sends the collected information to the first master control unit 171. After realizing the map construction of the indoor environment by the SLAM_GMapping algorithm, the path planning is realized by using the move_base package provided by ROS, so that the intelligent wheelchair 100 can autonomously navigate to the charging trolley 200 within the field of view. In addition, before realizing autonomous navigation, the user needs to use the intelligent wheelchair 100 indoors or use artificial guidance to build a map indoors. Through the cognition of the environment by people, the intelligent wheelchair 100 is guided to move in the indoor environment. In the process of wheelchair movement, the laser sensor and the odometer respectively collect environmental information and self-state information to create an environmental grid map.

[0058] The reference Figure 4 , Figure 4The structural schematic diagram of the autonomous navigation system of the intelligent wheelchair 100 provided by the embodiment of the present application is shown in the figure. The autonomous navigation system of the intelligent wheelchair 100 is realized based on the wheelchair control module 170. The architecture of the autonomous navigation system of the intelligent wheelchair 100 is as follows: environmental information is collected by the environmental information collection module, the SLAM module constructs an indoor map based on the above-mentioned environmental information, then internal information is collected by the internal information collection module for the positioning module to position itself, then the target setting module sets the target position of autonomous navigation, and the path planning module controls the wheelchair driving module 160 through the indoor map, the positioning module and the target position to move to the set target position.

[0059] Therefore, the wheelchair control module 170 includes a first main control unit 171 and a second main control unit 172. The laser radar 120, the gyroscope 130 and the camera 140 are respectively connected to the first main control unit 171. The ultrasonic ranging module and the wheelchair driving module 160 are respectively connected to the second main control unit 172. The first main control unit 171 is connected to the second main control unit 172. The analysis task of the more complex environmental perception data is allocated to the first main control unit 171. The second main control unit 172 is specially used for executing the control task, so that the response speed of the intelligent wheelchair 100 can be improved.

[0060] In addition, with reference to Figure 3 In some embodiments of the present application, the intelligent wheelchair 100 is further provided with a first wireless communication module 191. The charging trolley 200 is provided with a second wireless communication module 263. The first wireless communication module 191 is connected to the wheelchair control module 170. The second wireless communication module 263 is connected to the trolley control module 250. The first wireless communication module 191 is in communication connection with the second wireless communication module 263.

[0061] The first wireless communication module 191 and the second wireless communication module 263 can be WiFi modules or Bluetooth modules, which are not limited in the embodiment of the present application.

[0062] The wheelchair control module 170 can communicate with the mobile phone terminal 220 through the first wireless communication module 191. Therefore, the wheelchair control module 170 can transmit the state data of itself to the mobile phone terminal 220. The mobile phone terminal 220 can display the state data of the intelligent wheelchair 100.

[0063] When the intelligent wheelchair 100 enters the field of view of the charging trolley 200, the intelligent wheelchair 100 sends the battery information to the charging trolley 200 through the first wireless communication module 191. The charging trolley 200 receives the battery information through the second wireless communication module 263. After the main processing of the trolley control module 250, the running process of the charging trolley 200 is started.

[0064] It should be noted that the operation flow of the charging trolley 200 is as follows: the positioning image is recognized by the camera module 280, and the position data is sent to the trolley control module 250 through the serial port to realize the positioning function of the charging port of the intelligent wheelchair 100, and the information returned by the camera module 280 is used to autonomously plan the route.

[0065] wherein the reference Figure 5 , Figure 5 The structure schematic diagram of the operation system of the charging trolley 200 provided by the embodiment of the application is shown in FIG. 2, and the operation system of the charging trolley 200 is as follows: the camera module 280 and other sensor modules send data to the trolley control module 250, the trolley control module 250 performs data processing such as filtering and fusion on the input data, and sends instructions to the driver, the driver completes the corresponding execution action according to the received instruction information, and feedbacks the current operation state to the trolley control module 250 in real time, forming a complete control closed loop, wherein the driver can be the trolley driving module 270 and the driving module of the mechanical arm 240.

[0066] It should be noted that the operation flow of the charging trolley 200 is as follows: first, the charging trolley 200 receives electric energy through the coil induction to charge the capacitor group of the second power supply 210, the capacitor group of the second power supply 210 supplies power to the trolley control module 250, then the trolley control module 250 analyzes the inductor by collecting the inductor to obtain the offset of the charging trolley 200, then the camera module 280 shoots the track to obtain the track image, analyzes the track information in combination with the offset of the charging trolley 200, obtains the complete track information, on the other hand, the trolley control module 250 controls the second driving motor 273 to rotate through the trolley driving module 270, so that the charging trolley 200 moves, detects the speed of the second driving motor 273 to obtain the speed of the charging trolley 200, and the trolley control module 250 analyzes the track information and the speed of the charging trolley 200 to autonomously navigate to the position of the intelligent wheelchair 100.

[0067] Based on this, the intelligent wheelchair 100 is also provided with the first wireless communication module 191, the charging trolley 200 is provided with the second wireless communication module 263, the first wireless communication module 191 is electrically connected with the wheelchair control module 170, then the second wireless communication module 263 is electrically connected with the trolley control module 250, the first wireless communication module 191 and the second wireless communication module 263 are in communication connection, so that the charging trolley 200 can communicate with the intelligent wheelchair 100, improve the interaction efficiency of the charging trolley 200 and the intelligent wheelchair 100, so that the charging trolley 200 can timely move to the intelligent wheelchair 100 and charge the intelligent wheelchair 100 earlier.

[0068] In addition, the first power supply 110 is provided with the first temperature sensor 192, the first current acquisition module 193 and the first voltage acquisition module 194 in some embodiments of the present application, and the first temperature sensor 192, the first current acquisition module 193 and the first voltage acquisition module 194 are electrically connected with the wheelchair control module 170 respectively.

[0069] The second power supply 210 is similar to the first power supply 110, and the second power supply 210 is provided with the second temperature sensor 264, the second current acquisition module 265 and the second voltage acquisition module 266, and the second temperature sensor 264, the second current acquisition module 265 and the second voltage acquisition module 266 are electrically connected with the trolley control module 250 respectively.

[0070] It should be noted that the first temperature sensor 192 is used for measuring the battery temperature of the first power supply 110, the first current acquisition module 193 is used for acquiring the data of the released current when the first power supply 110 is running, and the first voltage acquisition module 194 is used for acquiring the data of the applied voltage when the first power supply 110 is running.

[0071] In addition, the second temperature sensor 264 is used for measuring the battery temperature of the second power supply 210, the second current acquisition module 265 is used for acquiring the data of the released current when the second power supply 210 is charging the first power supply 110, and the second voltage acquisition module 266 is used for acquiring the data of the applied voltage when the second power supply 210 is charging the first power supply 110.

[0072] It can be understood that collecting and analyzing the running data of the second power supply 210 can improve the correctness of judging the health status of the second power supply 210, and can timely find the abnormal state during charging, so as to trigger automatic power-off and improve the safety of power consumption.

[0073] Therefore, the first power supply 110 is provided with the first temperature sensor 192, the first current acquisition module 193 and the first voltage acquisition module 194, and the first temperature sensor 192, the first current acquisition module 193 and the first voltage acquisition module 194 are electrically connected with the wheelchair control module 170 respectively, and collecting and analyzing the running data of the first power supply 110 can improve the correctness of judging the health status of the first power supply 110.

[0074] In addition, the intelligent wheelchair 100 is further provided with the first driving motor 161 and the first driving wheel 162 in some embodiments of the present application, the rotating shaft of the first driving motor 161 is drivingly connected with the first driving wheel 162, and the wheelchair control module 170 is electrically connected with the first driving motor 161 through the wheelchair driving module 160.

[0075] The charging trolley 200 is further provided with a second driving motor 273 and a second driving wheel 274. The rotating shaft of the second driving motor 273 is in transmission connection with the second driving wheel 274. The trolley control module 250 is in electrical connection with the second driving motor 273 through the trolley driving module 270.

[0076] The number of the first driving motors 161 and the number of the first driving wheels 162 can be the same or different, which is not limited in the embodiments of the present application. When the number of the first driving motors 161 and the number of the first driving wheels 162 are the same, the first driving motor 161 and the first driving wheel 162 are in one-to-one correspondence. Each first driving wheel 162 has independent speed control, so that each first driving wheel 162 is at a suitable speed when turning, which can improve the stability of the intelligent wheelchair 100.

[0077] It should be noted that the number of the second driving motors 273 and the number of the second driving wheels 274 can be the same or different, which is not limited in the embodiments of the present application. When the number of the second driving motors 273 and the number of the second driving wheels 274 are the same, the second driving motor 273 and the second driving wheel 274 are in one-to-one correspondence. Each second driving wheel 274 has independent speed control, so that each second driving wheel 274 is at a suitable speed when turning, which can improve the stability of the intelligent trolley.

[0078] Therefore, the intelligent wheelchair 100 is further provided with the first driving motor 161 and the first driving wheel 162. The rotating shaft of the first driving motor 161 is in transmission connection with the first driving wheel 162. The wheelchair control module 170 is in electrical connection with the first driving motor 161 through the wheelchair driving module 160, which can improve the driving force of the wheelchair, so that the wheelchair can reach a higher speed, and can improve the control accuracy of the intelligent wheelchair 100, so that the intelligent wheelchair 100 has smoother start and stop.

[0079] In addition, in some embodiments of the present application, the intelligent wheelchair 100 is further provided with a driving circuit temperature sensor 271 and a motor temperature sensor 272. The driving circuit temperature sensor 271 and the motor temperature sensor 272 are respectively in electrical connection with the wheelchair control module 170.

[0080] The driving circuit temperature sensor 271 is used for measuring the temperature of the wheelchair driving module 160, and the motor temperature sensor 272 is used for measuring the temperature of the driving motor.

[0081] Based on this, the intelligent wheelchair 100 is also provided with a driving circuit temperature sensor 271 and a motor temperature sensor 272, and the driving circuit temperature sensor 271 and the motor temperature sensor 272 are electrically connected with the wheelchair control module 170 respectively, which can timely find and troubleshoot the faults of the driving circuit and the driving motor, and also can prevent the driving circuit and the driving motor from being continuously in an overheated running state to cause damage, thereby prolonging the service life of the driving circuit and the driving motor.

[0082] In addition, the charging trolley 200 is also provided with an image processing module 230 in some embodiments of the present application, and the trolley control module 250 is electrically connected with the camera module 280 through the image processing module 230.

[0083] The image processing module 230 can complete tasks such as noise reduction, image enhancement, illumination correction, image segmentation, and image registration, which are not limited in the embodiments of the present application.

[0084] Based on this, the charging trolley 200 is also provided with an image processing module 230, and the trolley control module 250 is electrically connected with the camera module 280 through the image processing module 230, which can optimize the performance of the camera module 280 to the trolley control module 250.

[0085] In addition, the charging trolley 200 is also provided with a voice control module 260, a microphone 261 and a loudspeaker 262 in some embodiments of the present application, and the microphone 261 and the loudspeaker 262 are electrically connected with the trolley control module 250 through the voice control module 260 respectively.

[0086] The voice control module 260 is used to identify the voice data collected by the microphone 261, and the loudspeaker 262 is used to issue an alarm and a preset voice to remind the user of the current charging condition, for example, the user can ask the charging trolley 200 when the charging will be completed, and the charging trolley 200 replies to the user with a voice of the current charging progress.

[0087] Based on this, the charging trolley 200 is also provided with a voice control module 260, a microphone 261 and a loudspeaker 262, and the microphone 261 and the loudspeaker 262 are electrically connected with the trolley control module 250 through the voice control module 260 respectively, so that the user can control the behavior of the trolley through voice and understand the current charging condition through the voice issued by the trolley, thereby improving the convenience and efficiency of the charging system.

[0088] The embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge range of ordinary skilled in the art without departing from the purpose of the present application.

Claims

1. A wheelchair charging system, characterized in that, include: The intelligent wheelchair is equipped with a first power source and a charging interface, wherein the charging interface is electrically connected to the first power source, and the intelligent wheelchair is equipped with a positioning pattern. The charging trolley includes a second power source, a robotic arm, a trolley drive module, a camera module, and a trolley control module. The second power source, robotic arm, trolley drive module, and camera module are all electrically connected to the trolley control module. The camera module is used to identify the positioning pattern, and the trolley drive module is used to drive the charging trolley to move. The robotic arm is equipped with a power supply interface that matches the charging interface. The power supply interface is electrically connected to the trolley control module and the second power source. The robotic arm is used to control the connection between the power supply interface and the charging interface so that the trolley control module can control the second power source to charge the first power source.

2. The wheelchair charging system according to claim 1, characterized in that, The charging interface includes two charging contacts and a support body. The support body is fixed to the bottom of the smart wheelchair, and the two charging contacts are respectively disposed on opposite sides of the support body. The end of the robotic arm is provided with a gripper, which includes a first clamping plate and a second clamping plate arranged opposite each other. The power supply interface includes two power supply contacts, one of which is located on the side of the first clamping plate near the second clamping plate, and the other is located on the side of the second clamping plate near the first clamping plate. The distance between the two power supply contacts is greater than the distance between the two charging contacts. The robotic arm is used to control the two power supply contacts to connect to the corresponding charging contacts respectively.

3. The wheelchair charging system according to claim 1, characterized in that, The intelligent wheelchair is also equipped with a lidar, a gyroscope, a camera, an ultrasonic ranging module, a wheelchair drive module, and a wheelchair control module. The lidar, the gyroscope, the camera, the ultrasonic ranging module, and the wheelchair drive module are all electrically connected to the wheelchair control module.

4. The wheelchair charging system according to claim 3, characterized in that, The wheelchair control module includes a first main control unit and a second main control unit. The lidar, the gyroscope, and the camera are electrically connected to the first main control unit, and the ultrasonic ranging module and the wheelchair drive module are electrically connected to the second main control unit. The first main control unit is electrically connected to the second main control unit.

5. A wheelchair charging system according to claim 3, characterized in that, The smart wheelchair is also equipped with a first wireless communication module, and the charging trolley is equipped with a second wireless communication module. The first wireless communication module is electrically connected to the wheelchair control module, and the second wireless communication module is electrically connected to the trolley control module. The first wireless communication module and the second wireless communication module are communicatively connected.

6. A wheelchair charging system according to claim 3, characterized in that, The first power supply is equipped with a first temperature sensor, a first current acquisition module, and a first voltage acquisition module, which are electrically connected to the wheelchair control module.

7. A wheelchair charging system according to claim 3, characterized in that, The intelligent wheelchair is also equipped with a first drive motor and a first drive wheel. The shaft of the first drive motor is connected to the first drive wheel for transmission. The wheelchair control module is electrically connected to the first drive motor through the wheelchair drive module.

8. A wheelchair charging system according to claim 7, characterized in that, The intelligent wheelchair is also equipped with a drive circuit temperature sensor and a motor temperature sensor, which are electrically connected to the wheelchair control module.

9. A wheelchair charging system according to claim 1, characterized in that, The charging vehicle is also equipped with an image processing module, and the vehicle control module is electrically connected to the camera module through the image processing module.

10. A wheelchair charging system according to claim 1, characterized in that, The charging vehicle is also equipped with a voice control module, a microphone, and a speaker. The microphone and the speaker are electrically connected to the vehicle control module through the voice control module.

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