Electric wheelchair with rehabilitation function

Abstract

The utility model provides an electric wheelchair with a rehabilitation function, which is used for upper limb rehabilitation exercise of a wheelchair user and comprises a touch sensor array arranged on the surface of an armrest of the electric wheelchair, and the touch sensor array comprises a plurality of touch sensors capable of being triggered by touch actions; when the touch sensor array is touched, the trigger state and the triggered sequence of each touch sensor are sent to the control module, so that the electric wheelchair moves according to the trigger state and the triggered sequence of each touch sensor in the touch sensor array; a wheelchair left side driving wheel is controlled by the touch action of the touch sensor array at the left armrest, and a wheelchair right side driving wheel is controlled by the touch action of the touch sensor array at the right armrest, so that a user can automatically judge the exercise amount of upper limb rehabilitation exercise according to the rotating direction and the moving distance of the electric wheelchair; according to the rehabilitation exercise device, convenient rehabilitation exercise can be provided for people with mobility difficulties, and a user can conveniently evaluate the rehabilitation exercise amount of the user.

Description

TECHNICAL FIELD

[0001] The utility model relates to rehabilitation equipment technical field especially a kind of electric wheelchair with rehabilitation function. BACKGROUND

[0002] Due to the long time of wheelchair user sitting on wheelchair, it is possible to make its exercise amount less, and the person with difficulty in movement can be difficult to judge its exercise amount, how to solve the above problems is a research direction. INVENTION CONTENTS

[0003] The utility model provides a kind of electric wheelchair with rehabilitation function, can provide the rehabilitation exercise of convenient for the person with difficulty in movement, and can let user assess its rehabilitation exercise amount conveniently.

[0004] The utility model adopts the following technical solutions.

[0005] A kind of electric wheelchair with rehabilitation function for the upper limb rehabilitation exercise of wheelchair user, it includes the touch sensor array on the surface of electric wheelchair armrest, touch sensor array includes multiple touch sensor that can be triggered by touch action;Touch sensor array sends the trigger state and triggered sequence of each touch sensor to the control module of electric wheelchair when being touched, so that electric wheelchair moves according to the trigger state and trigger sequence of each touch sensor in touch sensor array, the touch action of touch sensor array at left armrest controls wheelchair left side drive wheel, the touch action of touch sensor array at right armrest controls wheelchair right side drive wheel, so that wheelchair user can judge the exercise amount of its upper limb rehabilitation exercise according to the rotation direction and moving distance of electric wheelchair.

[0006] The electric wheelchair includes an induction module, a charge detection module, a signal processing module, and a control module.

[0007] The induction module includes a touch sensor array arranged on the top surface and side surface of the armrest of the electric wheelchair.

[0008] The touch sensor includes a capacitive sensor.

[0009] The charge detection module is connected to the induction module and is configured to detect the current change of the induction module in real time.

[0010] The signal processing module receives the electric signal from the charge detection module, and through processing including filtering, amplification and digitization, removes the noise and interference of the electric signal and extracts the effective touch signal features.

[0011] The control module determines the sliding direction of the palm through the positions of the single-row sensors and the triggering sequence, and forms corresponding wheelchair control instructions.

[0012] The number of touch sensors in the touch sensor array is not less than ten, and the top of the touch sensor is fixed with a sensing spring for bearing touch pressure.

[0013] The control module is connected with a wheelchair motor driver of the electric wheelchair to control the working condition of the wheelchair motor, and when the control module controls the wheelchair motor according to the touched state of the touch sensor array, the moving speed of the wheelchair is set to the lowest gear.

[0014] The control module controls the wheelchair motor to perform actions according to the control instructions after determining that the hand of the wheelchair user has left the sensing module and the leaving time has reached a threshold.

[0015] The lower part of the wheelchair is hinged with a lower limb leg support capable of lifting the legs of the user.

[0016] The front end of the armrest is also provided with a control lever for quickly controlling the electric wheelchair.

[0017] The utility model discloses a touch friction to wheelchair, which can control the wheelchair to move by the large-amplitude upper limb action of the wheelchair user, avoid the adverse effect of long-time limb static on the body condition, exercise the upper limb movement and increase the interaction and fun of movement.

[0018] In the scheme, the touch friction to the wheelchair needs the large-amplitude sliding touch action of the user, and the moving speed of the wheelchair is set to the lowest gear, so that the control precision of the moving process of the electric wheelchair can be optimized to a great extent, for example, the centimeter-level control of the moving action of the electric wheelchair can be realized, the user can use the electric wheelchair more accurately in a small space, and the low control precision problem of the wheelchair of the traditional lever is avoided.

[0019] The utility model also provides a touch sensing wheelchair control device based on charge change sensing, which can accurately and quickly detect touch actions, effectively reduce the false touch rate and improve the stability of the system in complex environments.

[0020] The utility model has the following remarkable advantages:

[0021] 1. High sensitivity: can detect extremely slight touch actions, even touch operations with gloves. For example, in cold winter, the user can easily operate the wheelchair with the touch sensing system by wearing gloves.

[0022] 2. Low accidental touch rate: Through precise signal processing and intelligent judgment algorithms, it effectively distinguishes between intentional touches and unintentional touches, greatly reducing the probability of accidental touches.

[0023] 3. Strong anti-interference capability: It can still work stably in complex electromagnetic environments and is not affected by external interference. For example, when near equipment with strong electromagnetic fields, this touch sensing system can still accurately respond to touch operations.

[0024] 4. Rapid Response: The time from touch to system response is extremely short, providing a smooth user experience. For example, during operation, it can quickly respond to the player's touch commands, enabling real-time interaction.

[0025] The touch sensing system and method based on charge change sensing of this invention have the advantages of high sensitivity, low false touch rate, strong anti-interference ability and fast response, and have broad application prospects in the field of electronic equipment. Attached Figure Description

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0027] Appendix Figure 1 This is a schematic diagram illustrating the principle of this utility model;

[0028] Appendix Figure 2 This is a schematic diagram of the principle of a touch sensor array (the touch sensor array has built-in indicator lights to display the trigger status of the touch sensor).

[0029] Appendix Figure 3 This is a schematic diagram of a sensor disk formed by 10 touch springs arranged in a straight line to detect the movement of the palm.

[0030] Appendix Figure 4 This is a schematic diagram of the electric wheelchair in this utility model;

[0031] In the diagram: 1-Handrail; 2-Touch sensor array; 3-Joystick; 4-Leg rest. Detailed Implementation

[0032] As shown in the figure, an electric wheelchair with rehabilitation function is used for upper limb rehabilitation exercise of wheelchair user, which comprises a touch sensor array arranged on the surface of the electric wheelchair handle, the touch sensor array comprising a plurality of touch sensors capable of being triggered by touch action; when the touch sensor array is touched, the trigger state and the triggered sequence of each touch sensor are sent to the control module of the electric wheelchair, so that the electric wheelchair moves according to the trigger state and the trigger sequence of each touch sensor in the touch sensor array, and the touch action of the touch sensor array at the left handle controls the left drive wheel of the wheelchair, and the touch action of the touch sensor array at the right handle controls the right drive wheel of the wheelchair, so that the wheelchair user can judge the exercise amount of upper limb rehabilitation exercise according to the rotation direction and moving distance of the electric wheelchair.

[0033] The electric wheelchair comprises an induction module, a charge detection module, a signal processing module and a control module.

[0034] The induction module comprises a touch sensor array arranged on the top surface and side surface of the electric wheelchair handle; each touch sensor in the touch sensor array is arranged in a straight line.

[0035] The touch sensor comprises a capacitive sensor, when the human body contacts or approaches the induction area, the capacitive sensor changes the capacitance value, and the induction module generates a current signal, so that the touch sensor is triggered.

[0036] The charge detection module is connected with the induction module and is used for detecting the current change of the induction module in real time; the charge detection module adopts a high-precision charge detection circuit, which can convert weak charge change into measurable electric signal.

[0037] The signal processing module receives the electric signal from the charge detection module, and through the processing including filtering, amplifying and digitizing, removes the noise and interference of the electric signal and extracts the effective touch signal characteristics.

[0038] The control module judges the sliding direction of the palm through the position and the triggered sequence of the single-row sensor, and forms the corresponding wheelchair control instruction.

[0039] The number of touch sensors in the touch sensor array is not less than ten, and the top of the touch sensor is fixed with an induction spring for bearing touch pressure.

[0040] The control module is connected with the wheelchair motor driver of the electric wheelchair to control the working condition of the wheelchair motor, and when the control module controls the wheelchair motor according to the touched state of the touch sensor array, the moving speed of the wheelchair is set to the lowest gear.

[0041] The control module controls the wheelchair motor to perform an action according to the control instruction after determining that the wheelchair user's hand has left the sensing module and the leaving duration has reached a threshold.

[0042] The wheelchair is hinged at the lower part with a lower limb leg support capable of lifting the user's leg.

[0043] The front end of the armrest is also provided with a joystick for quickly controlling the electric wheelchair.

[0044] Embodiment 1:

[0045] Based on the above specific embodiments, the touch action can be accurately and quickly detected, the false touch rate can be effectively reduced, and the stability of the system in complex environments can be improved.

[0046] The system mainly includes a sensing module, a charge detection module, a signal processing module, and a control module.

[0047] The sensing module is composed of a series of specially designed capacitive sensors that can sensitively perceive the charge changes caused by human touch. When the human body contacts or approaches the sensing area, it will cause the sensor capacitance value to change, thereby generating an electric signal in the form of signal current.

[0048] The charge detection module is connected to the sensing module and is used to detect the small changes in the charge in the sensing module in real time. It uses a high-precision charge detection circuit that can convert weak charge changes into measurable electrical signals.

[0049] The signal processing module receives the electrical signals from the charge detection module and performs a series of processing operations, including filtering, amplification, digitization, etc. Through advanced algorithms, noise and interference are removed, and effective touch signal features are extracted.

[0050] The control module determines whether an effective touch event has occurred based on the results output by the signal processing module and performs corresponding operations. For example, in a rehabilitation wheelchair, the control module can control the wheelchair to walk and change direction based on touch events.

[0051] The touch sensing method based on charge change sensing of the present example includes the following steps:

[0052] 1. The sensing module monitors the charge changes in real time and transmits the change information to the charge detection module.

[0053] 2. The charge detection module detects and converts the charge changes to generate electrical signals.

[0054] 3. The signal processing module processes the electrical signals and extracts effective touch features.

[0055] 4. The control module judges the touch event according to the processing result and performs corresponding action.

[0056] 5. The sensor is arranged in a single row of 1-character line, and one row of 10 sensors is used to judge the position.

[0057] 6. The sliding direction of the palm is judged by the position of the single row of sensors and the sequence of the triggered sequence.

[0058] In this example, the working voltage range of the touch module is 2.5V-5.5V.

[0059] In this example, the peripheral circuit is simple, and only a 4.7nF capacitor is needed, and the chip can work normally.

[0060] Embodiment 2:

[0061] Based on the above specific embodiment content and embodiment 1, four kinds of rehabilitation exercise modes for the electric wheelchair of the utility model are proposed, as follows:

[0062] I. Up-and-down rubbing movement of upper limbs:

[0063] 1. The palms of both hands rub the upper end surface of the electric wheelchair handle through touch, and the vehicle makes corresponding movement, such as moving forward or backward, through touch and rubbing, which can control the movement of the vehicle, exercise the upper limb movement, increase the interaction and fun of the movement, and the movement direction can be preset by the control module.

[0064] 2. The palm of one hand rubs the upper end surface of the handle through touch, and the vehicle makes corresponding movement, such as turning left or turning back, which can control the turning movement of the vehicle, exercise the upper limb movement, increase the interaction and fun of the movement, and the movement direction can be preset by the control module.

[0065] II. Side-to-side rubbing movement of upper limbs;

[0066] 1. The palms of both hands rub the side of the handle through touch, and the vehicle makes corresponding movement, such as moving forward or backward, through touch and rubbing, which can control the movement of the vehicle, exercise the upper limb movement, increase the interaction and fun of the movement, and the movement direction can be preset by the control module.

[0067] 2. The palm of one hand rubs the side of the handle through touch, and the vehicle makes corresponding movement, such as turning left or turning back, which can control the turning movement of the vehicle, exercise the upper limb movement, increase the interaction and fun of the movement, and the movement direction can be preset by the control module.

[0068] III. Operation process and matters needing attention:

[0069] 1. The function of starting, stopping and shutting down.

[0070] 1) When the wheelchair controller is started, press the right armrest button again. The button light is on, which represents the start of the sliding module.

[0071] 2) When the button is pressed again, the original long light becomes long off, which means the sliding module is turned off.

[0072] 3) When the power of the wheelchair controller is turned off, the power of the sliding module is also turned off.

[0073] 4) After starting the sliding module, the gear is changed to gear 1 for safety consideration.

[0074] 5) After starting the sliding module, it is not allowed to hang other gears, only gear 1 is allowed.

[0075] 6) After turning off the sliding, the gear restriction is automatically released and the gear can be changed freely.

[0076] 2. The function of sliding the right armrest.

[0077] 1) When the hand slides the right armrest from front to back and leaves the sensing area, the car turns right.

[0078] 2) When the hand slides the right armrest from back to front and leaves the sensing area, the car turns left.

[0079] 3. The function of sliding the left armrest.

[0080] 1) When the hand slides the left armrest from front to back and leaves the sensing area, the car turns left.

[0081] 2) When the hand slides the left armrest from back to front and leaves the sensing area, the car turns right.

[0082] 4. The function of sliding both hands.

[0083] 1) When both hands slide the left and right armrests from front to back and leave the sensing area at the same time, the car reverses.

[0084] 2) When both hands slide the left and right armrests from back to front and leave the sensing area at the same time, the car moves forward.

[0085] Four, up and down reciprocating rehabilitation exercise;

[0086] By lifting the armrest and putting it down, the upper limb rehabilitation exercise is done. By increasing the weight of the armrest, the intensity of the exercise is adjusted.

[0087] Five, lower limb rehabilitation exercise

[0088] In the example, the wheelchair lower part is hinged with the lower limb leg support capable of holding the user's leg, the alternating rotation lifting of the lower limb leg support can be controlled through the controller of the rehabilitation wheelchair, the lower limb rehabilitation exercise function is run through lifting the user's leg, the lower limb starts to do the rehabilitation exercise, namely, through the alternating movement of the left and right lower limbs, the walking action is simulated, the user's lower limb exercise is driven, the blood circulation is increased, and the purpose of the lower limb rehabilitation exercise is achieved.

[0089] In the example, the handrail front end is further provided with a joystick, when the wheelchair is not controlled by the method, the user controls the motor of the electric wheelchair through the joystick, and drives the electric wheelchair to move.

Claims

1. An electric wheelchair with rehabilitation functions, used for upper limb rehabilitation exercises for wheelchair users, characterized in that: It includes a touch sensor array located on the surface of the armrest of the electric wheelchair, the touch sensor array comprising multiple touch sensors that can be triggered by touch actions; When the touch sensor array is touched, it sends the trigger status and triggering sequence of each touch sensor to the control module of the electric wheelchair. This allows the electric wheelchair to move according to the trigger status and triggering sequence of each touch sensor in the touch sensor array. Touch actions received by the touch sensor array on the left armrest control the left drive wheel of the wheelchair, and touch actions received by the touch sensor array on the right armrest control the right drive wheel of the wheelchair. This allows wheelchair users to judge the amount of exercise for their upper limb rehabilitation based on the rotation direction and movement distance of the electric wheelchair.

2. The electric wheelchair with rehabilitation function according to claim 1, characterized in that: The electric wheelchair includes a sensing module, a charge detection module, a signal processing module, and a control module; The sensing module includes a touch sensor array located on the top and sides of the armrest of the electric wheelchair; the touch sensors in the touch sensor array are arranged in a straight line. The touch sensor includes a capacitive sensor. When a human body touches or approaches the sensing area, causing a change in the capacitance value of the capacitive sensor, a current signal is generated in the sensing module, triggering the touch sensor. The charge detection module is connected to the sensing module and is used to detect the current change of the sensing module in real time. The charge detection module adopts a high-precision charge detection circuit, which can convert weak charge changes into measurable electrical signals. The signal processing module receives the electrical signal from the charge detection module and removes noise and interference from the electrical signal and extracts the effective touch signal features through processing including filtering, amplification, and digitization.

3. The electric wheelchair with rehabilitation function according to claim 1, characterized in that: The control module determines the direction of the hand's movement by analyzing the position of a single row of sensors and the order in which they are triggered, and then generates corresponding wheelchair control commands.

4. An electric wheelchair with rehabilitation function according to claim 1, characterized in that: The touch sensor array contains no fewer than ten touch sensors, and each touch sensor has a sensing spring fixed on its top to withstand touch pressure.

5. An electric wheelchair with rehabilitation function according to claim 1, characterized in that: The control module is connected to the wheelchair motor driver of the electric wheelchair to control the working condition of the wheelchair motor. When the control module controls the wheelchair motor according to the touch state of the touch sensor array, the wheelchair's moving speed is set to the lowest level.

6. An electric wheelchair with rehabilitation function according to claim 5, characterized in that: Once the control module determines that the wheelchair user's hand has left the sensor module and the time spent away has exceeded the threshold, it controls the wheelchair motor to perform actions according to the control command.

7. An electric wheelchair with rehabilitation function according to claim 1, characterized in that: The wheelchair is hinged to a leg rest at the bottom to support the user's legs.

8. An electric wheelchair with rehabilitation function according to claim 1, characterized in that: The front end of the armrest is also equipped with a joystick for quick control of the electric wheelchair.

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