AMR (autonomous mobile robot) wheelchair with self-monitoring operation and guidance

Abstract

An AMR wheelchair with self-monitoring operation and guidance, comprising a wheelchair frame (2), movable wheels (1) installed at the front and rear of the base of the wheelchair frame (2) to enable movement and securing of the wheelchair, and a pedal (4) installed at the front of the wheelchair frame (2) to provide support for the user's feet, as well as armrests (5) arranged on two sides of the wheelchair frame (2), characterized in that the AMR wheelchair further comprises a connecting frame (201) arranged at the base of the wheelchair frame (2), and tensioning frames (10) movably arranged on the connecting frame (201), wherein the tensioning frames (10) are provided in a pair, and wherein the AMR device (12) is clamped or released below the pedal (4) by the tensioning frames (10) being close to or farther apart from each other.and wherein the AMR device (12) is released by moving the two tension frames (10) apart, so that the AMR device (12) is conveniently separated from the two tension frames (10), and wherein the AMR device (12) is provided internally with a monitoring system and a guidance system, and wherein the monitoring system dynamically plans an optimal path from the starting point to the endpoint according to the positioning information of the pick-up and drop-off points set in the AMR device (12) and based on real-time environmental information, and wherein the guidance system performs obstacle avoidance and guidance based on the detected obstacles to achieve a safe journey, and wherein a retaining block (9) is slidably arranged on the tension frame (10), which is used to confine the AMR device (12) to the placement platform formed by the two tension frames (10).

Description

TECHNICAL FIELD

[0001] The present utility model relates to a wheelchair, in particular an AMR (autonomous mobile robot) wheelchair with self-monitoring operation and guidance. STATE OF THE ART

[0002] The AMR (Autonomous Mobile Robot) wheelchair is a highly intelligent assistive device being developed for autonomous navigation and mobility for people with mobility impairments. This wheelchair combines advanced robotics, sensing, and artificial intelligence algorithms to autonomously navigate complex environments, avoid obstacles, and interact with the user.

[0003] With the advancement of technology and the growing social demand for barrier-free travel, AMR wheelchair sharing has a good prospect of becoming a widespread form of service. The AMR device, as a key component of the AMR wheelchair, can perform self-monitoring operation and route guidance. Existing AMR devices are generally installed in a relatively fixed manner at the bottom of a wheelchair, resulting in inconvenience in updating and maintenance.

[0004] For this reason, it is necessary to develop an AMR wheelchair with self-monitoring operation and guidance to achieve the effect that the AMR device can be conveniently disassembled and maintained. CONTENTS OF THE PRESENT UTILITY MODEL

[0005] The present utility model uses the following technical solution: an AMR wheelchair with self-monitoring operation and guidance, comprising a wheelchair frame, movable wheels installed at the front and rear of the floor of the wheelchair frame to realize the movement and fastening of the wheelchair, a pedal installed at the front of the wheelchair frame to provide support for the user's feet, and armrests arranged on two sides of the wheelchair frame, wherein the wheelchair frame is further provided with a connecting frame on the floor, and wherein tension frames provided in a pair are movably arranged on the connecting frame, and wherein the AMR device is clamped or released below the pedal by bringing the tension frames close to or away from each other, and wherein the AMR device is released,by keeping the two clamping frames apart from each other so that the AMR device is conveniently separated from the two clamping frames. The AMR device is equipped internally with a monitoring system and a guidance system. The monitoring system dynamically plans an optimal route from the starting point to the end point according to the positioning information of the pick-up and drop-off points set in the AMR device and based on the real-time environmental information. The guidance system performs obstacle avoidance and guidance based on the detected obstacles to achieve safe travel. A holding block is slidably arranged on the clamping frame and is used to restrict the AMR device to the placement platform formed by the two clamping frames.

[0006] In one embodiment, the monitoring system comprises a sensor for real-time monitoring of the environment and collecting corresponding data, a positioning device for tracking the real-time position of the AMR wheelchair, and an algorithm unit for planning a travel path in combination with an environmental topography map constructed with the collected real-time data and in combination with the roadblock information reported back by the obstacle avoidance system.

[0007] In one embodiment, the monitoring system further comprises a monitoring operation unit for monitoring the status of the AMR wheelchair and for fault monitoring.

[0008] In one embodiment, the clamping frame is connected to the connecting frame by being slidably connected to an electrical slide rail arranged slidingly on the connecting frame.

[0009] In one embodiment, a bidirectional adjusting screw and a first guide rod are movably arranged at the tip portions of the two clamping frames, wherein the bidirectional adjusting screw and the first guide rod are arranged parallel to each other, and wherein the bidirectional adjusting screw is used to move the two clamping frames towards or away from each other.

[0010] In one embodiment, a second guide rod is arranged on the outer wall of the clamping frame, wherein the second guide rod slidably penetrates the holding block, and wherein the holding block slidably passes through the clamping frame, and wherein an elastic element is arranged between the end portion of the second guide rod and the holding block.

[0011] In one embodiment, a non-slip sleeve is arranged on the push handle of the wheelchair frame.

[0012] In one embodiment, a shock absorber is provided for damping at the connection point between the movable wheel and the wheelchair frame.

[0013] In one embodiment, a support plate is hinged to two outer walls of the connecting frame, wherein a cylinder for driving the support plate to rotate is arranged at the bottom of the connecting frame, and wherein a movable end of the piston rod of the cylinder is connected to the support plate.

[0014] In one embodiment, the bottom of the support plate is provided with a non-slip base.

[0015] In one embodiment, the angle at which the support plate is turned over is less than 90 degrees.

[0016] In one embodiment, one end of the support block that slides through the tension frame is provided with a beveled surface, the beveled surface being oriented in the same direction as the forward direction of the wheelchair.

[0017] The present utility model has the following advantages: by adjusting the distance between the two clamping frames, the AMR device is clamped and released; when the distance between the two clamping frames increases, the clamping function of the clamping frames on the AMR device is canceled; now the AMR device can be easily removed from the two clamping frames without the need for other auxiliary tools, so as to achieve the effect of convenient disassembly of the AMR device, thereby facilitating the updating and maintenance of the AMR device; the AMR device is equipped internally with a monitoring system and a guidance system, which can dynamically plan an optimal route from the start point to the end point, and the guidance system performs obstacle avoidance and guidance based on the detected obstacles to achieve safe travel. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 shows a schematic diagram of a three-dimensional structure of the present utility model. Fig. 2 shows a sectional view of a three-dimensional structure of a wheelchair frame and a pedal according to the present utility model. Fig. Figure 3 shows an enlarged view of the location A of the present utility model according to Fig. 2. Fig. Figure 4 shows an enlarged view of point B of the present utility model according to Fig. 2. Fig. 5 shows a sectional view of a three-dimensional structure of a support plate and a non-slip pad according to the present utility model. List of reference symbols 1 movable wheel 2 wheelchair frames 201 connecting frame 3 Non-slip sleeve 4 Pedal 5 Armrest 6 shock absorbers 7 Support plate 701 Non-slip mat 702 cylinders 8 First guide rod 9 Holding block 901 Second guide rod 902 spring 10 clamping frames 1001 Electric slide rail 11 Bidirectional adjusting screw 12 AMR device DETAILED DESCRIPTION

[0018] The embodiment of the present utility model is explained in more detail below in conjunction with drawings.

[0019] An AMR wheelchair with self-monitoring operation and guidance, comprising a wheelchair frame 2, movable wheels 1 installed at the front and rear of the floor of the wheelchair frame 2 for movement and fastening of the wheelchair, a pedal 4 installed at the front of the wheelchair frame 2 for providing support for the user's feet, and armrests 5 arranged on two sides of the wheelchair frame 2. The wheelchair frame 2 is further provided with a connecting frame 201 on the floor, and tension frames 10 provided in a pair are movably arranged on the connecting frame 201. The AMR device 12 is clamped or released below the pedal 4 by bringing the tension frames close to or away from each other, and the AMR device 12 is released by moving the two tension frames 10 away from each other.so that the AMR device 12 is conveniently separated from the two tensioning frames 10, and wherein the AMR device 12 is provided internally with a monitoring system and a guidance system, and wherein the monitoring system dynamically plans an optimal route from the starting point to the end point according to the positioning information of the pick-up and drop-off points set in the AMR device 12 and based on the real-time environmental information, and wherein the guidance system performs obstacle avoidance and guidance based on the detected obstacles to achieve safe travel, and wherein the monitoring system comprises a sensor for real-time monitoring of the environment and collecting corresponding data, a positioning device for tracking the real-time position of the AMR wheelchair, and an algorithm unit for planning a travel route in combination with an environmental topography map constructed with the collected real-time data,and in combination with the roadblock information reported back by the obstacle avoidance system, In a specific embodiment, high-precision distance measurement is performed using a lidar to create a point cloud map of the environment, and visual identification and detection of objects, pedestrians, and other obstacles are performed using a camera, and obstacles in the immediate vicinity are detected using ultrasonic sensors, thereby realizing real-time monitoring of the environment and recording the corresponding data. At the same time, the monitoring system is also provided with a positioning device, and the monitoring system constructs a map of the environment and determines the position of the robot using the data from the real-time monitoring of the environment and the positioning device.and the monitoring system further comprises a monitoring operation unit for monitoring the status of the AMR wheelchair and for fault monitoring, and wherein the monitoring of the status of the AMR wheelchair includes monitoring its battery level and monitoring the status of the sensors used to collect environmental information; and the monitoring operation unit for fault monitoring of the AMR wheelchair is designed to automatically switch to a backup program or safety mode when it is determined that the AMR wheelchair is faulty.

[0020] A holding block 9 is slidably arranged on the clamping frame 10 and is used to restrict the AMR device 12 to the placement platform formed by the two clamping frames 10.

[0021] Furthermore, the clamping frame 10 is connected to the connecting frame 201 by being slidably connected to an electrical slide rail 1001 arranged slidably on the connecting frame 201.

[0022] Furthermore, a bidirectional adjusting screw 11 and a first guide rod 8 are movably arranged at the tip portions of the two clamping frames 10, wherein the bidirectional adjusting screw 11 and the first guide rod 8 are arranged parallel to each other, and wherein the bidirectional adjusting screw 11 is used to move the two clamping frames 10 towards or away from each other.

[0023] Furthermore, a second guide rod 901 is arranged on the outer wall of the clamping frame 10, wherein the second guide rod 901 slidably penetrates the holding block 9, and wherein the holding block 9 slidably passes through the clamping frame 10, and wherein an elastic element is arranged between the end portion of the second guide rod 901 and the holding block 9.

[0024] Furthermore, a non-slip sleeve 3 is arranged on the push handle of the wheelchair frame 2.

[0025] Furthermore, a shock absorber 6 is provided for damping at the connection point between the movable wheel 1 and the wheelchair frame 2.

[0026] Furthermore, a support plate 7 is hinged to two outer walls of the connecting frame 201, wherein a cylinder 702 for driving the support plate 7 to rotate is arranged at the bottom of the connecting frame 201, and wherein a movable end of the piston rod of the cylinder 702 is connected to the support plate 7.

[0027] Furthermore, the bottom of the support plate 7 is provided with a non-slip base 701. Furthermore, the angle at which the support plate 7 is turned over is less than 90 degrees.

[0028] Furthermore, one end of the holding block 9, which slides through the tension frame 10, is provided with a beveled surface, the beveled surface being oriented in the same direction as the forward direction of the wheelchair.

[0029] In a specific embodiment, as shown in Fig.As shown in Figures 1 to 5, an AMR wheelchair with self-monitoring operation and guidance provided by the present application comprises a wheelchair frame 2, movable wheels 1 installed at the front and rear of the floor of the wheelchair frame 2 to realize the movement and fixation of the wheelchair, a pedal 4 installed at the front of the wheelchair frame 2 to provide support for the user's feet, and armrests 5 arranged on the left and right sides of the wheelchair frame 2. The front movable wheels 1 also have the function of adjusting the forward direction of the wheelchair. A shock absorber 6 for damping is provided at the junction between the movable wheel 1 and the wheelchair frame 2 to improve the stability of the wheelchair. A non-slip sleeve 3 is arranged on the push handle at the rear of the wheelchair frame 2 to provide stable support.When the AMR wheelchair is manually pushed, the bottom of the wheelchair frame 2 is further provided with a connecting frame 201, wherein clamping frames 10 are movably arranged on the connecting frame 201, which are provided in a pair, and wherein the longitudinal section of the closely spaced sides of the lower part of the clamping frames 10 is an L-shaped structure, and wherein the AMR device is clamped or released by having the two clamping frames 20 close to each other, and wherein the two clamping frames 10 form a placement platform when the two clamping frames 10 are close to each other. Thus, the AMR device 12 can be detachably placed on the platform, and the AMR device 12 can be clamped and fixed by having the two clamping frames 10 close to each other. When the two clamping frames 10 are far apart from each other to release the AMR device 12, the AMR device 12 can be conveniently separated from the two clamping frames 10.To achieve the effect of convenient disassembly, the AMR device 12 is provided internally with a monitoring system and a guidance system. The monitoring system dynamically plans an optimal route from the starting point to the end point according to the positioning information of the pick-up and drop-off points set in the AMR device 12 and based on real-time environmental information. The guidance system performs obstacle avoidance and guidance based on the detected obstacles to achieve safe travel. A support block 9 is slidably mounted on the clamping frame 10. This support block is used to restrict the front end of the AMR device 12, so that the AMR device 12 is stably placed between the two clamping frames 10.

[0030] It should be noted that the monitoring system built into the AMR device 12 detects the position of the wheelchair in real time through a positioning device attached to the AMR wheelchair, and uses simultaneous positioning and mapping technology to enable the wheelchair to autonomously map and navigate in an unknown environment, and plan an optimal route from the start point to the end point based on the map created, thereby realizing self-monitoring of the travel path of the AMR wheelchair and performing obstacle avoidance;In the present embodiment, the guidance system monitors the obstacles before the travel of the AMR wheelchair, issues an alarm after monitoring the obstacles, and then changes the travel direction of the AMR wheelchair, thereby realizing the safe travel of the AMR wheelchair. In a specific embodiment, the guidance system integrates a plurality of sensors such as a lidar, a camera, and ultrasonic sensors, thereby realizing all-round environmental sensing.

[0031] The crossbar members on two sides of the upper center line of the connecting frame 201 are each provided with a sliding slot in which an electric slide rail 1001 is slidably arranged, which slides through the upper part of the tension frame 10. The tension frame 10 is connected to the connecting frame 201 by the electric slide rail 1001. When the AMR device 12 detects that there is an obstacle in front of the wheelchair and the obstacle is relatively low but will cause damage to the AMR device 12, the control device controls the tension frame 10 to move backward through the electric slide rail 1001 to move the AMR device 12 backward. The obstacle is avoided by the front movable wheels changing the forward direction, thereby providing damage protection for the AMR device 12.

[0032] It should be noted that a bidirectional adjusting screw 11 is screwed together with the upper protrusions of the two clamp frames 10, a first guide rod 8 aligned parallel to the bidirectional adjusting screw 11 is slidably connected to the tip portions of the two clamp frames 10, and one end of the bidirectional adjusting screw 11 is provided with an adjusting handle, by the adjusting handle, the bidirectional adjusting screw 11 is driven to rotate to drive the two clamp frames 10 to move horizontally along the first guide rod 8, thereby realizing that the two clamp frames are close to each other or apart from each other to clamp or release the AMR device.

[0033] In addition, the outer wall of the clamping frame 10 is provided with a second guide rod 901, and the lower part of the clamping frame 10 provided with the second guide rod 901 is provided with a through groove that penetrates the clamping frame 10, wherein the second guide rod 901 slidably penetrates the holding block 9 and the holding block 9 slidably passes through the through groove of the clamping frame 10, and wherein one end of the holding block 9 that slides through the clamping frame 10 is provided with a chamfered surface, and wherein the chamfered surface is aligned in the same direction as the forward direction of the wheelchair, with the arrangement providing a limitation for the front end of the AMR device 12. At the same time, when installing the AMR device 12, by compressing the chamfered surface of the holding block 9, the holding block 9 moves towards the end portion of the second guide rod 901, which facilitates the installation of the AMR device 12 facilitated;Between the end portion of the second guide rod 901 and the holding block 9, an elastic member is arranged, which is wound on the second guide rod 901. The elastic member is a spring or a rubber member having an elastic property, and its function is to maintain the holding block 9 in the state of sliding through the through groove of the clamping frame 10 to provide a restriction for the front end of the AMR device 12, and to provide an elastic restoring force for restoring the holding block 9 after the holding block 9 is compressed. Preferably, the elastic member in the embodiment is a spring 902, which is a compression spring.

[0034] Furthermore, a support plate 7 is hinged to the outer walls of the left and right sides of the connecting frame 201. A cylinder 702 is arranged at the bottom of the connecting frame 201, which drives the support plate 7 to rotate. A movable end of the piston rod of the cylinder 702 is connected to the support plate 7. When the wheelchair tilts to one side, the extending movement of the piston rod of the cylinder 702 drives the support plate 7 to rotate upward around its hinge point with the connecting frame 201 as the center, thereby providing lateral support for the wheelchair through the support plate 7. This prevents the wheelchair from tipping sideways. The angle at which the support plate 7 rotates is less than 90 degrees. The support plate 7 is provided with a non-slip pad 701 on the floor to increase the friction coefficient of the support plate 7 with the floor.which improves the safety of the wheelchair.

[0035] In use, the bidirectional adjusting screw 11 is driven to rotate by the rotating handle, the bidirectional adjusting screw 11 rotates to drive the two clamping frames 10 to be close to each other or far apart along the first guide rod 8, in this way, the distance between the two clamping frames 10 is adjusted, whereby the AMR device 12 with different specifications can be effectively clamped, at the same time, by adjusting the distance between the two clamping frames 10, it is realized that the AMR device 12 is conveniently taken out on the two clamping frames 10, so as to achieve an effect of convenient disassembly of the AMR device 12;When the AMR device 12 detects an obstacle in the forward direction, the obstacle avoidance system built into the AMR device 12 issues an obstacle avoidance warning, the electric slide rail 1001 drives the two tension frames 10 to move horizontally backward to prevent the AMR device 12 from hitting an obstacle and being damaged, at the same time, the guidance system controls the front movable wheels 1 to adjust the forward direction to avoid the obstacle;When the wheelchair tilts to one side, the control system drives the cylinder 702 on the tilted side to operate, the piston rod of the cylinder 702 performs an extending movement to drive the support plate 7 to rotate about its pivot point with the connecting frame 201 as the center in a direction away from the wheelchair, thereby providing support for the tilted side of the wheelchair to prevent the wheelchair from tipping on its side;Under the action of the elastic force of the spring 902, the holding block 9 passes through the clamping frames 10 and restricts the AMR device 12 to the two clamping frames 10, and the reason why the beveled surface is directed forward is that when installing the AMR device 12, it is only required to compress the AMR device 12 backward, the AMR device 12 compresses the holding block 9, the holding block 9 compresses the spring 902 to facilitate the installation of the AMR device 12.;

[0036] The above content is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. All equivalent substitutions made under the principles of the present utility model should be considered covered by the scope of protection of the present utility model. The content of the present utility model not described in detail belongs to the prior art known to those skilled in the art.

Claims

[1] AMR wheelchair with self-monitoring operation and guidance, comprising a wheelchair frame (2), movable wheels (1) installed on the front and rear of the floor of the wheelchair frame (2) to realize the movement and fixing of the wheelchair, and a pedal (4) installed on the front part of the wheelchair frame (2) to provide support for the user's feet, as well as armrests (5) arranged on two sides of the wheelchair frame (2), characterized bythat the AMR wheelchair further comprises a connecting frame (201) arranged on the floor of the wheelchair frame (2), and clamping frames (10) movably arranged on the connecting frame (201), wherein the clamping frames (10) are provided in a pair, and wherein the AMR device (12) is clamped or released below the pedal (4) by placing the clamping frames (10) close to each other or apart from each other, and wherein the AMR device (12) is released by placing the two clamping frames (10) apart from each other so that the AMR device (12) is conveniently separated from the two clamping frames (10), and wherein the AMR device (12) is provided internally with a monitoring system and a guidance system,and wherein the monitoring system dynamically plans an optimal route from the starting point to the end point according to the positioning information of the pick-up and drop-off points set in the AMR device (12) and based on the real-time environmental information, and wherein the guidance system performs obstacle avoidance and guidance based on the detected obstacles to achieve safe travel, and wherein a holding block (9) is slidably arranged on the clamping frame (10), which is used to restrict the AMR device (12) to the placement platform formed by the two clamping frames (10). [2] An AMR wheelchair with self-monitoring operation and guidance according to claim 1, wherein the monitoring system comprises a sensor for real-time monitoring of the environment and collecting corresponding data, a positioning device for tracking the real-time position of the AMR wheelchair, and an algorithm unit for planning a travel path in combination with an environmental topography map constructed with the collected real-time data and in combination with the roadblock information reported back by the obstacle avoidance system. [3] The AMR wheelchair with self-monitoring operation and guidance according to claim 1, wherein the monitoring system further comprises a monitoring operation unit for monitoring the status of the AMR wheelchair and for fault monitoring. [4] AMR wheelchair with self-monitoring operation and guidance according to claim 1, characterized bythat the clamping frame (10) is connected to the connecting frame (201) by being slidably connected to an electrical slide rail (1001) arranged slidingly on the connecting frame (201). [5] AMR wheelchair with self-monitoring operation and guidance according to claim 4, characterized by that a bidirectional adjusting screw (11) and a first guide rod (8) are movably arranged at the tip sections of the two clamping frames (10), wherein the bidirectional adjusting screw (11) and the first guide rod (8) are arranged parallel to one another, and wherein the bidirectional adjusting screw (11) is used to move the two clamping frames (10) towards or away from one another. [6] AMR wheelchair with self-monitoring operation and guidance according to claim 5, characterized bythat a second guide rod (901) is arranged on the outer wall of the clamping frame (10), wherein the second guide rod (901) slidably penetrates the holding block (9), and wherein the holding block (9) slidably passes through the clamping frame (10), and wherein an elastic element is arranged between the end section of the second guide rod (901) and the holding block (9). [7] AMR wheelchair with self-monitoring operation and guidance according to claim 6, characterized by that a shock absorber (6) is provided for damping at the connection point between the movable wheel (1) and the wheelchair frame (2). [8] AMR wheelchair with self-monitoring operation and guidance according to claim 7, characterized bythat a support plate (7) is hinged to two outer walls of the connecting frame (201), wherein a cylinder (702) for driving the support plate (7) to rotate is arranged on the bottom of the connecting frame (201), and wherein a movable end of the piston rod of the cylinder (702) is connected to the support plate (7). [9] AMR wheelchair with self-monitoring operation and guidance according to claim 8, characterized by that the angle at which the support plate (7) is turned is less than 90 degrees. [10] AMR wheelchair with self-monitoring operation and guidance according to claim 9, characterized by that one end of the holding block (9) which slides through the tensioning frame (10) is provided with a bevelled surface, the bevelled surface being oriented in the same direction as the forward direction of the wheelchair.

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